#include <labust/xml/XMLReader.hpp>
#include <labust/simulation/VehicleModel6DOF.hpp>
#include <labust/vehicles/ScaleAllocation.hpp>
#include <labust/tools/rosutils.hpp>
#include <labust/tools/GeoUtilities.hpp>
#include <auv_msgs/NavSts.h>
#include <auv_msgs/BodyForceReq.h>
#include <nav_msgs/Odometry.h>
#include <std_msgs/String.h>
#include <sensor_msgs/NavSatFix.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/FluidPressure.h>
#include <geometry_msgs/TwistStamped.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <ros/ros.h>
#include <Eigen/Dense>
#include <boost/bind.hpp>
#include <sstream>
#include <string>

Include dependency graph for model_node.cpp:

Functions
void	handleCurrent (labust::simulation::vector *current, const std_msgs::String::ConstPtr &data)
void	handleTau (labust::simulation::vector *tauIn, const auv_msgs::BodyForceReq::ConstPtr &tau)
int	main (int argc, char *argv[])
geometry_msgs::TwistStamped *	mapToDvl (const labust::simulation::vector &eta, const labust::simulation::vector &nu, geometry_msgs::TwistStamped *dvl, tf::TransformBroadcaster &dvlBroadcast)
sensor_msgs::Imu *	mapToImu (const labust::simulation::vector &eta, const labust::simulation::vector &nu, const labust::simulation::vector &nuacc, sensor_msgs::Imu *imu, tf::TransformBroadcaster &imuBroadcast)
sensor_msgs::NavSatFix *	mapToNavSatFix (const labust::simulation::vector &eta, const labust::simulation::vector &nu, sensor_msgs::NavSatFix *fix, const std::string &utmzone, tf::TransformListener &lisWorld, tf::TransformBroadcaster &gpsBroadcast)
auv_msgs::NavSts *	mapToNavSts (const labust::simulation::vector &eta, const labust::simulation::vector &nu, auv_msgs::NavSts *nav)
nav_msgs::Odometry *	mapToUWSimOdometry (const labust::simulation::vector &eta, const labust::simulation::vector &nu, nav_msgs::Odometry *odom, tf::TransformListener &lisWorld)
double	modelLat (0)
double	modelLon (0)
double	originLat (0)
double	originLon (0)
double	thrustScale (1)

Function Documentation

void handleCurrent	(	labust::simulation::vector *	current,
		const std_msgs::String::ConstPtr &	data
	)

Definition at line 281 of file model_node.cpp.

void handleTau	(	labust::simulation::vector *	tauIn,
		const auv_msgs::BodyForceReq::ConstPtr &	tau
	)

Definition at line 270 of file model_node.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 292 of file model_node.cpp.

geometry_msgs::TwistStamped* mapToDvl	(	const labust::simulation::vector &	eta,
		const labust::simulation::vector &	nu,
		geometry_msgs::TwistStamped *	dvl,
		tf::TransformBroadcaster &	dvlBroadcast
	)

Definition at line 134 of file model_node.cpp.

sensor_msgs::Imu* mapToImu	(	const labust::simulation::vector &	eta,
		const labust::simulation::vector &	nu,
		const labust::simulation::vector &	nuacc,
		sensor_msgs::Imu *	imu,
		tf::TransformBroadcaster &	imuBroadcast
	)

Definition at line 236 of file model_node.cpp.

sensor_msgs::NavSatFix* mapToNavSatFix	(	const labust::simulation::vector &	eta,
		const labust::simulation::vector &	nu,
		sensor_msgs::NavSatFix *	fix,
		const std::string &	utmzone,
		tf::TransformListener &	lisWorld,
		tf::TransformBroadcaster &	gpsBroadcast
	)

Definition at line 180 of file model_node.cpp.

auv_msgs::NavSts* mapToNavSts	(	const labust::simulation::vector &	eta,
		const labust::simulation::vector &	nu,
		auv_msgs::NavSts *	nav
	)

Definition at line 154 of file model_node.cpp.

nav_msgs::Odometry* mapToUWSimOdometry	(	const labust::simulation::vector &	eta,
		const labust::simulation::vector &	nu,
		nav_msgs::Odometry *	odom,
		tf::TransformListener &	lisWorld
	)

Definition at line 66 of file model_node.cpp.

double modelLat ( 0 )

double modelLon ( 0 )

double originLat ( 0 )

double originLon ( 0 )

double thrustScale ( 1 )

Functions

Function Documentation