labust::navigation::NavQuestSocketNode Class Reference

#include <NavQuestSocketNode.hpp>

List of all members.

Public Member Functions
	NavQuestSocketNode ()
void	onInit ()
	~NavQuestSocketNode ()
Protected Types
typedef BeamPublisher< 4 >	NavQuestBP
Protected Member Functions
void	conditionDvlData (const NQRes &data)
void	onDvlData (const boost::system::error_code &e, std::size_t size)
void	publishDvlData (const NQRes &data)
void	setup_messaging ()
void	setup_publishers ()
bool	setup_socket ()
void	start_receive ()
bool	test_header (const std::string &match, const std::string &stream)
Protected Attributes
ros::Publisher	altitude
double	base_orientation
std::map< std::string, NavQuestBP::Ptr >	beam_pub
tf::TransformBroadcaster	broadcast
boost::asio::streambuf	buffer
ros::Publisher	imuPub
boost::asio::io_service	io
ros::Publisher	lock
double	magnetic_declination
boost::thread	runner
boost::asio::ip::tcp::socket	socket
std::map< std::string, TwistPublisher::Ptr >	speed_pub
bool	useFixed
Private Types
enum	{ u = 0, v, w }

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Detailed Description

The class implements the Nav Quest DVL acquisition.

Todo:

Implement additional messages

Rewrite the legacy DVLDataClass into a more compact parser.

Add calibration synchonization with IMU sensor calibration

Publish IMU data.

Add sound velocity subscription to correct speed measurements.

Definition at line 58 of file NavQuestSocketNode.hpp.

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Member Typedef Documentation

typedef BeamPublisher<4> labust::navigation::NavQuestSocketNode::NavQuestBP [protected]

Definition at line 113 of file NavQuestSocketNode.hpp.

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Member Enumeration Documentation

anonymous enum [private]

Enumerator:

u
v
w

Definition at line 60 of file NavQuestSocketNode.hpp.

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Constructor & Destructor Documentation

NavQuestSocketNode::NavQuestSocketNode

(

)

Main constructor

Definition at line 71 of file NavQuestSocketNode.cpp.

NavQuestSocketNode::~NavQuestSocketNode

(

)

Generic destructor.

Definition at line 80 of file NavQuestSocketNode.cpp.

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Member Function Documentation

void NavQuestSocketNode::conditionDvlData

(

const NQRes &

data

)

[protected]

Condition the data before publishing.

Definition at line 249 of file NavQuestSocketNode.cpp.

void NavQuestSocketNode::onDvlData	(	const boost::system::error_code &	e,
		std::size_t	size
	)		[protected]

Handle the incoming data stream.

Definition at line 252 of file NavQuestSocketNode.cpp.

void NavQuestSocketNode::onInit

(

)

Initialize and setup controller.

Definition at line 86 of file NavQuestSocketNode.cpp.

void NavQuestSocketNode::publishDvlData

(

const NQRes &

data

)

[protected]

Publish DVL data.

Definition at line 164 of file NavQuestSocketNode.cpp.

void NavQuestSocketNode::setup_messaging

(

)

[protected]

Helper function for message decoding.

Definition at line 125 of file NavQuestSocketNode.cpp.

void NavQuestSocketNode::setup_publishers

(

)

[protected]

Helper topic publisher.

Definition at line 130 of file NavQuestSocketNode.cpp.

bool NavQuestSocketNode::setup_socket

(

)

[protected]

The socket setup helper method.

Definition at line 143 of file NavQuestSocketNode.cpp.

void NavQuestSocketNode::start_receive

(

)

[protected]

The start receive helper function.

Definition at line 135 of file NavQuestSocketNode.cpp.

bool NavQuestSocketNode::test_header	(	const std::string &	match,
		const std::string &	stream
	)		[protected]

Helper function for header testing.

Definition at line 159 of file NavQuestSocketNode.cpp.

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Member Data Documentation

ros::Publisher labust::navigation::NavQuestSocketNode::altitude [protected]

Definition at line 125 of file NavQuestSocketNode.hpp.

double labust::navigation::NavQuestSocketNode::base_orientation [protected]

Fixed rotation value.

Definition at line 137 of file NavQuestSocketNode.hpp.

std::map<std::string, NavQuestBP::Ptr > labust::navigation::NavQuestSocketNode::beam_pub [protected]

The beam publishers.

Definition at line 117 of file NavQuestSocketNode.hpp.

tf::TransformBroadcaster labust::navigation::NavQuestSocketNode::broadcast [protected]

The transform broadcaster.

Definition at line 125 of file NavQuestSocketNode.hpp.

boost::asio::streambuf labust::navigation::NavQuestSocketNode::buffer [protected]

The input buffer.

Definition at line 159 of file NavQuestSocketNode.hpp.

ros::Publisher labust::navigation::NavQuestSocketNode::imuPub [protected]

The speed publishers.

Definition at line 125 of file NavQuestSocketNode.hpp.

boost::asio::io_service labust::navigation::NavQuestSocketNode::io [protected]

Hardware i/o service.

Definition at line 146 of file NavQuestSocketNode.hpp.

ros::Publisher labust::navigation::NavQuestSocketNode::lock [protected]

Definition at line 125 of file NavQuestSocketNode.hpp.

double labust::navigation::NavQuestSocketNode::magnetic_declination [protected]

Magnetic declination.

Definition at line 141 of file NavQuestSocketNode.hpp.

boost::thread labust::navigation::NavQuestSocketNode::runner [protected]

The main operation thread.

Definition at line 155 of file NavQuestSocketNode.hpp.

boost::asio::ip::tcp::socket labust::navigation::NavQuestSocketNode::socket [protected]

The serial input port.

Definition at line 150 of file NavQuestSocketNode.hpp.

std::map<std::string, TwistPublisher::Ptr > labust::navigation::NavQuestSocketNode::speed_pub [protected]

The speed publishers.

Definition at line 121 of file NavQuestSocketNode.hpp.

bool labust::navigation::NavQuestSocketNode::useFixed [protected]

Fixed rotation flag.

Definition at line 133 of file NavQuestSocketNode.hpp.

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The documentation for this class was generated from the following files:

• NavQuestSocketNode.hpp
• NavQuestSocketNode.cpp