labust::tritech::USBLFilter Class Reference

#include <USBLFilter.hpp>

Inheritance diagram for labust::tritech::USBLFilter:

List of all members.

Public Member Functions
void	onInit ()
void	run ()
	USBLFilter ()
	~USBLFilter ()
Protected Member Functions
void	configureModel (ros::NodeHandle &nh)
void	onUsbl (const geometry_msgs::PointStamped::ConstPtr &msg)
Protected Attributes
boost::mutex	dataMux
double	depth
KFilter	filter
int	iteration
tf::TransformListener	listener
double	maxSpeed
ros::Publisher	navPub
int	timeout
ros::Subscriber	usblSub
boost::thread	worker
Private Types
typedef labust::navigation::KFCore < labust::navigation::KinematicModel >	KFilter

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Detailed Description

The class implements the Tritech USBL acquisition nodelet.

Definition at line 58 of file USBLFilter.hpp.

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Member Typedef Documentation

typedef labust::navigation::KFCore<labust::navigation::KinematicModel> labust::tritech::USBLFilter::KFilter [private]

Definition at line 60 of file USBLFilter.hpp.

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Constructor & Destructor Documentation

USBLFilter::USBLFilter

(

)

Default constructor.

Definition at line 50 of file USBLFilter.cpp.

USBLFilter::~USBLFilter

(

)

Default destructor.

Definition at line 55 of file USBLFilter.cpp.

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Member Function Documentation

void USBLFilter::configureModel

(

ros::NodeHandle &

nh

)

[protected]

Configure from ROS file.

Definition at line 68 of file USBLFilter.cpp.

void USBLFilter::onInit

(

)

[virtual]

Node initialization.

Implements nodelet::Nodelet.

Definition at line 57 of file USBLFilter.cpp.

void USBLFilter::onUsbl

(

const geometry_msgs::PointStamped::ConstPtr &

msg

)

[protected]

Handles arrived USBL navigation messages.

Definition at line 106 of file USBLFilter.cpp.

void USBLFilter::run

(

)

The main run method.

Todo:

Add variable rate of filter estimates.

Definition at line 155 of file USBLFilter.cpp.

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Member Data Documentation

boost::mutex labust::tritech::USBLFilter::dataMux [protected]

The data and condition mux.

Definition at line 101 of file USBLFilter.hpp.

double labust::tritech::USBLFilter::depth [protected]

The depth state.

Definition at line 97 of file USBLFilter.hpp.

KFilter labust::tritech::USBLFilter::filter [protected]

The USBL device.

Definition at line 93 of file USBLFilter.hpp.

int labust::tritech::USBLFilter::iteration [protected]

Definition at line 123 of file USBLFilter.hpp.

tf::TransformListener labust::tritech::USBLFilter::listener [protected]

Frame transform listener.

Definition at line 119 of file USBLFilter.hpp.

double labust::tritech::USBLFilter::maxSpeed [protected]

Maximum diver speed.

Definition at line 127 of file USBLFilter.hpp.

ros::Publisher labust::tritech::USBLFilter::navPub [protected]

The navigation publisher.

Definition at line 111 of file USBLFilter.hpp.

int labust::tritech::USBLFilter::timeout [protected]

Safety timeout.

Definition at line 123 of file USBLFilter.hpp.

ros::Subscriber labust::tritech::USBLFilter::usblSub [protected]

The usbl measurement subscriber.

Definition at line 115 of file USBLFilter.hpp.

boost::thread labust::tritech::USBLFilter::worker [protected]

The worker thread.

Definition at line 106 of file USBLFilter.hpp.

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

• USBLFilter.hpp
• USBLFilter.cpp