#include <pose_estimation_node.h>

Inheritance diagram for hector_pose_estimation::PoseEstimationNode:

Public Member Functions
virtual void	cleanup ()
virtual bool	init ()
	PoseEstimationNode (const SystemPtr &system=SystemPtr(), const StatePtr &state=StatePtr())
virtual void	publish ()
virtual void	reset ()
virtual	~PoseEstimationNode ()
Protected Member Functions
void	ahrsCallback (const sensor_msgs::ImuConstPtr &ahrs)
virtual ros::NodeHandle &	getNodeHandle ()
virtual ros::NodeHandle &	getPrivateNodeHandle ()
tf::TransformBroadcaster *	getTransformBroadcaster ()
tf::TransformListener *	getTransformListener ()
void	globalReferenceUpdated ()
void	gpsCallback (const sensor_msgs::NavSatFixConstPtr &gps, const geometry_msgs::Vector3StampedConstPtr &gps_velocity)
void	heightCallback (const geometry_msgs::PointStampedConstPtr &height)
void	imuCallback (const sensor_msgs::ImuConstPtr &imu)
void	magneticCallback (const geometry_msgs::Vector3StampedConstPtr &magnetic)
void	poseupdateCallback (const geometry_msgs::PoseWithCovarianceStampedConstPtr &pose)
void	publishWorldNavTransform (const ros::TimerEvent &=ros::TimerEvent())
void	rollpitchCallback (const sensor_msgs::ImuConstPtr &attitude)
void	syscommandCallback (const std_msgs::StringConstPtr &syscommand)
void	twistupdateCallback (const geometry_msgs::TwistWithCovarianceStampedConstPtr &twist)
Protected Attributes
ros::Subscriber	ahrs_subscriber_
ros::Publisher	angular_velocity_bias_publisher_
ros::Publisher	euler_publisher_
ros::Publisher	geopose_publisher_
ros::Publisher	global_fix_publisher_
ros::Publisher	global_reference_publisher_
ros::Publisher	gps_pose_publisher_
message_filters::Subscriber < sensor_msgs::NavSatFix >	gps_subscriber_
message_filters::TimeSynchronizer < sensor_msgs::NavSatFix, geometry_msgs::Vector3Stamped > *	gps_synchronizer_
message_filters::Subscriber < geometry_msgs::Vector3Stamped >	gps_velocity_subscriber_
ros::Subscriber	height_subscriber_
ros::Publisher	imu_publisher_
ros::Subscriber	imu_subscriber_
ros::Publisher	linear_acceleration_bias_publisher_
ros::Subscriber	magnetic_subscriber_
ros::NodeHandle	nh_
std::string	other_frame_
PoseEstimation *	pose_estimation_
ros::Publisher	pose_publisher_
ros::Subscriber	poseupdate_subscriber_
ros::NodeHandle	private_nh_
bool	publish_covariances_
bool	publish_world_nav_transform_
ros::Duration	publish_world_nav_transform_period_
ros::Timer	publish_world_nav_transform_timer_
bool	publish_world_other_transform_
ros::Subscriber	rollpitch_subscriber_
geometry_msgs::PoseStamped	sensor_pose_
double	sensor_pose_pitch_
ros::Publisher	sensor_pose_publisher_
double	sensor_pose_roll_
double	sensor_pose_yaw_
ros::Publisher	state_publisher_
ros::Subscriber	syscommand_subscriber_
std::string	tf_prefix_
ros::Publisher	timing_publisher_
tf::TransformBroadcaster	transform_broadcaster_
tf::TransformListener *	transform_listener_
std::vector< tf::StampedTransform >	transforms_
ros::Subscriber	twistupdate_subscriber_
ros::Publisher	velocity_publisher_
geometry_msgs::TransformStamped	world_nav_transform_
bool	world_nav_transform_updated_
bool	world_nav_transform_valid_

Detailed Description

Definition at line 59 of file pose_estimation_node.h.

Constructor & Destructor Documentation

hector_pose_estimation::PoseEstimationNode::PoseEstimationNode	(	const SystemPtr &	system = `SystemPtr()`,
		const StatePtr &	state = `StatePtr()`
	)

Definition at line 47 of file pose_estimation_node.cpp.

hector_pose_estimation::PoseEstimationNode::~PoseEstimationNode ( ) [virtual]

Definition at line 67 of file pose_estimation_node.cpp.

Member Function Documentation

void hector_pose_estimation::PoseEstimationNode::ahrsCallback ( const sensor_msgs::ImuConstPtr & ahrs ) [protected]

Definition at line 186 of file pose_estimation_node.cpp.

void hector_pose_estimation::PoseEstimationNode::cleanup ( ) [virtual]

Definition at line 161 of file pose_estimation_node.cpp.

virtual ros::NodeHandle& hector_pose_estimation::PoseEstimationNode::getNodeHandle ( ) [inline, protected, virtual]

Definition at line 93 of file pose_estimation_node.h.

virtual ros::NodeHandle& hector_pose_estimation::PoseEstimationNode::getPrivateNodeHandle ( ) [inline, protected, virtual]

Definition at line 94 of file pose_estimation_node.h.

tf::TransformBroadcaster * hector_pose_estimation::PoseEstimationNode::getTransformBroadcaster ( ) [protected]

Definition at line 415 of file pose_estimation_node.cpp.

tf::TransformListener * hector_pose_estimation::PoseEstimationNode::getTransformListener ( ) [protected]

Definition at line 419 of file pose_estimation_node.cpp.

void hector_pose_estimation::PoseEstimationNode::globalReferenceUpdated ( ) [protected]

Definition at line 299 of file pose_estimation_node.cpp.

void hector_pose_estimation::PoseEstimationNode::gpsCallback	(	const sensor_msgs::NavSatFixConstPtr &	gps,
		const geometry_msgs::Vector3StampedConstPtr &	gps_velocity
	)		`[protected]`

Definition at line 234 of file pose_estimation_node.cpp.

void hector_pose_estimation::PoseEstimationNode::heightCallback ( const geometry_msgs::PointStampedConstPtr & height ) [protected]

Definition at line 207 of file pose_estimation_node.cpp.

void hector_pose_estimation::PoseEstimationNode::imuCallback ( const sensor_msgs::ImuConstPtr & imu ) [protected]

Definition at line 171 of file pose_estimation_node.cpp.

bool hector_pose_estimation::PoseEstimationNode::init ( ) [virtual]

Definition at line 74 of file pose_estimation_node.cpp.

void hector_pose_estimation::PoseEstimationNode::magneticCallback ( const geometry_msgs::Vector3StampedConstPtr & magnetic ) [protected]

Definition at line 220 of file pose_estimation_node.cpp.

void hector_pose_estimation::PoseEstimationNode::poseupdateCallback ( const geometry_msgs::PoseWithCovarianceStampedConstPtr & pose ) [protected]

Definition at line 270 of file pose_estimation_node.cpp.

void hector_pose_estimation::PoseEstimationNode::publish ( ) [virtual]

Definition at line 320 of file pose_estimation_node.cpp.

void hector_pose_estimation::PoseEstimationNode::publishWorldNavTransform ( const ros::TimerEvent & = ros::TimerEvent() ) [protected]

Definition at line 308 of file pose_estimation_node.cpp.

void hector_pose_estimation::PoseEstimationNode::reset ( ) [virtual]

Definition at line 152 of file pose_estimation_node.cpp.

void hector_pose_estimation::PoseEstimationNode::rollpitchCallback ( const sensor_msgs::ImuConstPtr & attitude ) [protected]

Definition at line 193 of file pose_estimation_node.cpp.

void hector_pose_estimation::PoseEstimationNode::syscommandCallback ( const std_msgs::StringConstPtr & syscommand ) [protected]

Definition at line 291 of file pose_estimation_node.cpp.

void hector_pose_estimation::PoseEstimationNode::twistupdateCallback ( const geometry_msgs::TwistWithCovarianceStampedConstPtr & twist ) [protected]

Definition at line 287 of file pose_estimation_node.cpp.