Public Member Functions | Private Types | Private Member Functions | Private Attributes
labust::navigation::NavQuestNode Class Reference

#include <NavQuestNode.hpp>

List of all members.

Public Member Functions

 NavQuestNode ()
void onInit ()
 ~NavQuestNode ()

Private Types

enum  { u = 0, v, w }
typedef BeamPublisher< 4 > NavQuestBP

Private 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 ()
bool setup_port ()
void setup_publishers ()
void start_receive ()
bool test_header (const std::string &match, const std::string &stream)

Private 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::asio::serial_port port
boost::thread runner
std::map< std::string,
TwistPublisher::Ptr
speed_pub
bool useFixed

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 57 of file NavQuestNode.hpp.


Member Typedef Documentation

Definition at line 110 of file NavQuestNode.hpp.


Member Enumeration Documentation

anonymous enum [private]
Enumerator:
u 
v 
w 

Definition at line 59 of file NavQuestNode.hpp.


Constructor & Destructor Documentation

Main constructor

Definition at line 71 of file NavQuestNode.cpp.

Generic destructor.

Definition at line 80 of file NavQuestNode.cpp.


Member Function Documentation

void NavQuestNode::conditionDvlData ( const NQRes &  data) [private]

Condition the data before publishing.

Definition at line 250 of file NavQuestNode.cpp.

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

Handle the incoming data stream.

Definition at line 253 of file NavQuestNode.cpp.

Initialize and setup controller.

Definition at line 86 of file NavQuestNode.cpp.

void NavQuestNode::publishDvlData ( const NQRes &  data) [private]

Publish DVL data.

Definition at line 165 of file NavQuestNode.cpp.

void NavQuestNode::setup_messaging ( ) [private]

Helper function for message decoding.

Definition at line 124 of file NavQuestNode.cpp.

bool NavQuestNode::setup_port ( ) [private]

The serial port setup helper method.

Definition at line 142 of file NavQuestNode.cpp.

void NavQuestNode::setup_publishers ( ) [private]

Helper topic publisher.

Definition at line 129 of file NavQuestNode.cpp.

void NavQuestNode::start_receive ( ) [private]

The start receive helper function.

Definition at line 134 of file NavQuestNode.cpp.

bool NavQuestNode::test_header ( const std::string &  match,
const std::string &  stream 
) [private]

Helper function for header testing.

Definition at line 160 of file NavQuestNode.cpp.


Member Data Documentation

Definition at line 122 of file NavQuestNode.hpp.

Fixed rotation value.

Definition at line 134 of file NavQuestNode.hpp.

The beam publishers.

Definition at line 114 of file NavQuestNode.hpp.

The transform broadcaster.

Definition at line 126 of file NavQuestNode.hpp.

boost::asio::streambuf labust::navigation::NavQuestNode::buffer [private]

The input buffer.

Definition at line 156 of file NavQuestNode.hpp.

The speed publishers.

Definition at line 122 of file NavQuestNode.hpp.

boost::asio::io_service labust::navigation::NavQuestNode::io [private]

Hardware i/o service.

Definition at line 144 of file NavQuestNode.hpp.

Definition at line 122 of file NavQuestNode.hpp.

Magnetic declination.

Definition at line 138 of file NavQuestNode.hpp.

boost::asio::serial_port labust::navigation::NavQuestNode::port [private]

The serial input port.

Definition at line 148 of file NavQuestNode.hpp.

The main operation thread.

Definition at line 152 of file NavQuestNode.hpp.

The speed publishers.

Definition at line 118 of file NavQuestNode.hpp.

Fixed rotation flag.

Definition at line 130 of file NavQuestNode.hpp.


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


navquest_dvl
Author(s): Gyula Nagy
autogenerated on Thu Jul 10 2014 10:34:00