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

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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 57 of file NavQuestNode.hpp.

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Member Typedef Documentation

typedef BeamPublisher<4> labust::navigation::NavQuestNode::NavQuestBP [private]

Definition at line 110 of file NavQuestNode.hpp.

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Member Enumeration Documentation

anonymous enum [private]

Enumerator:

u
v
w

Definition at line 59 of file NavQuestNode.hpp.

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Constructor & Destructor Documentation

NavQuestNode::NavQuestNode

(

)

Main constructor

Definition at line 71 of file NavQuestNode.cpp.

NavQuestNode::~NavQuestNode

(

)

Generic destructor.

Definition at line 80 of file NavQuestNode.cpp.

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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.

void NavQuestNode::onInit

(

)

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.

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Member Data Documentation

ros::Publisher labust::navigation::NavQuestNode::altitude [private]

Definition at line 122 of file NavQuestNode.hpp.

double labust::navigation::NavQuestNode::base_orientation [private]

Fixed rotation value.

Definition at line 134 of file NavQuestNode.hpp.

std::map<std::string, NavQuestBP::Ptr > labust::navigation::NavQuestNode::beam_pub [private]

The beam publishers.

Definition at line 114 of file NavQuestNode.hpp.

tf::TransformBroadcaster labust::navigation::NavQuestNode::broadcast [private]

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.

ros::Publisher labust::navigation::NavQuestNode::imuPub [private]

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.

ros::Publisher labust::navigation::NavQuestNode::lock [private]

Definition at line 122 of file NavQuestNode.hpp.

double labust::navigation::NavQuestNode::magnetic_declination [private]

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.

boost::thread labust::navigation::NavQuestNode::runner [private]

The main operation thread.

Definition at line 152 of file NavQuestNode.hpp.

std::map<std::string, TwistPublisher::Ptr > labust::navigation::NavQuestNode::speed_pub [private]

The speed publishers.

Definition at line 118 of file NavQuestNode.hpp.

bool labust::navigation::NavQuestNode::useFixed [private]

Fixed rotation flag.

Definition at line 130 of file NavQuestNode.hpp.

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

• NavQuestNode.hpp
• NavQuestNode.cpp