Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes | Private Types
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 }

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.


Member Typedef Documentation

Definition at line 113 of file NavQuestSocketNode.hpp.


Member Enumeration Documentation

anonymous enum [private]
Enumerator:
u 
v 
w 

Definition at line 60 of file NavQuestSocketNode.hpp.


Constructor & Destructor Documentation

Main constructor

Definition at line 71 of file NavQuestSocketNode.cpp.

Generic destructor.

Definition at line 80 of file NavQuestSocketNode.cpp.


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.

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.

Helper function for message decoding.

Definition at line 125 of file NavQuestSocketNode.cpp.

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.


Member Data Documentation

Definition at line 125 of file NavQuestSocketNode.hpp.

Fixed rotation value.

Definition at line 137 of file NavQuestSocketNode.hpp.

The beam publishers.

Definition at line 117 of file NavQuestSocketNode.hpp.

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.

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.

Definition at line 125 of file NavQuestSocketNode.hpp.

Magnetic declination.

Definition at line 141 of file NavQuestSocketNode.hpp.

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.

The speed publishers.

Definition at line 121 of file NavQuestSocketNode.hpp.

Fixed rotation flag.

Definition at line 133 of file NavQuestSocketNode.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