navsat_transform.h

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/*
 * Copyright (c) 2015, Charles River Analytics, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions
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 * notice, this list of conditions and the following disclaimer.
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 * disclaimer in the documentation and/or other materials provided
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#include <ros/ros.h>

#include <nav_msgs/Odometry.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/NavSatFix.h>

#include <tf/transform_datatypes.h>

#include <Eigen/Dense>

namespace RobotLocalization
{
  class NavSatTransform
  {
    public:

      NavSatTransform();

      ~NavSatTransform();

      void run();

    private:

      bool broadcastUtmTransform_;

      double magneticDeclination_;

      double utmOdomTfYaw_;

      bool hasGps_;

      bool hasOdom_;

      bool hasImu_;

      bool transformGood_;

      bool gpsUpdated_;

      bool odomUpdated_;

      ros::Time gpsUpdateTime_;

      ros::Time odomUpdateTime_;

      double yawOffset_;

      bool zeroAltitude_;

      bool publishGps_;

      bool useOdometryYaw_;

      std::string worldFrameId_;

      std::string utmZone_;

      tf::Pose latestWorldPose_;

      tf::Pose latestUtmPose_;

      tf::Quaternion latestOrientation_;

      Eigen::MatrixXd latestUtmCovariance_;

      Eigen::MatrixXd latestOdomCovariance_;

      tf::Transform utmWorldTransform_;

      tf::Transform utmWorldTransInverse_;

      void odomCallback(const nav_msgs::OdometryConstPtr& msg);

      void gpsFixCallback(const sensor_msgs::NavSatFixConstPtr& msg);

      void imuCallback(const sensor_msgs::ImuConstPtr& msg);

      void computeTransform();

      bool prepareGpsOdometry(nav_msgs::Odometry &gpsOdom);

      bool prepareFilteredGps(sensor_msgs::NavSatFix &filteredGps);
  };
}