USBLFilter.hpp
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00001 /*********************************************************************
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00034 *  Author: Dula Nad
00035 *  Created: 02.04.2013.
00036 *********************************************************************/
00037 #ifndef USBLFILTER_HPP_
00038 #define USBLFILTER_HPP_
00039 #include <labust/navigation/KFCore.hpp>
00040 #include <labust/navigation/KinematicModel.hpp>
00041 
00042 #include <tf/transform_listener.h>
00043 #include <geometry_msgs/PointStamped.h>
00044 #include <nodelet/nodelet.h>
00045 #include <ros/ros.h>
00046 
00047 #include <boost/thread.hpp>
00048 
00049 #include <string>
00050 
00051 namespace labust
00052 {
00053         namespace tritech
00054         {
00058                 class USBLFilter : public nodelet::Nodelet
00059                 {
00060                         typedef labust::navigation::KFCore<labust::navigation::KinematicModel> KFilter;
00061                 public:
00065                         USBLFilter();
00069                         ~USBLFilter();
00070 
00074                         void onInit();
00078                         void run();
00079 
00080                 protected:
00084                         void onUsbl(const geometry_msgs::PointStamped::ConstPtr& msg);
00088                         void configureModel(ros::NodeHandle& nh);
00089 
00093                         KFilter filter;
00097                         double depth;
00101                         boost::mutex dataMux;
00106                         boost::thread worker;
00107 
00111                         ros::Publisher navPub;
00115                         ros::Subscriber usblSub;
00119                         tf::TransformListener listener;
00123                         int timeout, iteration;
00127                         double maxSpeed;
00128 
00129                 };
00130         }
00131 }
00132 
00133 /* USBLNODELET_HPP_ */
00134 #endif
00135 
00136 
00137 


usbl
Author(s): Gyula Nagy
autogenerated on Thu Jul 10 2014 10:34:21