Public Member Functions | Private Types | Private Member Functions | Private Attributes | Static Private Attributes
asctec_hl_gps::GpsConversion Class Reference

#include <gps_conversion.h>

List of all members.

Public Member Functions

 GpsConversion ()

Private Types

typedef
message_filters::sync_policies::ApproximateTime
< sensor_msgs::NavSatFix,
asctec_hl_comm::mav_imu > 		GpsImuSyncPolicy

Private Member Functions

Eigen::Vector3d ecefToEnu (const Eigen::Vector3d &ecef)
void filteredOdometryCallback (const nav_msgs::Odometry &filtered_odometry)
void gpsCallback (const sensor_msgs::NavSatFixConstPtr &gps)
void gpsCustomCallback (const asctec_hl_comm::GpsCustomConstPtr &gps)
void imuCallback (const asctec_hl_comm::mav_imuConstPtr &imu)
void initReference (const double &latitude, const double &longitude, const double &altitude)
void syncCallback (const sensor_msgs::NavSatFixConstPtr &gps, const asctec_hl_comm::mav_imuConstPtr &imu)
Eigen::Vector3d wgs84ToEcef (const double &latitude, const double &longitude, const double &altitude)
geometry_msgs::Point wgs84ToEnu (const double &latitude, const double &longitude, const double &altitude)
bool wgs84ToEnuSrv (asctec_hl_comm::Wgs84ToEnuRequest &wgs84Pt, asctec_hl_comm::Wgs84ToEnuResponse &enuPt)
geometry_msgs::Point wgs84ToNwu (const double &latitude, const double &longitude, const double &altitude)
bool zeroHeightCb (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &resp)

Private Attributes

Eigen::Quaterniond ecef_ref_orientation_
Eigen::Vector3d ecef_ref_point_
ros::Subscriber filtered_odometry_sub_
ros::Publisher gps_custom_pub_
ros::Subscriber gps_custom_sub_
ros::Publisher gps_filtered_pub_
message_filters::Synchronizer
< GpsImuSyncPolicy > 		gps_imu_sync_
ros::Publisher gps_pose_pub_
geometry_msgs::Point gps_position_
ros::Publisher gps_position_nocov_pub_
ros::Publisher gps_position_pub_
ros::Subscriber gps_sub_
message_filters::Subscriber
< sensor_msgs::NavSatFix > 		gps_sub_sync_
ros::ServiceServer gps_to_enu_srv_
bool have_reference_
double height_offset_
ros::Subscriber imu_sub_
message_filters::Subscriber
< asctec_hl_comm::mav_imu > 		imu_sub_sync_
std::unique_ptr< geodesy_ned::Ned > ned_
ros::NodeHandle nh_
const Eigen::Quaterniond Q_90_DEG
double ref_altitude_
double ref_latitude_
double ref_longitude_
bool set_height_zero_
bool use_pressure_height_
ros::ServiceServer zero_height_srv_

Static Private Attributes

static const double DEG2RAD = M_PI/180.0

Detailed Description

Definition at line 35 of file gps_conversion.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::NavSatFix, asctec_hl_comm::mav_imu> asctec_hl_gps::GpsConversion::GpsImuSyncPolicy [private]

Definition at line 41 of file gps_conversion.h.

Constructor & Destructor Documentation

asctec_hl_gps::GpsConversion::GpsConversion ( )

Definition at line 45 of file gps_conversion.cpp.

Member Function Documentation

Eigen::Vector3d asctec_hl_gps::GpsConversion::ecefToEnu ( const Eigen::Vector3d &  ecef) [private]

Definition at line 314 of file gps_conversion.cpp.

void asctec_hl_gps::GpsConversion::filteredOdometryCallback ( const nav_msgs::Odometry &  filtered_odometry) [private]

Definition at line 243 of file gps_conversion.cpp.

void asctec_hl_gps::GpsConversion::gpsCallback ( const sensor_msgs::NavSatFixConstPtr &  gps) [private]

Definition at line 140 of file gps_conversion.cpp.

void asctec_hl_gps::GpsConversion::gpsCustomCallback ( const asctec_hl_comm::GpsCustomConstPtr &  gps) [private]

Definition at line 171 of file gps_conversion.cpp.

void asctec_hl_gps::GpsConversion::imuCallback ( const asctec_hl_comm::mav_imuConstPtr &  imu) [private]

Definition at line 203 of file gps_conversion.cpp.

void asctec_hl_gps::GpsConversion::initReference ( const double &  latitude,
const double &  longitude,
const double &  altitude 
) [private]

Definition at line 268 of file gps_conversion.cpp.

void asctec_hl_gps::GpsConversion::syncCallback ( const sensor_msgs::NavSatFixConstPtr &  gps,
const asctec_hl_comm::mav_imuConstPtr &  imu 
) [private]

Definition at line 104 of file gps_conversion.cpp.

Eigen::Vector3d asctec_hl_gps::GpsConversion::wgs84ToEcef ( const double &  latitude,
const double &  longitude,
const double &  altitude 
) [private]

Definition at line 294 of file gps_conversion.cpp.

geometry_msgs::Point asctec_hl_gps::GpsConversion::wgs84ToEnu ( const double &  latitude,
const double &  longitude,
const double &  altitude 
) [private]

Definition at line 319 of file gps_conversion.cpp.

bool asctec_hl_gps::GpsConversion::wgs84ToEnuSrv ( asctec_hl_comm::Wgs84ToEnuRequest &  wgs84Pt,
asctec_hl_comm::Wgs84ToEnuResponse &  enuPt 
) [private]

Definition at line 355 of file gps_conversion.cpp.

geometry_msgs::Point asctec_hl_gps::GpsConversion::wgs84ToNwu ( const double &  latitude,
const double &  longitude,
const double &  altitude 
) [private]

Definition at line 337 of file gps_conversion.cpp.

bool asctec_hl_gps::GpsConversion::zeroHeightCb ( std_srvs::EmptyRequest &  req,
std_srvs::EmptyResponse &  resp 
) [private]

Definition at line 98 of file gps_conversion.cpp.

Member Data Documentation

const double asctec_hl_gps::GpsConversion::DEG2RAD = M_PI/180.0 [static, private]

Definition at line 43 of file gps_conversion.h.

Eigen::Quaterniond asctec_hl_gps::GpsConversion::ecef_ref_orientation_ [private]

Definition at line 72 of file gps_conversion.h.

Eigen::Vector3d asctec_hl_gps::GpsConversion::ecef_ref_point_ [private]

Definition at line 71 of file gps_conversion.h.

ros::Subscriber asctec_hl_gps::GpsConversion::filtered_odometry_sub_ [private]

Definition at line 63 of file gps_conversion.h.

ros::Publisher asctec_hl_gps::GpsConversion::gps_custom_pub_ [private]

Definition at line 50 of file gps_conversion.h.

ros::Subscriber asctec_hl_gps::GpsConversion::gps_custom_sub_ [private]

Definition at line 61 of file gps_conversion.h.

ros::Publisher asctec_hl_gps::GpsConversion::gps_filtered_pub_ [private]

Definition at line 51 of file gps_conversion.h.

message_filters::Synchronizer<GpsImuSyncPolicy> asctec_hl_gps::GpsConversion::gps_imu_sync_ [private]

Definition at line 58 of file gps_conversion.h.

ros::Publisher asctec_hl_gps::GpsConversion::gps_pose_pub_ [private]

Definition at line 47 of file gps_conversion.h.

geometry_msgs::Point asctec_hl_gps::GpsConversion::gps_position_ [private]

Definition at line 65 of file gps_conversion.h.

ros::Publisher asctec_hl_gps::GpsConversion::gps_position_nocov_pub_ [private]

Definition at line 49 of file gps_conversion.h.

ros::Publisher asctec_hl_gps::GpsConversion::gps_position_pub_ [private]

Definition at line 48 of file gps_conversion.h.

ros::Subscriber asctec_hl_gps::GpsConversion::gps_sub_ [private]

Definition at line 60 of file gps_conversion.h.

message_filters::Subscriber<sensor_msgs::NavSatFix> asctec_hl_gps::GpsConversion::gps_sub_sync_ [private]

Definition at line 56 of file gps_conversion.h.

ros::ServiceServer asctec_hl_gps::GpsConversion::gps_to_enu_srv_ [private]

Definition at line 54 of file gps_conversion.h.

bool asctec_hl_gps::GpsConversion::have_reference_ [private]

Definition at line 67 of file gps_conversion.h.

double asctec_hl_gps::GpsConversion::height_offset_ [private]

Definition at line 74 of file gps_conversion.h.

ros::Subscriber asctec_hl_gps::GpsConversion::imu_sub_ [private]

Definition at line 62 of file gps_conversion.h.

message_filters::Subscriber<asctec_hl_comm::mav_imu> asctec_hl_gps::GpsConversion::imu_sub_sync_ [private]

Definition at line 57 of file gps_conversion.h.

std::unique_ptr<geodesy_ned::Ned> asctec_hl_gps::GpsConversion::ned_ [private]

Definition at line 79 of file gps_conversion.h.

ros::NodeHandle asctec_hl_gps::GpsConversion::nh_ [private]

Definition at line 46 of file gps_conversion.h.

const Eigen::Quaterniond asctec_hl_gps::GpsConversion::Q_90_DEG [private]

Definition at line 44 of file gps_conversion.h.

double asctec_hl_gps::GpsConversion::ref_altitude_ [private]

Definition at line 70 of file gps_conversion.h.

double asctec_hl_gps::GpsConversion::ref_latitude_ [private]

Definition at line 68 of file gps_conversion.h.

double asctec_hl_gps::GpsConversion::ref_longitude_ [private]

Definition at line 69 of file gps_conversion.h.

bool asctec_hl_gps::GpsConversion::set_height_zero_ [private]

Definition at line 75 of file gps_conversion.h.

bool asctec_hl_gps::GpsConversion::use_pressure_height_ [private]

Definition at line 77 of file gps_conversion.h.

ros::ServiceServer asctec_hl_gps::GpsConversion::zero_height_srv_ [private]

Definition at line 53 of file gps_conversion.h.

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

asctec_hl_gps
Author(s): Markus Achtelik
autogenerated on Thu Jun 6 2019 20:57:13