xbot::Odometry Class Reference

Odometry for the xbot node. More...

#include <odometry.hpp>

Public Member Functions
bool	commandTimeout () const
void	init (ros::NodeHandle &nh, const std::string &name)
	Odometry ()
void	resetOdometry ()
void	resetTimeout ()
const ros::Duration &	timeout () const
void	update (const ecl::Pose2D< double > &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates, double imu_heading, double imu_angular_velocity)

Private Member Functions
void	publishOdometry (const geometry_msgs::Quaternion &odom_quat, const ecl::linear_algebra::Vector3d &pose_update_rates)
void	publishTransform (const geometry_msgs::Quaternion &odom_quat)

Private Attributes
std::string	base_frame
ros::Duration	cmd_vel_timeout
ros::Time	last_cmd_time
tf::TransformBroadcaster	odom_broadcaster
std::string	odom_frame
ros::Publisher	odom_publisher
geometry_msgs::TransformStamped	odom_trans
ecl::Pose2D< double >	pose
bool	publish_tf
bool	use_imu_heading

Detailed Description

Odometry for the xbot node.

Definition at line 39 of file odometry.hpp.

Constructor & Destructor Documentation

xbot::Odometry::Odometry

(

)

Definition at line 26 of file odometry.cpp.

Member Function Documentation

bool xbot::Odometry::commandTimeout

(

)

const

Definition at line 92 of file odometry.cpp.

void xbot::Odometry::init	(	ros::NodeHandle &	nh,
		const std::string &	name
	)

Definition at line 32 of file odometry.cpp.

void xbot::Odometry::publishOdometry ( const geometry_msgs::Quaternion &  odom_quat, const ecl::linear_algebra::Vector3d &  pose_update_rates  )

private

Definition at line 137 of file odometry.cpp.

void xbot::Odometry::publishTransform ( const geometry_msgs::Quaternion &  odom_quat )

private

Definition at line 126 of file odometry.cpp.

void xbot::Odometry::resetOdometry ( )

inline

Definition at line 46 of file odometry.hpp.

void xbot::Odometry::resetTimeout ( )

inline

Definition at line 48 of file odometry.hpp.

const ros::Duration& xbot::Odometry::timeout ( ) const

inline

Definition at line 47 of file odometry.hpp.

void xbot::Odometry::update	(	const ecl::Pose2D< double > &	pose_update,
		ecl::linear_algebra::Vector3d &	pose_update_rates,
		double	imu_heading,
		double	imu_angular_velocity
	)

Definition at line 101 of file odometry.cpp.

Member Data Documentation

std::string xbot::Odometry::base_frame

private

Definition at line 54 of file odometry.hpp.

ros::Duration xbot::Odometry::cmd_vel_timeout

private

Definition at line 55 of file odometry.hpp.

ros::Time xbot::Odometry::last_cmd_time

private

Definition at line 56 of file odometry.hpp.

tf::TransformBroadcaster xbot::Odometry::odom_broadcaster

private

Definition at line 59 of file odometry.hpp.

std::string xbot::Odometry::odom_frame

private

Definition at line 53 of file odometry.hpp.

ros::Publisher xbot::Odometry::odom_publisher

private

Definition at line 60 of file odometry.hpp.

geometry_msgs::TransformStamped xbot::Odometry::odom_trans

private

Definition at line 51 of file odometry.hpp.

ecl::Pose2D<double> xbot::Odometry::pose

private

Definition at line 52 of file odometry.hpp.

bool xbot::Odometry::publish_tf

private

Definition at line 57 of file odometry.hpp.

bool xbot::Odometry::use_imu_heading

private

Definition at line 58 of file odometry.hpp.

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

• odometry.hpp
• odometry.cpp