ekf_interface.h
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00001 /*
00002 
00003 Copyright (c) 2011, Markus Achtelik, ASL, ETH Zurich, Switzerland
00004 You can contact the author at <markus dot achtelik at mavt dot ethz dot ch>
00005 
00006 All rights reserved.
00007 
00008 Redistribution and use in source and binary forms, with or without
00009 modification, are permitted provided that the following conditions are met:
00010 * Redistributions of source code must retain the above copyright
00011 notice, this list of conditions and the following disclaimer.
00012 * Redistributions in binary form must reproduce the above copyright
00013 notice, this list of conditions and the following disclaimer in the
00014 documentation and/or other materials provided with the distribution.
00015 * Neither the name of ETHZ-ASL nor the
00016 names of its contributors may be used to endorse or promote products
00017 derived from this software without specific prior written permission.
00018 
00019 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00020 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00021 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00022 DISCLAIMED. IN NO EVENT SHALL ETHZ-ASL BE LIABLE FOR ANY
00023 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00024 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00025 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00026 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00027 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00028 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00029 
00030 */
00031 
00032 #ifndef __EKF_INTERFACE_H__
00033 #define __EKF_INTERFACE_H__
00034 
00035 #include <ros/ros.h>
00036 #include <sensor_fusion_comm/ExtEkf.h>
00037 
00038 #include "comm.h"
00039 
00040 class EKFInterface
00041 {
00042 private:
00043   ros::NodeHandle nh_;
00044   ros::NodeHandle pnh_;
00045   CommPtr comm_;
00046 
00047   ros::Publisher state_pub_;
00048   ros::Subscriber state_sub_;
00049 
00050   HLI_EKF_STATE ekf_state_msg_;
00051 
00052   void processEkfData(uint8_t * buf, uint32_t bufLength);
00053   void stateCallback(const sensor_fusion_comm::ExtEkfConstPtr & msg);
00054 
00055 public:
00056   EKFInterface(ros::NodeHandle & nh, CommPtr & comm);
00057 };
00058 
00059 
00060 #endif /* HL_POS_EKF_H_ */


asctec_hl_interface
Author(s): Markus Achtelik, Michael Achtelik, Stephan Weiss, Laurent Kneip
autogenerated on Sun Oct 5 2014 22:21:01