nav_node.cpp File Reference

#include <labust/navigation/KFCore.hpp>
#include <labust/navigation/LDTravModel.hpp>
#include <labust/math/NumberManipulation.hpp>
#include <labust/tools/GeoUtilities.hpp>
#include <labust/tools/MatrixLoader.hpp>
#include <labust/tools/conversions.hpp>
#include <labust/tools/DynamicsLoader.hpp>
#include <labust/simulation/DynamicsParams.hpp>
#include <labust/navigation/KFModelLoader.hpp>
#include <kdl/frames.hpp>
#include <auv_msgs/NavSts.h>
#include <auv_msgs/BodyForceReq.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/NavSatFix.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/FluidPressure.h>
#include <geometry_msgs/TwistStamped.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <ros/ros.h>
#include <boost/bind.hpp>
#include <sstream>

Include dependency graph for nav_node.cpp:

Go to the source code of this file.

Typedefs
typedef labust::navigation::KFCore < labust::navigation::LDTravModel >	KFNav
Functions
void	configureNav (KFNav &nav, ros::NodeHandle &nh)
double	g_acc (9.81)
void	handleDvl (KFNav::vector &measurement, KFNav::vector &newFlag, const geometry_msgs::TwistStamped::ConstPtr &data)
void	handleGPS (KFNav::vector &measurement, KFNav::vector &newFlag, const sensor_msgs::NavSatFix::ConstPtr &data)
void	handleImu (KFNav::vector &rpy, const sensor_msgs::Imu::ConstPtr &data)
void	handlePressure (KFNav::vector &measurement, KFNav::vector &newFlag, const std_msgs::Float32::ConstPtr &data)
void	handleTau (KFNav::vector &tauIn, const auv_msgs::BodyForceReq::ConstPtr &tau)
int	main (int argc, char *argv[])
double	rho (1025)
Variables
tf::TransformListener *	listener
ros::Time	t

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Typedef Documentation

typedef labust::navigation::KFCore<labust::navigation::LDTravModel> KFNav

Definition at line 65 of file nav_node.cpp.

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Function Documentation

void configureNav	(	KFNav &	nav,
		ros::NodeHandle &	nh
	)

Definition at line 160 of file nav_node.cpp.

double g_acc

(

9.

81

)

void handleDvl	(	KFNav::vector &	measurement,
		KFNav::vector &	newFlag,
		const geometry_msgs::TwistStamped::ConstPtr &	data
	)

Definition at line 142 of file nav_node.cpp.

void handleGPS	(	KFNav::vector &	measurement,
		KFNav::vector &	newFlag,
		const sensor_msgs::NavSatFix::ConstPtr &	data
	)

Definition at line 79 of file nav_node.cpp.

void handleImu	(	KFNav::vector &	rpy,
		const sensor_msgs::Imu::ConstPtr &	data
	)

Definition at line 109 of file nav_node.cpp.

void handlePressure	(	KFNav::vector &	measurement,
		KFNav::vector &	newFlag,
		const std_msgs::Float32::ConstPtr &	data
	)

Definition at line 153 of file nav_node.cpp.

void handleTau	(	KFNav::vector &	tauIn,
		const auv_msgs::BodyForceReq::ConstPtr &	tau
	)

Definition at line 71 of file nav_node.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 192 of file nav_node.cpp.

double rho

(

1025

)

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Variable Documentation

tf::TransformListener* listener

Definition at line 66 of file nav_node.cpp.

ros::Time t

Definition at line 68 of file nav_node.cpp.