rotors_hil::HilInterface Class Reference

#include <hil_interface.h>

Inheritance diagram for rotors_hil::HilInterface:

List of all members.

Public Member Functions
virtual std::vector < mavros_msgs::Mavlink >	CollectData ()=0
	Gather data collected from ROS messages into MAVLINK messages.
virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW	~HilInterface ()
	Destructor.
Protected Attributes
ros::Subscriber	air_speed_sub_
	ROS air speed subscriber.
ros::Subscriber	gps_sub_
	ROS GPS subscriber.
ros::Subscriber	ground_speed_sub_
	ROS ground speed subscriber.
HilData	hil_data_
	Object for storing the latest data.
HilListeners	hil_listeners_
	Object with callbacks for receiving data.
ros::Subscriber	imu_sub_
	ROS IMU subscriber.
ros::Subscriber	mag_sub_
	ROS magnetometer subscriber.
boost::mutex	mtx_
	Mutex lock for thread safety of reading hil data.
ros::NodeHandle	nh_
	ROS node handle.
ros::Subscriber	pressure_sub_
	ROS air pressure subscriber.
Eigen::Quaterniond	q_S_B_
	Rotation, in quaternion form, from body into sensor (NED) frame.
Eigen::Matrix3f	R_S_B_
	Rotation, in matrix form, from body into sensor (NED) frame.

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Detailed Description

Definition at line 48 of file hil_interface.h.

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Constructor & Destructor Documentation

virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW rotors_hil::HilInterface::~HilInterface

(

)

[inline, virtual]

Destructor.

Definition at line 53 of file hil_interface.h.

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Member Function Documentation

virtual std::vector<mavros_msgs::Mavlink> rotors_hil::HilInterface::CollectData

(

)

[pure virtual]

Gather data collected from ROS messages into MAVLINK messages.

Returns:

Vector of MAVLINK messages (in MAVROS format) to be publised.

Implemented in rotors_hil::HilStateLevelInterface, and rotors_hil::HilSensorLevelInterface.

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Member Data Documentation

ros::Subscriber rotors_hil::HilInterface::air_speed_sub_ [protected]

ROS air speed subscriber.

Definition at line 64 of file hil_interface.h.

ros::Subscriber rotors_hil::HilInterface::gps_sub_ [protected]

ROS GPS subscriber.

Definition at line 67 of file hil_interface.h.

ros::Subscriber rotors_hil::HilInterface::ground_speed_sub_ [protected]

ROS ground speed subscriber.

Definition at line 70 of file hil_interface.h.

HilData rotors_hil::HilInterface::hil_data_ [protected]

Object for storing the latest data.

Definition at line 88 of file hil_interface.h.

HilListeners rotors_hil::HilInterface::hil_listeners_ [protected]

Object with callbacks for receiving data.

Definition at line 91 of file hil_interface.h.

ros::Subscriber rotors_hil::HilInterface::imu_sub_ [protected]

ROS IMU subscriber.

Definition at line 73 of file hil_interface.h.

ros::Subscriber rotors_hil::HilInterface::mag_sub_ [protected]

ROS magnetometer subscriber.

Definition at line 76 of file hil_interface.h.

boost::mutex rotors_hil::HilInterface::mtx_ [protected]

Mutex lock for thread safety of reading hil data.

Definition at line 94 of file hil_interface.h.

ros::NodeHandle rotors_hil::HilInterface::nh_ [protected]

ROS node handle.

Definition at line 61 of file hil_interface.h.

ros::Subscriber rotors_hil::HilInterface::pressure_sub_ [protected]

ROS air pressure subscriber.

Definition at line 79 of file hil_interface.h.

Eigen::Quaterniond rotors_hil::HilInterface::q_S_B_ [protected]

Rotation, in quaternion form, from body into sensor (NED) frame.

Definition at line 82 of file hil_interface.h.

Eigen::Matrix3f rotors_hil::HilInterface::R_S_B_ [protected]

Rotation, in matrix form, from body into sensor (NED) frame.

Definition at line 85 of file hil_interface.h.

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

• hil_interface.h