rotors_hil::HilInterface Class Reference

#include <hil_interface.h>

Inheritance diagram for rotors_hil::HilInterface:

Public Member Functions
virtual std::vector< mavros_msgs::Mavlink >	CollectData ()=0
	Gather data collected from ROS messages into MAVLINK messages. More...
virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW	~HilInterface ()
	Destructor. More...

Protected Attributes
ros::Subscriber	air_speed_sub_
	ROS air speed subscriber. More...
ros::Subscriber	gps_sub_
	ROS GPS subscriber. More...
ros::Subscriber	ground_speed_sub_
	ROS ground speed subscriber. More...
HilData	hil_data_
	Object for storing the latest data. More...
HilListeners	hil_listeners_
	Object with callbacks for receiving data. More...
ros::Subscriber	imu_sub_
	ROS IMU subscriber. More...
ros::Subscriber	mag_sub_
	ROS magnetometer subscriber. More...
boost::mutex	mtx_
	Mutex lock for thread safety of reading hil data. More...
ros::NodeHandle	nh_
	ROS node handle. More...
ros::Subscriber	pressure_sub_
	ROS air pressure subscriber. More...
Eigen::Quaterniond	q_S_B_
	Rotation, in quaternion form, from body into sensor (NED) frame. More...
Eigen::Matrix3f	R_S_B_
	Rotation, in matrix form, from body into sensor (NED) frame. More...

Detailed Description

Definition at line 48 of file hil_interface.h.

Constructor & Destructor Documentation

~HilInterface()

virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW rotors_hil::HilInterface::~HilInterface ( )

inlinevirtual

Destructor.

Definition at line 53 of file hil_interface.h.

Member Function Documentation

CollectData()

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.

Member Data Documentation

air_speed_sub_

ros::Subscriber rotors_hil::HilInterface::air_speed_sub_

protected

ROS air speed subscriber.

Definition at line 64 of file hil_interface.h.

gps_sub_

ros::Subscriber rotors_hil::HilInterface::gps_sub_

protected

ROS GPS subscriber.

Definition at line 67 of file hil_interface.h.

ground_speed_sub_

ros::Subscriber rotors_hil::HilInterface::ground_speed_sub_

protected

ROS ground speed subscriber.

Definition at line 70 of file hil_interface.h.

hil_data_

HilData rotors_hil::HilInterface::hil_data_

protected

Object for storing the latest data.

Definition at line 88 of file hil_interface.h.

hil_listeners_

HilListeners rotors_hil::HilInterface::hil_listeners_

protected

Object with callbacks for receiving data.

Definition at line 91 of file hil_interface.h.

imu_sub_

ros::Subscriber rotors_hil::HilInterface::imu_sub_

protected

ROS IMU subscriber.

Definition at line 73 of file hil_interface.h.

mag_sub_

ros::Subscriber rotors_hil::HilInterface::mag_sub_

protected

ROS magnetometer subscriber.

Definition at line 76 of file hil_interface.h.

mtx_

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.

nh_

ros::NodeHandle rotors_hil::HilInterface::nh_

protected

ROS node handle.

Definition at line 61 of file hil_interface.h.

pressure_sub_

ros::Subscriber rotors_hil::HilInterface::pressure_sub_

protected

ROS air pressure subscriber.

Definition at line 79 of file hil_interface.h.

q_S_B_

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.

R_S_B_

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