#include <hil_interface.h>
Inheritance diagram for rotors_hil::HilStateLevelInterface:
Public Member Functions | |
| std::vector< mavros_msgs::Mavlink > | CollectData () |
| Gather data collected from ROS messages into MAVLINK messages. More... | |
| HilStateLevelInterface (const Eigen::Quaterniond &q_S_B) | |
| Constructor. More... | |
| virtual | ~HilStateLevelInterface () |
| Destructor. More... | |
 Public Member Functions inherited from rotors_hil::HilInterface | |
| virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ~HilInterface () |
| Destructor. More... | |
Private Attributes | |
| mavlink_hil_state_quaternion_t | hil_state_qtrn_msg_ |
| MAVLINK HIL_STATE_QUATERNION message. More... | |
Additional Inherited Members | |
| Protected Attributes inherited from rotors_hil::HilInterface | |
| 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 122 of file hil_interface.h.
Constructor & Destructor Documentation
◆ HilStateLevelInterface()
| rotors_hil::HilStateLevelInterface::HilStateLevelInterface | ( | const Eigen::Quaterniond & | q_S_B | ) |
Constructor.
- Parameters
-
[in] q_S_B Quaternion rotation from body frame to NED frame.
Definition at line 21 of file hil_state_level_interface.cpp.
◆ ~HilStateLevelInterface()
|
virtual |
Destructor.
Definition at line 61 of file hil_state_level_interface.cpp.
Member Function Documentation
◆ CollectData()
|
virtual |
Gather data collected from ROS messages into MAVLINK messages.
- Returns
- Vector of MAVLINK messages (in MAVROS format) to be publised.
Implements rotors_hil::HilInterface.
Definition at line 64 of file hil_state_level_interface.cpp.
Member Data Documentation
◆ hil_state_qtrn_msg_
|
private |
MAVLINK HIL_STATE_QUATERNION message.
Definition at line 135 of file hil_interface.h.
The documentation for this class was generated from the following files: