sbg::ConfigStore Class Reference

#include <config_store.h>

Classes
struct	SbgLogOutput

Public Member Functions
bool	checkConfigWithRos (void) const
bool	checkRosStandardMessages (void) const
	ConfigStore (void)
const SbgEComAidingAssignConf &	getAidingAssignement (void) const
uint32_t	getBaudRate (void) const
const std::string &	getFrameId (void) const
const SbgEComGnssInstallation &	getGnssInstallation (void) const
const SbgEComModelInfo &	getGnssModel (void) const
const SbgEComGnssRejectionConf &	getGnssRejection (void) const
const SbgEComInitConditionConf &	getInitialConditions (void) const
uint32_t	getInputPortAddress (void) const
sbgIpAddress	getIpAddress (void) const
const SbgEComMagCalibBandwidth &	getMagnetometerCalibBandwidth (void) const
const SbgEComMagCalibMode &	getMagnetometerCalibMode (void) const
const SbgEComModelInfo &	getMagnetometerModel (void) const
const SbgEComMagRejectionConf &	getMagnetometerRejection (void) const
const SbgEComModelInfo &	getMotionProfile (void) const
const std::string &	getOdomBaseFrameId (void) const
bool	getOdomEnable (void) const
const SbgEComOdoConf &	getOdometerConf (void) const
const SbgVector3< float > &	getOdometerLevelArms (void) const
const SbgEComOdoRejectionConf &	getOdometerRejection (void) const
const std::string &	getOdomFrameId (void) const
const std::string &	getOdomInitFrameId (void) const
bool	getOdomPublishTf (void) const
const std::vector< SbgLogOutput > &	getOutputModes (void) const
SbgEComOutputPort	getOutputPort (void) const
uint32_t	getOutputPortAddress (void) const
uint32_t	getReadingRateFrequency (void) const
const SbgEComSensorAlignmentInfo &	getSensorAlignement (void) const
const SbgVector3< float > &	getSensorLevelArms (void) const
TimeReference	getTimeReference (void) const
const std::string &	getUartPortName (void) const
bool	getUseEnu (void) const
bool	isInterfaceSerial (void) const
bool	isInterfaceUdp (void) const
void	loadFromRosNodeHandle (const ros::NodeHandle &ref_node_handle)

Private Member Functions
template<typename T >
T	getParameter (const ros::NodeHandle &ref_node_handle, std::string param_key, int default_value) const
void	loadAidingAssignementParameters (const ros::NodeHandle &ref_node_handle)
void	loadCommunicationParameters (const ros::NodeHandle &ref_node_handle)
void	loadDriverParameters (const ros::NodeHandle &ref_node_handle)
void	loadGnssParameters (const ros::NodeHandle &ref_node_handle)
void	loadImuAlignementParameters (const ros::NodeHandle &ref_node_handle)
void	loadMagnetometersParameters (const ros::NodeHandle &ref_node_handle)
void	loadOdometerParameters (const ros::NodeHandle &ref_node_handle)
void	loadOdomParameters (const ros::NodeHandle &ref_node_handle)
void	loadOutputConfiguration (const ros::NodeHandle &ref_node_handle, const std::string &ref_key, SbgEComClass sbg_msg_class, SbgEComMsgId sbg_msg_id)
void	loadOutputFrameParameters (const ros::NodeHandle &ref_node_handle)
void	loadOutputTimeReference (const ros::NodeHandle &ref_node_handle, const std::string &ref_key)
void	loadSensorParameters (const ros::NodeHandle &ref_node_handle)

Private Attributes
SbgEComAidingAssignConf	m_aiding_assignement_conf_
bool	m_configure_through_ros_
std::string	m_frame_id_
SbgEComGnssInstallation	m_gnss_installation_
SbgEComModelInfo	m_gnss_model_info_
SbgEComGnssRejectionConf	m_gnss_rejection_conf_
uint32_t	m_in_port_address_
SbgEComInitConditionConf	m_init_condition_conf_
SbgEComMagCalibBandwidth	m_mag_calib_bandwidth_
SbgEComMagCalibMode	m_mag_calib_mode_
SbgEComModelInfo	m_mag_model_info_
SbgEComMagRejectionConf	m_mag_rejection_conf_
SbgEComModelInfo	m_motion_profile_model_info_
std::string	m_odom_base_frame_id_
bool	m_odom_enable_
std::string	m_odom_frame_id_
std::string	m_odom_init_frame_id_
bool	m_odom_publish_tf_
SbgEComOdoConf	m_odometer_conf_
SbgVector3< float >	m_odometer_level_arm_
SbgEComOdoRejectionConf	m_odometer_rejection_conf_
uint32_t	m_out_port_address_
std::vector< SbgLogOutput >	m_output_modes_
SbgEComOutputPort	m_output_port_
uint32_t	m_rate_frequency_
bool	m_ros_standard_output_
sbgIpAddress	m_sbg_ip_address_
SbgEComSensorAlignmentInfo	m_sensor_alignement_info_
SbgVector3< float >	m_sensor_lever_arm_
bool	m_serial_communication_
TimeReference	m_time_reference_
uint32_t	m_uart_baud_rate_
std::string	m_uart_port_name_
bool	m_upd_communication_
bool	m_use_enu_

Detailed Description

Class to handle the device configuration.

Definition at line 60 of file config_store.h.

Constructor & Destructor Documentation

ConfigStore()

ConfigStore::ConfigStore

(

void

)

Default constructor.

Class to handle the device configuration.

Definition at line 13 of file config_store.cpp.

Member Function Documentation

checkConfigWithRos()

bool ConfigStore::checkConfigWithRos

(

void

)

const

Check if the configuration should be done with ROS.

Returns

True if the ROS driver has to configure the device.

Definition at line 198 of file config_store.cpp.

checkRosStandardMessages()

bool ConfigStore::checkRosStandardMessages

(

void

)

const

Check if the ROS standard outputs are defined.

Returns

True if standard ROS messages output are defined.

Definition at line 323 of file config_store.cpp.

getAidingAssignement()

const SbgEComAidingAssignConf & ConfigStore::getAidingAssignement

(

void

)

const

Get the aiding assignement configuration.

Returns

Aiding assignement configuration.

Definition at line 263 of file config_store.cpp.

getBaudRate()

uint32_t ConfigStore::getBaudRate

(

void

)

const

Get the UART baudrate communication.

Returns

UART serial baudrate.

Definition at line 213 of file config_store.cpp.

getFrameId()

const std::string & ConfigStore::getFrameId

(

void

)

const

Get the frame ID.

Returns

Frame ID.

Definition at line 333 of file config_store.cpp.

getGnssInstallation()

const SbgEComGnssInstallation & ConfigStore::getGnssInstallation

(

void

)

const

Get the Gnss installation configuration.

Returns

Gnss installation configuration.

Definition at line 293 of file config_store.cpp.

getGnssModel()

const SbgEComModelInfo & ConfigStore::getGnssModel

(

void

)

const

Get the Gnss model configuration.

Returns

Gnss model configuration.

Definition at line 288 of file config_store.cpp.

getGnssRejection()

const SbgEComGnssRejectionConf & ConfigStore::getGnssRejection

(

void

)

const

Get the Gnss rejection configuration.

Returns

Gnss rejection configuration.

Definition at line 298 of file config_store.cpp.

getInitialConditions()

const SbgEComInitConditionConf & ConfigStore::getInitialConditions

(

void

)

const

Get the initial conditions configuration.

Returns

Initial conditions configuration.

Definition at line 243 of file config_store.cpp.

getInputPortAddress()

uint32_t ConfigStore::getInputPortAddress

(

void

)

const

Get the input port.

Returns

Input port.

Definition at line 238 of file config_store.cpp.

getIpAddress()

sbgIpAddress ConfigStore::getIpAddress

(

void

)

const

Get the Ip address of the interface.

Returns

Ip address.

Definition at line 228 of file config_store.cpp.

getMagnetometerCalibBandwidth()

const SbgEComMagCalibBandwidth & ConfigStore::getMagnetometerCalibBandwidth

(

void

)

const

Get the magnetometer calibration bandwidth.

Returns

Magnetometer calibration bandwidth.

Definition at line 283 of file config_store.cpp.

getMagnetometerCalibMode()

const SbgEComMagCalibMode & ConfigStore::getMagnetometerCalibMode

(

void

)

const

Get the magnetometer calibration mode.

Returns

Magnetometer calibration mode.

Definition at line 278 of file config_store.cpp.

getMagnetometerModel()

const SbgEComModelInfo & ConfigStore::getMagnetometerModel

(

void

)

const

Get the magnetometer model configuration.

Returns

Magnetometer model configuration.

Definition at line 268 of file config_store.cpp.

getMagnetometerRejection()

const SbgEComMagRejectionConf & ConfigStore::getMagnetometerRejection

(

void

)

const

Get the magnetometer rejection configuration.

Returns

Magnetometer rejection configuration.

Definition at line 273 of file config_store.cpp.

getMotionProfile()

const SbgEComModelInfo & ConfigStore::getMotionProfile

(

void

)

const

Get the motion profile configuration.

Returns

Motion profile configuration.

Definition at line 248 of file config_store.cpp.

getOdomBaseFrameId()

const std::string & ConfigStore::getOdomBaseFrameId

(

void

)

const

Get the odometry base frame ID.

Returns

Odometry base frame ID.

Definition at line 363 of file config_store.cpp.

getOdomEnable()

bool ConfigStore::getOdomEnable

(

void

)

const

Get odom enable.

Returns

True if the odometry is enabled.

Definition at line 348 of file config_store.cpp.

getOdometerConf()

const SbgEComOdoConf & ConfigStore::getOdometerConf

(

void

)

const

Get the odometer configuration.

Returns

Odometer configuration.

Definition at line 303 of file config_store.cpp.

getOdometerLevelArms()

const sbg::SbgVector3< float > & ConfigStore::getOdometerLevelArms

(

void

)

const

Get the odometer level arms.

Returns

Odometer level arms vector (in meters).

Definition at line 308 of file config_store.cpp.

getOdometerRejection()

const SbgEComOdoRejectionConf & ConfigStore::getOdometerRejection

(

void

)

const

Get the odometer rejection.

Returns

Odometer rejection configuration.

Definition at line 313 of file config_store.cpp.

getOdomFrameId()

const std::string & ConfigStore::getOdomFrameId

(

void

)

const

Get the odometry frame ID.

Returns

Odometry frame ID.

Definition at line 358 of file config_store.cpp.

getOdomInitFrameId()

const std::string & ConfigStore::getOdomInitFrameId

(

void

)

const

Get the odometry init frame ID.

Returns

Odometry init frame ID.

Definition at line 368 of file config_store.cpp.

getOdomPublishTf()

bool ConfigStore::getOdomPublishTf

(

void

)

const

Get odom publish_tf.

Returns

If true publish odometry transforms.

Definition at line 353 of file config_store.cpp.

getOutputModes()

const std::vector< ConfigStore::SbgLogOutput > & ConfigStore::getOutputModes

(

void

)

const

Get all the output modes.

Returns

Output mode for this config store.

Definition at line 318 of file config_store.cpp.

getOutputPort()

SbgEComOutputPort ConfigStore::getOutputPort

(

void

)

const

Get the output port of the device.

Returns

SBG device output port.

Definition at line 218 of file config_store.cpp.

getOutputPortAddress()

uint32_t ConfigStore::getOutputPortAddress

(

void

)

const

Get the output port.

Returns

Output port.

Definition at line 233 of file config_store.cpp.

getParameter()

template<typename T >

T sbg::ConfigStore::getParameter ( const ros::NodeHandle &  ref_node_handle, std::string  param_key, int  default_value  ) const

inlineprivate

Get the ROS integer parameter casted in the T type. This function has the same behavior as the param base function, however it enables an implicit cast, and the use of const NodeHandle.

T Template type to cast the ROS param to.

Parameters

[in]	ref_node_handle	ROS NodeHandle.
[in]	param_key	Parameter key.
[in]	default_value	Default value for the parameter.

Returns

ROS integer parameter casted.

Definition at line 139 of file config_store.h.

getReadingRateFrequency()

uint32_t ConfigStore::getReadingRateFrequency

(

void

)

const

Get the reading frequency defined in settings. If this frequency is null, the driver will automatically configure the max output frequency according to the outputs.

Returns

Rate frequency parameter (in Hz).

Definition at line 328 of file config_store.cpp.

getSensorAlignement()

const SbgEComSensorAlignmentInfo & ConfigStore::getSensorAlignement

(

void

)

const

Get the sensor alignement configuration.

Returns

Sensor alignement configuration.

Definition at line 253 of file config_store.cpp.

getSensorLevelArms()

const sbg::SbgVector3< float > & ConfigStore::getSensorLevelArms

(

void

)

const

Get the sensor level arms.

Returns

Sensor level arms vector (in meters).

Definition at line 258 of file config_store.cpp.

getTimeReference()

sbg::TimeReference ConfigStore::getTimeReference

(

void

)

const

Get the time reference.

Returns

Time reference.

Definition at line 343 of file config_store.cpp.

getUartPortName()

const std::string & ConfigStore::getUartPortName

(

void

)

const

Get the UART port name.

Returns

UART serial port name.

Definition at line 208 of file config_store.cpp.

getUseEnu()

bool ConfigStore::getUseEnu

(

void

)

const

Get use ENU.

Returns

True if the frame convention to use is ENU.

Definition at line 338 of file config_store.cpp.

isInterfaceSerial()

bool ConfigStore::isInterfaceSerial

(

void

)

const

Check if the interface configuration is a serial interface.

Returns

True if the interface is serial, False otherwise.

Definition at line 203 of file config_store.cpp.

isInterfaceUdp()

bool ConfigStore::isInterfaceUdp

(

void

)

const

Check if the interface configuration is a UDP interface.

Returns

True if the interface is UDP, False otherwise.

Definition at line 223 of file config_store.cpp.

loadAidingAssignementParameters()

void ConfigStore::loadAidingAssignementParameters ( const ros::NodeHandle &  ref_node_handle )

private

Load aiding assignement parameters.

Parameters

[in]

ref_node_handle

ROS nodeHandle.

Definition at line 98 of file config_store.cpp.

loadCommunicationParameters()

void ConfigStore::loadCommunicationParameters ( const ros::NodeHandle &  ref_node_handle )

private

Load interface communication parameters.

Parameters

[in]

ref_node_handle

ROS nodeHandle.

Definition at line 40 of file config_store.cpp.

loadDriverParameters()

void ConfigStore::loadDriverParameters ( const ros::NodeHandle &  ref_node_handle )

private

Load driver parameters.

Parameters

[in]

ref_node_handle

ROS nodeHandle.

Definition at line 26 of file config_store.cpp.

loadFromRosNodeHandle()

void ConfigStore::loadFromRosNodeHandle

(

const ros::NodeHandle &

ref_node_handle

)

Load the configuration from a ros parameter handle.

Parameters

[in]

ref_node_handle

ROS nodeHandle.

Definition at line 377 of file config_store.cpp.

loadGnssParameters()

void ConfigStore::loadGnssParameters ( const ros::NodeHandle &  ref_node_handle )

private

Load Gnss parameters.

Parameters

[in]

ref_node_handle

ROS nodeHandle.

Definition at line 115 of file config_store.cpp.

loadImuAlignementParameters()

void ConfigStore::loadImuAlignementParameters ( const ros::NodeHandle &  ref_node_handle )

private

Load IMU alignement parameters.

Parameters

[in]

ref_node_handle

ROS nodeHandle.

Definition at line 81 of file config_store.cpp.

loadMagnetometersParameters()

void ConfigStore::loadMagnetometersParameters ( const ros::NodeHandle &  ref_node_handle )

private

Load magnetometers parameters.

Parameters

[in]

ref_node_handle

ROS nodeHandle.

Definition at line 106 of file config_store.cpp.

loadOdometerParameters()

void ConfigStore::loadOdometerParameters ( const ros::NodeHandle &  ref_node_handle )

private

Load odometer parameters.

Parameters

[in]

ref_node_handle

ROS nodeHandle.

Definition at line 133 of file config_store.cpp.

loadOdomParameters()

void ConfigStore::loadOdomParameters ( const ros::NodeHandle &  ref_node_handle )

private

Load odometry parameters.

Parameters

[in]

ref_node_handle

ROS nodeHandle.

Definition at line 31 of file config_store.cpp.

loadOutputConfiguration()

void ConfigStore::loadOutputConfiguration ( const ros::NodeHandle &  ref_node_handle, const std::string &  ref_key, SbgEComClass  sbg_msg_class, SbgEComMsgId  sbg_msg_id  )

private

Load the output configuration.

Parameters

[in]	ref_node_handle	ROS nodeHandle.
[in]	ref_key	String key for the output config.
[in]	sbg_msg_class	SBG message class.
[in]	sbg_msg_id	ID of the SBG log.

Definition at line 149 of file config_store.cpp.

loadOutputFrameParameters()

void ConfigStore::loadOutputFrameParameters ( const ros::NodeHandle &  ref_node_handle )

private

Load frame parameters.

Parameters

[in]

ref_node_handle

ROS nodeHandle.

Definition at line 160 of file config_store.cpp.

loadOutputTimeReference()

void ConfigStore::loadOutputTimeReference ( const ros::NodeHandle &  ref_node_handle, const std::string &  ref_key  )

private

Load output time reference.

Parameters

[in]	ref_node_handle	ROS nodeHandle.
[in]	ref_key	String key for the output config.

Definition at line 174 of file config_store.cpp.

loadSensorParameters()

void ConfigStore::loadSensorParameters ( const ros::NodeHandle &  ref_node_handle )

private

Load sensor parameters.

Parameters

[in]

ref_node_handle

ROS nodeHandle.

Definition at line 68 of file config_store.cpp.

Member Data Documentation

m_aiding_assignement_conf_

SbgEComAidingAssignConf sbg::ConfigStore::m_aiding_assignement_conf_

private

Definition at line 94 of file config_store.h.

m_configure_through_ros_

bool sbg::ConfigStore::m_configure_through_ros_

private

Definition at line 86 of file config_store.h.

m_frame_id_

std::string sbg::ConfigStore::m_frame_id_

private

Definition at line 115 of file config_store.h.

m_gnss_installation_

SbgEComGnssInstallation sbg::ConfigStore::m_gnss_installation_

private

Definition at line 102 of file config_store.h.

m_gnss_model_info_

SbgEComModelInfo sbg::ConfigStore::m_gnss_model_info_

private

Definition at line 101 of file config_store.h.

m_gnss_rejection_conf_

SbgEComGnssRejectionConf sbg::ConfigStore::m_gnss_rejection_conf_

private

Definition at line 103 of file config_store.h.

m_in_port_address_

uint32_t sbg::ConfigStore::m_in_port_address_

private

Definition at line 83 of file config_store.h.

m_init_condition_conf_

SbgEComInitConditionConf sbg::ConfigStore::m_init_condition_conf_

private

Definition at line 88 of file config_store.h.

m_mag_calib_bandwidth_

SbgEComMagCalibBandwidth sbg::ConfigStore::m_mag_calib_bandwidth_

private

Definition at line 99 of file config_store.h.

m_mag_calib_mode_

SbgEComMagCalibMode sbg::ConfigStore::m_mag_calib_mode_

private

Definition at line 98 of file config_store.h.

m_mag_model_info_

SbgEComModelInfo sbg::ConfigStore::m_mag_model_info_

private

Definition at line 96 of file config_store.h.

m_mag_rejection_conf_

SbgEComMagRejectionConf sbg::ConfigStore::m_mag_rejection_conf_

private

Definition at line 97 of file config_store.h.

m_motion_profile_model_info_

SbgEComModelInfo sbg::ConfigStore::m_motion_profile_model_info_

private

Definition at line 89 of file config_store.h.

m_odom_base_frame_id_

std::string sbg::ConfigStore::m_odom_base_frame_id_

private

Definition at line 121 of file config_store.h.

m_odom_enable_

bool sbg::ConfigStore::m_odom_enable_

private

Definition at line 118 of file config_store.h.

m_odom_frame_id_

std::string sbg::ConfigStore::m_odom_frame_id_

private

Definition at line 120 of file config_store.h.

m_odom_init_frame_id_

std::string sbg::ConfigStore::m_odom_init_frame_id_

private

Definition at line 122 of file config_store.h.

m_odom_publish_tf_

bool sbg::ConfigStore::m_odom_publish_tf_

private

Definition at line 119 of file config_store.h.

m_odometer_conf_

SbgEComOdoConf sbg::ConfigStore::m_odometer_conf_

private

Definition at line 105 of file config_store.h.

m_odometer_level_arm_

SbgVector3<float> sbg::ConfigStore::m_odometer_level_arm_

private

Definition at line 106 of file config_store.h.

m_odometer_rejection_conf_

SbgEComOdoRejectionConf sbg::ConfigStore::m_odometer_rejection_conf_

private

Definition at line 107 of file config_store.h.

m_out_port_address_

uint32_t sbg::ConfigStore::m_out_port_address_

private

Definition at line 82 of file config_store.h.

m_output_modes_

std::vector<SbgLogOutput> sbg::ConfigStore::m_output_modes_

private

Definition at line 109 of file config_store.h.

m_output_port_

SbgEComOutputPort sbg::ConfigStore::m_output_port_

private

Definition at line 77 of file config_store.h.

m_rate_frequency_

uint32_t sbg::ConfigStore::m_rate_frequency_

private

Definition at line 114 of file config_store.h.

m_ros_standard_output_

bool sbg::ConfigStore::m_ros_standard_output_

private

Definition at line 110 of file config_store.h.

m_sbg_ip_address_

sbgIpAddress sbg::ConfigStore::m_sbg_ip_address_

private

Definition at line 81 of file config_store.h.

m_sensor_alignement_info_

SbgEComSensorAlignmentInfo sbg::ConfigStore::m_sensor_alignement_info_

private

Definition at line 91 of file config_store.h.

m_sensor_lever_arm_

SbgVector3<float> sbg::ConfigStore::m_sensor_lever_arm_

private

Definition at line 92 of file config_store.h.

m_serial_communication_

bool sbg::ConfigStore::m_serial_communication_

private

Definition at line 79 of file config_store.h.

m_time_reference_

TimeReference sbg::ConfigStore::m_time_reference_

private

Definition at line 112 of file config_store.h.

m_uart_baud_rate_

uint32_t sbg::ConfigStore::m_uart_baud_rate_

private

Definition at line 78 of file config_store.h.

m_uart_port_name_

std::string sbg::ConfigStore::m_uart_port_name_

private

Definition at line 76 of file config_store.h.

m_upd_communication_

bool sbg::ConfigStore::m_upd_communication_

private

Definition at line 84 of file config_store.h.

m_use_enu_

bool sbg::ConfigStore::m_use_enu_

private

Definition at line 116 of file config_store.h.

---

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

• config_store.h
• config_store.cpp