Class CompassFilter

Inheritance Relationships

Base Type

  • public message_filters::SimpleFilter< compass_interfaces::msg::Azimuth >

Class Documentation

class CompassFilter : public message_filters::SimpleFilter<compass_interfaces::msg::Azimuth>

Message filter to convert between various compass representations.

Example usage: 

message_filters::UniversalAzimuthSubscriber azimuthInput(...);
message_filters::Subscriber<sensor_msgs::msg::NavSatFix> fixInput(...);
auto converter = std::make_shared<compass_conversions::CompassConverter>(log, true);
// converter->configFromParams(params);
compass_conversions::CompassFilter filter(log, converter, azimuthInput, fixInput,
  compass_interfaces::msg::Azimuth::UNIT_RAD, compass_interfaces::msg::Azimuth::ORIENTATION_ENU,
  compass_interfaces::msg::Azimuth::REFERENCE_GEOGRAPHIC);
filter.registerCallback([](const compass_interfaces::msg::AzimuthConstSharedPtr& msg) {
  ...  // Handle the data
});

See also

https://wiki.ros.org/message_filters

Public Types

using NodeClockInterface = rclcpp::node_interfaces::NodeClockInterface
using NodeGraphInterface = rclcpp::node_interfaces::NodeGraphInterface
using NodeLoggingInterface = rclcpp::node_interfaces::NodeLoggingInterface
using NodeParametersInterface = rclcpp::node_interfaces::NodeParametersInterface
using NodeTopicsInterface = rclcpp::node_interfaces::NodeTopicsInterface
using RequiredInterfaces = rclcpp::node_interfaces::NodeInterfaces<NodeClockInterface, NodeGraphInterface, NodeLoggingInterface, NodeParametersInterface, NodeTopicsInterface>
typedef message_filters::MessageEvent<compass_interfaces::msg::Azimuth const> AzimuthEventType
typedef message_filters::MessageEvent<sensor_msgs::msg::NavSatFix const> FixEventType
typedef message_filters::MessageEvent<std_msgs::msg::Int32 const> UTMZoneEventType
using Unit = compass_interfaces::msg::Azimuth::_unit_type
using Orientation = compass_interfaces::msg::Azimuth::_orientation_type
using Reference = compass_interfaces::msg::Azimuth::_reference_type
using Variance = compass_interfaces::msg::Azimuth::_variance_type

Public Functions

template<class AzimuthInput, class FixInput, class UTMZoneInput>
inline CompassFilter(RequiredInterfaces node, const std::shared_ptr<CompassConverter> &converter, AzimuthInput &azimuthInput, FixInput &fixInput, UTMZoneInput &utmZoneInput, Unit unit, Orientation orientation, Reference reference)

Construct azimuth filter that can convert all parameters.

Template Parameters:

  • AzimuthInput – The type of the input filter.

  • FixInput – The type of the navsat fix filter.

  • UTMZoneInput – The type of the UTM Zone filter.

Parameters:

  • node – [in] The node to use.

  • converter – [in] The azimuth converter instance. If nullptr, a default converter is constructed.

  • azimuthInput – [in] The message filter producing azimuth messages.

  • fixInput – [in] The message filter producing fix messages.

  • utmZoneInput – [in] The message filter producing UTM zone messages.

  • unit – [in] The output azimuth unit.

  • orientation – [in] The output azimuth orientation.

  • reference – [in] The output azimuth reference.

template<class AzimuthInput, class FixInput, class UTMZoneInput>
inline CompassFilter(rclcpp::Node *node, const std::shared_ptr<CompassConverter> &converter, AzimuthInput &azimuthInput, FixInput &fixInput, UTMZoneInput &utmZoneInput, Unit unit, Orientation orientation, Reference reference)
template<class AzimuthInput, class FixInput>
inline CompassFilter(RequiredInterfaces node, const std::shared_ptr<CompassConverter> &converter, AzimuthInput &azimuthInput, FixInput &fixInput, Unit unit, Orientation orientation, Reference reference)

Construct azimuth filter that can convert all parameters.

Template Parameters:

  • AzimuthInput – The type of the input filter.

  • FixInput – The type of the navsat fix filter.

Parameters:

  • node – [in] The node to use.

  • converter – [in] The azimuth converter instance. If nullptr, a default converter is constructed.

  • azimuthInput – [in] The message filter producing azimuth messages.

  • fixInput – [in] The message filter producing fix messages.

  • unit – [in] The output azimuth unit.

  • orientation – [in] The output azimuth orientation.

  • reference – [in] The output azimuth reference.

template<class AzimuthInput, class FixInput>
inline CompassFilter(rclcpp::Node *node, const std::shared_ptr<CompassConverter> &converter, AzimuthInput &azimuthInput, FixInput &fixInput, Unit unit, Orientation orientation, Reference reference)
template<class AzimuthInput>
inline CompassFilter(const RequiredInterfaces node, const std::shared_ptr<CompassConverter> &converter, AzimuthInput &azimuthInput, Unit unit, Orientation orientation, Reference reference)

Construct azimuth filter that can only convert units and orientation.

Template Parameters:

AzimuthInput – The type of the input filter.

Parameters:

  • node – [in] The node to use.

  • converter – [in] The azimuth converter instance. If nullptr, a default converter is constructed.

  • azimuthInput – [in] The message filter producing azimuth messages.

  • unit – [in] The output azimuth unit.

  • orientation – [in] The output azimuth orientation.

  • reference – [in] The output azimuth reference.

template<class AzimuthInput>
inline CompassFilter(rclcpp::Node *node, const std::shared_ptr<CompassConverter> &converter, AzimuthInput &azimuthInput, Unit unit, Orientation orientation, Reference reference)
virtual ~CompassFilter()
template<class AzimuthInput>
inline void connectAzimuthInput(AzimuthInput &f)
template<class FixInput>
inline void connectFixInput(FixInput &f)
template<class UTMZoneInput>
inline void connectUTMZoneInput(UTMZoneInput &f)

Protected Functions

virtual void cbAzimuth(const AzimuthEventType &azimuthEvent)
virtual void cbFix(const FixEventType &fixEvent)
virtual void cbUTMZone(const UTMZoneEventType &utmZoneEvent)

Protected Attributes

message_filters::Connection azimuthConnection

Connection to the azimuth input.

message_filters::Connection fixConnection

Connection to the navsat fix input.

message_filters::Connection utmZoneConnection

Connection to the UTM zone input.

std::shared_ptr<CompassConverter> converter

The compass converter instance.

bool fixReceived = {false}

Whether at least one navsat fix message has been received.

Unit unit

The target azimuth unit.

Orientation orientation

The target azimuth orientation.

std::optional<Reference> reference

The target azimuth reference (unchanged if empty).

RequiredInterfaces node