Abstract class defining user configurable calculations for the msf_core with ROS interfaces.

#include <msf_sensormanagerROS.h>

Inheritance diagram for msf_core::MSF_SensorManagerROS< EKFState_T >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MSF_SensorManagerROS (ros::NodeHandle pnh=ros::NodeHandle("~core"))
virtual	~MSF_SensorManagerROS ()
virtual void	coreConfig (msf_core::MSF_CoreConfig &config, uint32_t level)
	Gets called by the internal callback caller.
void	Config (msf_core::MSF_CoreConfig &config, uint32_t level)
	Gets called by dynamic reconfigure and calls all registered callbacks in callbacks_.
void	setHLStateBuffer (const sensor_fusion_comm::ExtEkf &msg)
virtual bool	getParam_fixed_bias () const
virtual double	getParam_noise_acc () const
virtual double	getParam_noise_accbias () const
virtual double	getParam_noise_gyr () const
virtual double	getParam_noise_gyrbias () const
virtual double	getParam_fuzzythres () const
virtual void	publishStateInitial (const shared_ptr< EKFState_T > &state) const
virtual void	publishStateAfterPropagation (const shared_ptr< EKFState_T > &state) const
virtual void	publishStateAfterUpdate (const shared_ptr< EKFState_T > &state) const
Public Member Functions inherited from msf_core::MSF_SensorManager< EKFState_T >
	MSF_SensorManager ()
bool	data_playback ()
virtual	~MSF_SensorManager ()
void	addHandler (shared_ptr< SensorHandler< EKFState_T > > handler)
virtual void	init (double scale) const =0
virtual void	initState (EKFState_T &state) const =0
virtual void	calculateQAuxiliaryStates (EKFState_T &UNUSEDPARAM(state), double UNUSEDPARAM(dt)) const =0
virtual void	setP (Eigen::Matrix< double, EKFState_T::nErrorStatesAtCompileTime, EKFState_T::nErrorStatesAtCompileTime > &P) const =0
virtual void	augmentCorrectionVector (Eigen::Matrix< double, EKFState_T::nErrorStatesAtCompileTime, 1 > &UNUSEDPARAM(correction)) const =0
virtual void	sanityCheckCorrection (EKFState_T &UNUSEDPARAM(delaystate), const EKFState_T &UNUSEDPARAM(buffstate), Eigen::Matrix< double, EKFState_T::nErrorStatesAtCompileTime, 1 > &UNUSEDPARAM(correction)) const =0
Public Member Functions inherited from msf_core::StateVisitor< EKFState_T >
virtual void	resetState (EKFState_T &state) const =0
	The state is set to zero/identity, this method will be called to give the user the possibility to change the reset values of some states.
virtual	~StateVisitor ()

Protected Attributes
msf_core::MSF_CoreConfig	config_
	Dynamic reconfigure config.
Protected Attributes inherited from msf_core::MSF_SensorManager< EKFState_T >
Handlers	handlers
	A list of sensor handlers which provide measurements.
bool	data_playback_

Private Types
typedef EKFState_T::StateDefinition_T	StateDefinition_T
typedef EKFState_T::StateSequence_T	StateSequence_T

Private Attributes
ReconfigureServer *	reconfServer_
	Dynamic reconfigure server.
ros::Publisher	pubState_
	Publishes all states of the filter.
ros::Publisher	pubPose_
	Publishes 6DoF pose output.
ros::Publisher	pubPoseAfterUpdate_
	Publishes 6DoF pose output after the update has been applied.
ros::Publisher	pubPoseCrtl_
	Publishes 6DoF pose including velocity output.
ros::Publisher	pubCorrect_
	Publishes corrections for external state propagation.
tf::TransformBroadcaster	tf_broadcaster_
sensor_fusion_comm::ExtEkf	hl_state_buf_
	Buffer to store external propagation data.

Additional Inherited Members
Public Attributes inherited from msf_core::MSF_SensorManager< EKFState_T >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW shared_ptr< MSF_Core < EKFState_T > >	msf_core_
	The ekf core instance.
Protected Types inherited from msf_core::MSF_SensorManager< EKFState_T >
typedef std::vector < shared_ptr< SensorHandler < EKFState_T > > >	Handlers

Member Typedef Documentation

template<typename EKFState_T>

typedef EKFState_T::StateDefinition_T msf_core::MSF_SensorManagerROS< EKFState_T >::StateDefinition_T

private

template<typename EKFState_T>

typedef EKFState_T::StateSequence_T msf_core::MSF_SensorManagerROS< EKFState_T >::StateSequence_T

private

Constructor & Destructor Documentation

template<typename EKFState_T>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW msf_core::MSF_SensorManagerROS< EKFState_T >::MSF_SensorManagerROS ( ros::NodeHandle pnh = ros::NodeHandle("~core") )

inline

template<typename EKFState_T>

virtual msf_core::MSF_SensorManagerROS< EKFState_T >::~MSF_SensorManagerROS ( )

inlinevirtual

Member Function Documentation

template<typename EKFState_T>

void msf_core::MSF_SensorManagerROS< EKFState_T >::Config	(	msf_core::MSF_CoreConfig &	config,
		uint32_t	level
	)

inline

template<typename EKFState_T>

virtual void msf_core::MSF_SensorManagerROS< EKFState_T >::coreConfig	(	msf_core::MSF_CoreConfig &	config,
		uint32_t	level
	)

inlinevirtual

template<typename EKFState_T>

virtual bool msf_core::MSF_SensorManagerROS< EKFState_T >::getParam_fixed_bias ( ) const

inlinevirtual

Implements msf_core::MSF_SensorManager< EKFState_T >.

template<typename EKFState_T>

virtual double msf_core::MSF_SensorManagerROS< EKFState_T >::getParam_fuzzythres ( ) const

inlinevirtual

Implements msf_core::MSF_SensorManager< EKFState_T >.

template<typename EKFState_T>

virtual double msf_core::MSF_SensorManagerROS< EKFState_T >::getParam_noise_acc ( ) const

inlinevirtual

Implements msf_core::MSF_SensorManager< EKFState_T >.

template<typename EKFState_T>

virtual double msf_core::MSF_SensorManagerROS< EKFState_T >::getParam_noise_accbias ( ) const

inlinevirtual

Implements msf_core::MSF_SensorManager< EKFState_T >.

template<typename EKFState_T>

virtual double msf_core::MSF_SensorManagerROS< EKFState_T >::getParam_noise_gyr ( ) const

inlinevirtual

Implements msf_core::MSF_SensorManager< EKFState_T >.

template<typename EKFState_T>

virtual double msf_core::MSF_SensorManagerROS< EKFState_T >::getParam_noise_gyrbias ( ) const

inlinevirtual

Implements msf_core::MSF_SensorManager< EKFState_T >.

template<typename EKFState_T>

virtual void msf_core::MSF_SensorManagerROS< EKFState_T >::publishStateAfterPropagation ( const shared_ptr< EKFState_T > & state ) const

inlinevirtual

Implements msf_core::MSF_SensorManager< EKFState_T >.

template<typename EKFState_T>

virtual void msf_core::MSF_SensorManagerROS< EKFState_T >::publishStateAfterUpdate ( const shared_ptr< EKFState_T > & state ) const

inlinevirtual

Implements msf_core::MSF_SensorManager< EKFState_T >.

template<typename EKFState_T>

virtual void msf_core::MSF_SensorManagerROS< EKFState_T >::publishStateInitial ( const shared_ptr< EKFState_T > & state ) const

inlinevirtual

This functions get called by the core to publish data to external middlewares like ROS.

Initialize the HLP based propagation.

Parameters

State the state to send to the HLP.

Implements msf_core::MSF_SensorManager< EKFState_T >.

template<typename EKFState_T>

void msf_core::MSF_SensorManagerROS< EKFState_T >::setHLStateBuffer ( const sensor_fusion_comm::ExtEkf & msg )

inline

Member Data Documentation

template<typename EKFState_T>

msf_core::MSF_CoreConfig msf_core::MSF_SensorManagerROS< EKFState_T >::config_

protected

template<typename EKFState_T>

sensor_fusion_comm::ExtEkf msf_core::MSF_SensorManagerROS< EKFState_T >::hl_state_buf_

private

template<typename EKFState_T>

ros::Publisher msf_core::MSF_SensorManagerROS< EKFState_T >::pubCorrect_

private

template<typename EKFState_T>

ros::Publisher msf_core::MSF_SensorManagerROS< EKFState_T >::pubPose_

private

template<typename EKFState_T>

ros::Publisher msf_core::MSF_SensorManagerROS< EKFState_T >::pubPoseAfterUpdate_

private

template<typename EKFState_T>

ros::Publisher msf_core::MSF_SensorManagerROS< EKFState_T >::pubPoseCrtl_

private

template<typename EKFState_T>

ros::Publisher msf_core::MSF_SensorManagerROS< EKFState_T >::pubState_

private

template<typename EKFState_T>

ReconfigureServer* msf_core::MSF_SensorManagerROS< EKFState_T >::reconfServer_

private

template<typename EKFState_T>

tf::TransformBroadcaster msf_core::MSF_SensorManagerROS< EKFState_T >::tf_broadcaster_

mutableprivate

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

msf_core/include/msf_core/msf_sensormanagerROS.h

Public Member Functions

Protected Attributes

Private Types

Private Attributes

Additional Inherited Members

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation