Class StateEstimatorBase

Defined in File plugin_base.hpp

Inheritance Relationships

Derived Types

public ground_truth::Plugin (Class Plugin)
public mocap_pose::Plugin (Class Plugin)
public raw_odometry::Plugin (Class Plugin)

Class Documentation

class StateEstimatorBase

Subclassed by ground_truth::Plugin, mocap_pose::Plugin, raw_odometry::Plugin

Public Functions

inline StateEstimatorBase()

inline void setup(as2::Node *node, std::shared_ptr<as2::tf::TfHandler> tf_handler_, std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster, std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_tf_broadcaster)

virtual void on_setup() = 0

inline virtual bool get_earth_to_map_transform(geometry_msgs::msg::TransformStamped &transform)

Protected Functions

inline void check_standard_transform(const geometry_msgs::msg::TransformStamped &transform)

inline void publish_transform(const geometry_msgs::msg::TransformStamped &transform)

inline void publish_static_transform(const geometry_msgs::msg::TransformStamped &transform)

inline void publish_twist(const geometry_msgs::msg::TwistStamped &twist)

inline void publish_pose(const geometry_msgs::msg::PoseStamped &pose)

inline const std::string &get_earth_frame() const

inline const std::string &get_map_frame() const

inline const std::string &get_odom_frame() const

inline const std::string &get_base_frame() const

inline bool get_earth_to_map_transform(tf2::Transform &earth_to_map)

inline bool convert_earth_to_baselink_2_odom_to_baselink_transform(const tf2::Transform &earth_to_baselink, tf2::Transform &odom_to_baselink, const tf2::Transform &earth_to_map, const tf2::Transform &map_to_odom = tf2::Transform::getIdentity())

inline bool convert_odom_to_baselink_2_earth_to_baselink_transform(const tf2::Transform &odom_to_baselink, tf2::Transform &earth_to_baselink, const tf2::Transform &earth_to_map, const tf2::Transform &map_to_odom = tf2::Transform::getIdentity())

Protected Attributes

as2::Node *node_ptr_

std::shared_ptr<as2::tf::TfHandler> tf_handler_

std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_

std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_tf_broadcaster_

rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr twist_pub_

rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr pose_pub_

tf2::Transform odom_to_baselink

tf2::Transform earth_to_map

tf2::Transform earth_to_baselink

bool static_transforms_published_ = false

rclcpp::TimerBase::SharedPtr static_transforms_timer_