flatland_plugins::Gps Class Reference

#include <gps.h>

Inheritance diagram for flatland_plugins::Gps:

Collaboration diagram for flatland_plugins::Gps:

Public Member Functions
void	OnInitialize (const YAML::Node &config) override
	Initialization for the plugin. More...
void	BeforePhysicsStep (const Timekeeper &timekeeper) override
	Called when just before physics update. More...
void	ParseParameters (const YAML::Node &config)
	Helper function to extract the paramters from the YAML Node. More...
void	ComputeReferenceEcef ()
	Method to compute ECEF coordinates of reference latitude and longitude, assuming zero altitude.
void	UpdateFix ()
	Method that updates the current state of the GPS fix output for publishing.
Public Member Functions inherited from flatland_server::ModelPlugin
Model *	GetModel ()
	Get model.
void	Initialize (const std::string &type, const std::string &name, Model *model, const YAML::Node &config)
	The method to initialize the ModelPlugin, required since Pluginlib require the class to have a default constructor. More...
bool	FilterContact (b2Contact *contact, Entity *&entity, b2Fixture *&this_fixture, b2Fixture *&other_fixture)
	Helper function check if this model is part of the contact, and extracts all the useful information. More...
bool	FilterContact (b2Contact *contact)
	Helper function check if this model is part of the contact. More...
Public Member Functions inherited from flatland_server::FlatlandPlugin
const PluginType	Type ()
const std::string &	GetName () const
	Get plugin name.
const std::string &	GetType () const
	Get type of plugin.
virtual void	AfterPhysicsStep (const Timekeeper &timekeeper)
	This method is called after the Box2D physics step. More...
virtual void	BeginContact (b2Contact *contact)
	A method that is called for all Box2D begin contacts. More...
virtual void	EndContact (b2Contact *contact)
	A method that is called for all Box2D end contacts. More...
virtual void	PreSolve (b2Contact *contact, const b2Manifold *oldManifold)
	A method that is called for Box2D presolve. More...
virtual void	PostSolve (b2Contact *contact, const b2ContactImpulse *impulse)
	A method that is called for Box2D postsolve. More...
virtual	~FlatlandPlugin ()=default
	Flatland plugin destructor.

Public Attributes
std::string	topic_
	topic name to publish the GPS fix
std::string	frame_id_
	GPS frame ID.
Body *	body_
	body the simulated GPS antenna attaches to
Pose	origin_
	GPS sensor frame w.r.t the body.
double	ref_lat_rad_
double	ref_lon_rad_
double	ref_ecef_x_
double	ref_ecef_y_
double	ref_ecef_z_
double	update_rate_
	GPS fix publish rate.
bool	broadcast_tf_
	whether to broadcast laser origin w.r.t body
ros::Publisher	fix_publisher_
	GPS fix topic publisher.
tf::TransformBroadcaster	tf_broadcaster_
	broadcast GPS frame
geometry_msgs::TransformStamped	gps_tf_
	tf from body to GPS frame
sensor_msgs::NavSatFix	gps_fix_
	message for publishing output
UpdateTimer	update_timer_
	for controlling update rate
Eigen::Matrix3f	m_body_to_gps_
	tf from body to GPS
Public Attributes inherited from flatland_server::ModelPlugin
ros::NodeHandle	nh_
	ROS node handle.
Public Attributes inherited from flatland_server::FlatlandPlugin
std::string	type_
	type of the plugin
std::string	name_
	name of the plugin
ros::NodeHandle	nh_
PluginType	plugin_type_

Static Public Attributes
static double	WGS84_A = 6378137.0
	Earth's major axis length.
static double	WGS84_E2 = 0.0066943799831668
	Square of Earth's first eccentricity.

Additional Inherited Members
Public Types inherited from flatland_server::FlatlandPlugin
enum	PluginType { Invalid, Model, World }
Protected Member Functions inherited from flatland_server::ModelPlugin
	ModelPlugin ()=default
	Model plugin default constructor.

Detailed Description

This class simulates a GPS receiver in Flatland

Member Function Documentation

void flatland_plugins::Gps::BeforePhysicsStep ( const Timekeeper &  timekeeper )

overridevirtual

Called when just before physics update.

Parameters

[in]

timekeeper

Object managing the simulation time

Reimplemented from flatland_server::FlatlandPlugin.

void flatland_plugins::Gps::OnInitialize ( const YAML::Node &  config )

overridevirtual

Initialization for the plugin.

Parameters

[in]

config

Plugin YAML Node

Implements flatland_server::FlatlandPlugin.

void flatland_plugins::Gps::ParseParameters

(

const YAML::Node &

config

)

Helper function to extract the paramters from the YAML Node.

Parameters

[in]

config

Plugin YAML Node

Member Data Documentation

double flatland_plugins::Gps::ref_ecef_x_

ECEF coordinates of reference lat and lon at zero altitude

double flatland_plugins::Gps::ref_ecef_y_

ECEF coordinates of reference lat and lon at zero altitude

double flatland_plugins::Gps::ref_ecef_z_

ECEF coordinates of reference lat and lon at zero altitude

double flatland_plugins::Gps::ref_lat_rad_

latitude in radians corresponding to (0, 0) in map frame

double flatland_plugins::Gps::ref_lon_rad_

longitude in radians corresponding to (0, 0) in map frame

---

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

• flatland_plugins/include/flatland_plugins/gps.h
• flatland_plugins/src/gps.cpp