NASA Astrobee Robot Software  0.19.1
Flight software for the Astrobee robots operating inside the International Space Station.
Public Member Functions | Static Public Attributes | Protected Member Functions | Static Protected Member Functions | List of all members
vive::ViveNodelet Class Reference
Inheritance diagram for vive::ViveNodelet:
Inheritance graph

Public Member Functions

 ViveNodelet ()
 
 ~ViveNodelet ()
 
- Public Member Functions inherited from ff_util::FreeFlyerNodelet
 FreeFlyerNodelet (bool autostart_hb_timer=true)
 
 FreeFlyerNodelet (std::string const &name, bool autostart_hb_timer=true)
 
virtual ~FreeFlyerNodelet ()
 
void AssertFault (FaultKeys enum_key, std::string const &message, ros::Time time_fault_occurred=ros::Time::now())
 
void ClearAllFaults ()
 
void ClearFault (FaultKeys enum_key)
 
void PrintFaults ()
 
ros::NodeHandle * GetPlatformHandle (bool multithreaded=false)
 
ros::NodeHandle * GetPrivateHandle (bool multithreaded=false)
 
std::string GetName ()
 
std::string GetPlatform ()
 
std::string GetTransform (std::string const &child)
 

Static Public Attributes

static constexpr double GRAVITY = 9.80665
 
static constexpr double GYRO_SCALE = 32.768
 
static constexpr double ACC_SCALE = 4096.0
 
static constexpr double SWEEP_DURATION = 400000.0
 
static constexpr double SWEEP_CENTER = 200000.0
 
static constexpr double TICKS_PER_SEC = 48e6
 

Protected Member Functions

void Initialize (ros::NodeHandle *nh)
 
- Protected Member Functions inherited from ff_util::FreeFlyerNodelet
virtual void Reset ()
 
virtual void Sleep ()
 
virtual void Wakeup ()
 
void StopHeartbeat ()
 
void SendDiagnostics (const std::vector< diagnostic_msgs::KeyValue > &keyval)
 
void Setup (ros::NodeHandle &nh, ros::NodeHandle &nh_mt, std::string plugin_name)
 

Static Protected Member Functions

static void PollThread ()
 
static void LightCallback (tracker_t const *tracker, uint8_t lh, uint8_t axis, uint32_t synctime, uint16_t num_sensors, light_t const *measurement)
 
static void ImuCallback (tracker_t const *t, imu_t const *measurement)
 
static void ButtonCallback (tracker_t const *t, button_t const *event)
 
static void TrackerCallback (tracker_t const *t)
 
static void LighthouseCallback (lighthouse_t const *l)
 
template<typename T >
static void Convert (geometry_msgs::Quaternion const &from, T to[4])
 
template<typename T >
static void Convert (const T from[4], geometry_msgs::Quaternion &to)
 
template<typename T >
static void Convert (geometry_msgs::Vector3 const &from, T to[3])
 
template<typename T >
static void Convert (const T from[3], geometry_msgs::Vector3 &to)
 
template<typename T >
static void Convert (geometry_msgs::Point const &from, T to[3])
 
template<typename T >
static void Convert (const T from[3], geometry_msgs::Point &to)
 

Additional Inherited Members

- Public Types inherited from ff_util::FreeFlyerNodelet
enum  ResolveType : uint8_t { NAMESPACE = 0, TRANSFORM = 1, RESOURCE = 1 }
 
- Protected Attributes inherited from ff_util::FreeFlyerNodelet
std::map< std::string, int > faults_
 

Constructor & Destructor Documentation

◆ ViveNodelet()

vive::ViveNodelet::ViveNodelet ( )
inline

◆ ~ViveNodelet()

vive::ViveNodelet::~ViveNodelet ( )
inline

Member Function Documentation

◆ ButtonCallback()

static void vive::ViveNodelet::ButtonCallback ( tracker_t const *  t,
button_t const *  event 
)
inlinestaticprotected

◆ Convert() [1/6]

template<typename T >
static void vive::ViveNodelet::Convert ( const T  from[3],
geometry_msgs::Point &  to 
)
inlinestaticprotected

◆ Convert() [2/6]

template<typename T >
static void vive::ViveNodelet::Convert ( const T  from[3],
geometry_msgs::Vector3 &  to 
)
inlinestaticprotected

◆ Convert() [3/6]

template<typename T >
static void vive::ViveNodelet::Convert ( const T  from[4],
geometry_msgs::Quaternion &  to 
)
inlinestaticprotected

◆ Convert() [4/6]

template<typename T >
static void vive::ViveNodelet::Convert ( geometry_msgs::Point const &  from,
T  to[3] 
)
inlinestaticprotected

◆ Convert() [5/6]

template<typename T >
static void vive::ViveNodelet::Convert ( geometry_msgs::Quaternion const &  from,
T  to[4] 
)
inlinestaticprotected

◆ Convert() [6/6]

template<typename T >
static void vive::ViveNodelet::Convert ( geometry_msgs::Vector3 const &  from,
T  to[3] 
)
inlinestaticprotected

◆ ImuCallback()

static void vive::ViveNodelet::ImuCallback ( tracker_t const *  t,
imu_t const *  measurement 
)
inlinestaticprotected

◆ Initialize()

void vive::ViveNodelet::Initialize ( ros::NodeHandle *  nh)
inlineprotectedvirtual

Reimplemented from ff_util::FreeFlyerNodelet.

◆ LightCallback()

static void vive::ViveNodelet::LightCallback ( tracker_t const *  tracker,
uint8_t  lh,
uint8_t  axis,
uint32_t  synctime,
uint16_t  num_sensors,
light_t const *  measurement 
)
inlinestaticprotected

◆ LighthouseCallback()

static void vive::ViveNodelet::LighthouseCallback ( lighthouse_t const *  l)
inlinestaticprotected

◆ PollThread()

static void vive::ViveNodelet::PollThread ( )
inlinestaticprotected

◆ TrackerCallback()

static void vive::ViveNodelet::TrackerCallback ( tracker_t const *  t)
inlinestaticprotected

Member Data Documentation

◆ ACC_SCALE

constexpr double vive::ViveNodelet::ACC_SCALE = 4096.0
staticconstexpr

◆ GRAVITY

constexpr double vive::ViveNodelet::GRAVITY = 9.80665
staticconstexpr

◆ GYRO_SCALE

constexpr double vive::ViveNodelet::GYRO_SCALE = 32.768
staticconstexpr

◆ SWEEP_CENTER

constexpr double vive::ViveNodelet::SWEEP_CENTER = 200000.0
staticconstexpr

◆ SWEEP_DURATION

constexpr double vive::ViveNodelet::SWEEP_DURATION = 400000.0
staticconstexpr

◆ TICKS_PER_SEC

constexpr double vive::ViveNodelet::TICKS_PER_SEC = 48e6
staticconstexpr
The documentation for this class was generated from the following file: