ff_util Namespace Reference

Classes
class	ConfigClient
class	ConfigServer
class	Conversion
class	FlightUtil
class	FreeFlyerActionClient
	A wrapper class around the simple action client. More...
class	FreeFlyerActionServer
class	FreeFlyerActionState
class	FreeFlyerNodelet
class	FreeFlyerServiceClient
class	FSM
class	PerfTimer
class	Serialization
class	State

Typedefs
typedef boost::function< bool(dynamic_reconfigure::Config &request)>	ConfigCallback
typedef ff_msgs::ControlState	Setpoint
typedef ff_msgs::EkfState	Estimate
typedef std::vector< Setpoint >	Segment

Enumerations
enum	FaultKeys {   UNKNOWN_FAULT_KEY, LOAD_TOO_HIGH, NO_COMMUNICATION_SPEEDCAM, INITIALIZATION_FAILED,   MEMORY_USAGE_TOO_HIGH, BAD_ACCEL_DATA, NO_IMU_DATA_PACKETS, TEMPERATURE_TOO_HIGH,   HEARTBEAT_MISSING, VELOCITY_TOO_HIGH, TIME_DIFF_TOO_HIGH, LOCALIZATION_PIPELINE_UNSTABLE,   ESTIMATE_CONFIDENCE_TOO_LOW, DISK_USAGE_TOO_HIGH, NO_COMMUNICATION_HAZCAM, KINETIC_ENERGY_INCREASING,   SELF_TEST_FAULT_CODE, DISK_CONFIG_INVALID, POSE_ESTIMATE_NON_PHYSICAL, DISK_USAGE_HIGH,   HARDWARE_ERROR_FAULT_CODE, BAD_GYRO_DATA, IMU_OVERTEMP, IMU_ACCEL_ABOVE_LIMITS }
enum	SegmentCheckMask : uint32_t {   CHECK_NONE = 0x000, CHECK_MINIMUM_FREQUENCY = 0x001, CHECK_STATIONARY_ENDPOINT = 0x002, CHECK_FIRST_TIMESTAMP_IN_PAST = 0x004,   CHECK_MINIMUM_NUM_SETPOINTS = 0x008, CHECK_LIMITS_VEL = 0x010, CHECK_LIMITS_ACCEL = 0x020, CHECK_LIMITS_OMEGA = 0x040,   CHECK_LIMITS_ALPHA = 0x080, CHECK_ALL_BASIC = 0x100, CHECK_ALL_LIMITS = 0x200, CHECK_ALL_CONSISTENCY = 0x400,   CHECK_ALL = 0x800 }
enum	SegmentResult : int32_t {   SUCCESS = 0, ERROR_MINIMUM_FREQUENCY = -1, ERROR_STATIONARY_ENDPOINT = -2, ERROR_MINIMUM_NUM_SETPOINTS = -3,   ERROR_TIME_RUNS_BACKWARDS = -4, ERROR_LIMITS_VEL = -5, ERROR_LIMITS_ACCEL = -6, ERROR_LIMITS_OMEGA = -7,   ERROR_LIMITS_ALPHA = -8 }

Functions
template<>
bool	ConfigClient::Get< std::string > (const std::string &name, std::string &value)
template<>
bool	ConfigClient::Set< std::string > (const std::string &name, const std::string &value)
template<>
bool	ConfigServer::Get< std::string > (const std::string &name, std::string &value)
template<>
bool	ConfigServer::Set< std::string > (const std::string &name, const std::string &value)
template<>
bool	ConfigServer::Lim< std::string > (const std::string &name, const std::map< std::string, std::string > &vals)

Variables
constexpr int	kFaultKeysSize = 24
static std::string	fault_keys []

Typedef Documentation

ConfigCallback

typedef boost::function<bool(dynamic_reconfigure::Config &request)> ff_util::ConfigCallback

Estimate

typedef ff_msgs::EkfState ff_util::Estimate

Segment

typedef std::vector<Setpoint> ff_util::Segment

Setpoint

typedef ff_msgs::ControlState ff_util::Setpoint

Enumeration Type Documentation

FaultKeys

enum ff_util::FaultKeys

Enumerator
UNKNOWN_FAULT_KEY
LOAD_TOO_HIGH
NO_COMMUNICATION_SPEEDCAM
INITIALIZATION_FAILED
MEMORY_USAGE_TOO_HIGH
BAD_ACCEL_DATA
NO_IMU_DATA_PACKETS
TEMPERATURE_TOO_HIGH
HEARTBEAT_MISSING
VELOCITY_TOO_HIGH
TIME_DIFF_TOO_HIGH
LOCALIZATION_PIPELINE_UNSTABLE
ESTIMATE_CONFIDENCE_TOO_LOW
DISK_USAGE_TOO_HIGH
NO_COMMUNICATION_HAZCAM
KINETIC_ENERGY_INCREASING
SELF_TEST_FAULT_CODE
DISK_CONFIG_INVALID
POSE_ESTIMATE_NON_PHYSICAL
DISK_USAGE_HIGH
HARDWARE_ERROR_FAULT_CODE
BAD_GYRO_DATA
IMU_OVERTEMP
IMU_ACCEL_ABOVE_LIMITS

SegmentCheckMask

enum ff_util::SegmentCheckMask : uint32_t

Enumerator
CHECK_NONE
CHECK_MINIMUM_FREQUENCY
CHECK_STATIONARY_ENDPOINT
CHECK_FIRST_TIMESTAMP_IN_PAST
CHECK_MINIMUM_NUM_SETPOINTS
CHECK_LIMITS_VEL
CHECK_LIMITS_ACCEL
CHECK_LIMITS_OMEGA
CHECK_LIMITS_ALPHA
CHECK_ALL_BASIC
CHECK_ALL_LIMITS
CHECK_ALL_CONSISTENCY
CHECK_ALL

SegmentResult

enum ff_util::SegmentResult : int32_t

Enumerator
SUCCESS
ERROR_MINIMUM_FREQUENCY
ERROR_STATIONARY_ENDPOINT
ERROR_MINIMUM_NUM_SETPOINTS
ERROR_TIME_RUNS_BACKWARDS
ERROR_LIMITS_VEL
ERROR_LIMITS_ACCEL
ERROR_LIMITS_OMEGA
ERROR_LIMITS_ALPHA

Function Documentation

ConfigClient::Get< std::string >()

template<>

bool ff_util::ConfigClient::Get< std::string >	(	const std::string &	name,
		std::string &	value
	)

ConfigClient::Set< std::string >()

template<>

bool ff_util::ConfigClient::Set< std::string >	(	const std::string &	name,
		const std::string &	value
	)

ConfigServer::Get< std::string >()

template<>

bool ff_util::ConfigServer::Get< std::string >	(	const std::string &	name,
		std::string &	value
	)

ConfigServer::Lim< std::string >()

template<>

bool ff_util::ConfigServer::Lim< std::string >	(	const std::string &	name,
		const std::map< std::string, std::string > &	vals
	)

ConfigServer::Set< std::string >()

template<>

bool ff_util::ConfigServer::Set< std::string >	(	const std::string &	name,
		const std::string &	value
	)

Variable Documentation

fault_keys

std::string ff_util::fault_keys[]

static

Initial value:

= {
    "UNKNOWN_FAULT_KEY",
    "LOAD_TOO_HIGH",
    "NO_COMMUNICATION_SPEEDCAM",
    "INITIALIZATION_FAILED",
    "MEMORY_USAGE_TOO_HIGH",
    "BAD_ACCEL_DATA",
    "NO_IMU_DATA_PACKETS",
    "TEMPERATURE_TOO_HIGH",
    "HEARTBEAT_MISSING",
    "VELOCITY_TOO_HIGH",
    "TIME_DIFF_TOO_HIGH",
    "LOCALIZATION_PIPELINE_UNSTABLE",
    "ESTIMATE_CONFIDENCE_TOO_LOW",
    "DISK_USAGE_TOO_HIGH",
    "NO_COMMUNICATION_HAZCAM",
    "KINETIC_ENERGY_INCREASING",
    "SELF_TEST_FAULT_CODE",
    "DISK_CONFIG_INVALID",
    "POSE_ESTIMATE_NON_PHYSICAL",
    "DISK_USAGE_HIGH",
    "HARDWARE_ERROR_FAULT_CODE",
    "BAD_GYRO_DATA",
    "IMU_OVERTEMP",
    "IMU_ACCEL_ABOVE_LIMITS"
}

kFaultKeysSize

constexpr int ff_util::kFaultKeysSize = 24

constexpr