diff --git a/Doxyfile b/Doxyfile index e07c809..72ad05e 100644 --- a/Doxyfile +++ b/Doxyfile @@ -829,7 +829,7 @@ WARN_LOGFILE = # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING # Note: If this tag is empty the current directory is searched. -INPUT = "./master_layer" +INPUT = # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses diff --git a/docs/html/MS5837_8h_source.html b/docs/html/MS5837_8h_source.html new file mode 100644 index 0000000..0efd574 --- /dev/null +++ b/docs/html/MS5837_8h_source.html @@ -0,0 +1,171 @@ + + + + + + + +Anahita: hardware_layer/hardware_arduino/include/MS5837.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
MS5837.h
+
+
+
1 /* Blue Robotics Arduino MS5837-30BA Pressure/Temperature Sensor Library
+
2 ------------------------------------------------------------
+
3 
+
4 Title: Blue Robotics Arduino MS5837-30BA Pressure/Temperature Sensor Library
+
5 
+
6 Description: This library provides utilities to communicate with and to
+
7 read data from the Measurement Specialties MS5837-30BA pressure/temperature
+
8 sensor.
+
9 
+
10 Authors: Rustom Jehangir, Blue Robotics Inc.
+
11  Adam Šimko, Blue Robotics Inc.
+
12 
+
13 -------------------------------
+
14 The MIT License (MIT)
+
15 
+
16 Copyright (c) 2015 Blue Robotics Inc.
+
17 
+
18 Permission is hereby granted, free of charge, to any person obtaining a copy
+
19 of this software and associated documentation files (the "Software"), to deal
+
20 in the Software without restriction, including without limitation the rights
+
21 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+
22 copies of the Software, and to permit persons to whom the Software is
+
23 furnished to do so, subject to the following conditions:
+
24 
+
25 The above copyright notice and this permission notice shall be included in
+
26 all copies or substantial portions of the Software.
+
27 
+
28 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+
29 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+
30 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+
31 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+
32 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+
33 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+
34 THE SOFTWARE.
+
35 -------------------------------*/
+
36 
+
37 #ifndef MS5837_H_BLUEROBOTICS
+
38 #define MS5837_H_BLUEROBOTICS
+
39 
+
40 #include "Arduino.h"
+
41 
+
42 class MS5837 {
+
43 public:
+
44  static const float Pa;
+
45  static const float bar;
+
46  static const float mbar;
+
47 
+
48  static const uint8_t MS5837_30BA;
+
49  static const uint8_t MS5837_02BA;
+
50 
+
51  MS5837();
+
52 
+
53  bool init();
+
54 
+
58  void setModel(uint8_t model);
+
59 
+
63  void setFluidDensity(float density);
+
64 
+
67  void read();
+
68 
+
71  float pressure(float conversion = 1.0f);
+
72 
+
75  float temperature();
+
76 
+
80  float depth();
+
81 
+
84  float altitude();
+
85 
+
86 private:
+
87  uint16_t C[8];
+
88  uint32_t D1, D2;
+
89  int32_t TEMP;
+
90  int32_t P;
+
91  uint8_t _model;
+
92 
+
93  float fluidDensity;
+
94 
+
98  void calculate();
+
99 
+
100  uint8_t crc4(uint16_t n_prom[]);
+
101 };
+
102 
+
103 #endif
+
+
MS5837::altitude
float altitude()
Definition: MS5837.cpp:175
+
MS5837::setFluidDensity
void setFluidDensity(float density)
Definition: MS5837.cpp:56
+
MS5837::setModel
void setModel(uint8_t model)
Definition: MS5837.cpp:52
+
MS5837::temperature
float temperature()
Definition: MS5837.cpp:167
+
MS5837::pressure
float pressure(float conversion=1.0f)
Definition: MS5837.cpp:163
+
MS5837
Definition: MS5837.h:42
+
MS5837::depth
float depth()
Definition: MS5837.cpp:171
+
MS5837::read
void read()
Definition: MS5837.cpp:60
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/annotated.html b/docs/html/annotated.html index 25ace02..964c1f7 100644 --- a/docs/html/annotated.html +++ b/docs/html/annotated.html @@ -66,42 +66,214 @@
Here are the classes, structs, unions and interfaces with brief descriptions:
-
[detail level 123]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - +
[detail level 1234]
 ▼Nmaster_layer
 ▼Nanahita_thruster_manager
 CAnahitaThrusterManager
 ▼Nstate_mach
 CBouyTask
 CFindBottomTarget
 CFindFrontTarget
 CGateTask
 CIdentifyTarget
 CLineTask
 CMarkerDropperTask
 CMoveToXYZ
 COctagonTask
 CRescueMode
 CStationKeeping
 CTaskBaseClass
 CTooFar
 CTorpedoTask
 CTransition
 ▼Nstate_mach_gate_torpedo
 CBouyTask
 CFindBottomTarget
 CFindFrontTarget
 CGateTask
 CIdentifyTarget
 CLineTask
 CMarkerDropperTask
 CMoveToXYZ
 COctagonTask
 CRescueMode
 CStationKeeping
 CTaskBaseClass
 CTooFar
 CTorpedoTask
 CTransition
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
 ►NAccelerationControl
 ►Ncascaded_pid_dp_controller
 ►Ndisturbance_manager
 ►Nhardware_dvl
 ►Nimage_undistort
 ►Nmapping
 ►Nmaster_layer
 ►Nmtdef
 ►Nmtdevice
 ►Nmtnode
 ►Nnavigation
 ►NPID
 ►NPositionControl
 ►NPositionControlUnderactuated
 ►Nteledyne_navigator
 ►Ntest_trajectory_point
 ►Ntest_waypoint
 ►Ntest_waypoint_set
 ►Nthruster_allocator
 ►Ntrajectory_marker_publisher
 ►Nuuv_auv_actuator_interface
 ►Nuuv_control_interfaces
 ►Nuuv_thrusters
 ►Nuuv_trajectory_generator
 ►Nuuv_waypoints
 ►NVelocityControl
 ►Nvision_commons
 CBase_class
 CBuoy
 ►Ccolor_correctionClass defining generic interfaces and methods common for color correction methods
 CCrucifix
 CDVLData
 CDVLEthernet
 CDVLformat21_t
 CDVLHeader
 CDVLstatus
 CErrorDescriptor
 CGate
 CGrabber
 CLaplacianBlending
 CLine
 CMarker
 CMarkerDropper
 CMS5837
 Cname
 CObservation
 COctagon
 CPathMarker
 CPinger
 CStartGate
 CTestThis is a test class.

    +
  • +
+
 CTestGate
 CTorpedo
 CTriangularBuoy
diff --git a/docs/html/base__class_8h_source.html b/docs/html/base__class_8h_source.html new file mode 100644 index 0000000..83b98c0 --- /dev/null +++ b/docs/html/base__class_8h_source.html @@ -0,0 +1,202 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/base_class.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
base_class.h
+
+
+
1 #ifndef BASE_CLASS_H
+
2 #define BASE_CLASS_H
+
3 
+
4 #include <iostream>
+
5 #include <vector>
+
6 #include <mutex>
+
7 
+
8 #include "ros/ros.h"
+
9 #include "sensor_msgs/Image.h"
+
10 #include "opencv2/imgproc/imgproc.hpp"
+
11 #include "opencv2/core/core.hpp"
+
12 #include "opencv2/imgproc/imgproc_c.h"
+
13 #include "opencv2/highgui/highgui.hpp"
+
14 #include <cv_bridge/cv_bridge.h>
+
15 #include <image_transport/image_transport.h>
+
16 #include <dynamic_reconfigure/server.h>
+
17 #include <geometry_msgs/PointStamped.h>
+
18 #include <sensor_msgs/image_encodings.h>
+
19 #include <geometry_msgs/Pose2D.h>
+
20 #include <std_msgs/Float32.h>
+
21 #include <std_msgs/Bool.h>
+
22 #include <sensor_msgs/image_encodings.h>
+
23 #include <geometry_msgs/Point32.h>
+
24 #include <stdlib.h>
+
25 #include <string>
+
26 #include <boost/thread.hpp>
+
27 
+
28 #include <filter.h>
+
29 #include <contour.h>
+
30 #include <morph.h>
+
31 #include <threshold.h>
+
32 #include <geometry.h>
+
33 
+
34 class Base_class
+
35 {
+
36 
+
37 protected:
+
38  int front_low_g_;
+
39  int front_high_g_;
+
40  int front_low_r_;
+
41  int front_high_r_;
+
42  int front_low_b_;
+
43  int front_high_b_;
+
44  int front_opening_mat_point_;
+
45  int front_opening_iter_;
+
46  int front_closing_mat_point_;
+
47  int front_closing_iter_;
+
48  int front_bilateral_iter_;
+
49 
+
50  int bottom_low_g_;
+
51  int bottom_low_r_;
+
52  int bottom_low_b_;
+
53  int bottom_high_g_;
+
54  int bottom_high_r_;
+
55  int bottom_high_b_;
+
56  int bottom_closing_mat_point_;
+
57  int bottom_closing_iter_;
+
58  int bottom_opening_iter_;
+
59  int bottom_opening_mat_point_;
+
60  int bottom_bilateral_iter_;
+
61 
+
62  bool close_task = false;
+
63 
+
64  image_transport::Subscriber front_image_sub;
+
65  image_transport::Subscriber bottom_image_sub;
+
66 
+
67  image_transport::Subscriber enhanced_image_sub;
+
68 
+
69  image_transport::Publisher bottom_thresholded_pub;
+
70  image_transport::Publisher bottom_marked_pub;
+
71 
+
72  image_transport::Publisher front_thresholded_pub;
+
73  image_transport::Publisher front_marked_pub;
+
74  image_transport::Publisher front_edges_pub;
+
75 
+
76  ros::Publisher front_x_coordinate_pub;
+
77  ros::Publisher front_y_coordinate_pub;
+
78  ros::Publisher front_z_coordinate_pub;
+
79  ros::Publisher bottom_x_coordinate_pub;
+
80  ros::Publisher bottom_y_coordinate_pub;
+
81  ros::Publisher bottom_z_coordinate_pub;
+
82 
+
83  ros::Publisher detection_pub;
+
84 
+
85 public:
+
86  Base_class();
+
87  ros::NodeHandle nh;
+
88  image_transport::ImageTransport it;
+
89 
+
90  std_msgs::Float32 front_x_coordinate;
+
91  std_msgs::Float32 front_y_coordinate;
+
92  std_msgs::Float32 front_z_coordinate;
+
93 
+
94  std_msgs::Float32 bottom_x_coordinate;
+
95  std_msgs::Float32 bottom_y_coordinate;
+
96  std_msgs::Float32 bottom_z_coordinate;
+
97 
+
98  cv::Mat image_front;
+
99  cv::Mat image_bottom;
+
100  cv::Mat image_front_marked;
+
101  cv::Mat image_bottom_marked;
+
102  cv::Mat image_front_thresholded;
+
103  cv::Mat image_bottom_thresholded;
+
104  cv::Mat enhanced_image;
+
105 
+
106  virtual void spinThreadFront();
+
107  virtual void spinThreadBottom();
+
108  void bottomTaskHandling(bool status);
+
109  void frontTaskHandling(bool status);
+
110  void imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg);
+
111  void imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg);
+
112  void fusionCallback(const sensor_msgs::Image::ConstPtr &msg);
+
113  virtual void loadParams();
+
114  void init();
+
115 
+
116  boost::thread *spin_thread_bottom;
+
117  boost::thread *spin_thread_front;
+
118 
+
119  std::mutex vision_mutex;
+
120 };
+
121 #endif
+
+
Base_class
Definition: base_class.h:34
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/buoy_8h_source.html b/docs/html/buoy_8h_source.html new file mode 100644 index 0000000..035c213 --- /dev/null +++ b/docs/html/buoy_8h_source.html @@ -0,0 +1,119 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/buoy.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
buoy.h
+
+
+
1 #ifndef BUOY_TASK_H
+
2 #define BUOY_TASK_H
+
3 
+
4 #include "base_class.h"
+
5 #include <vision_tasks/buoyRangeConfig.h>
+
6 
+
7 class Buoy : public Base_class
+
8 {
+
9 protected:
+
10 
+
11  ros::NodeHandle nh;
+
12  image_transport::Publisher blue_filtered_pub;
+
13  image_transport::Subscriber image_raw_sub;
+
14 
+
15  std::string camera_frame_;
+
16  double clahe_clip_;
+
17  int clahe_grid_size_;
+
18  int clahe_bilateral_iter_;
+
19  int balanced_bilateral_iter_;
+
20  double denoise_h_;
+
21  int data_low_h[3] = {0, 12, 0};
+
22  int data_high_h[3] = {17, 40, 56};
+
23  int data_low_s[3] = {206, 183, 0};
+
24  int data_high_s[3] = {255, 255, 255};
+
25  int data_low_v[3] = {30, 3, 2};
+
26  int data_high_v[3] = {255, 255, 82};
+
27  void callback(vision_tasks::buoyRangeConfig &config, double level);
+
28  void imageCallback(const sensor_msgs::Image::ConstPtr &msg);
+
29 
+
30 public:
+
31  Buoy();
+
32  void switchColor(int);
+
33  void spinThreadFront();
+
34  void spinThread();
+
35  int current_color;
+
36 };
+
37 #endif // BUOY_TASK_H
+
+
Base_class
Definition: base_class.h:34
+
Buoy
Definition: buoy.h:7
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/camera__parameters_8h_source.html b/docs/html/camera__parameters_8h_source.html new file mode 100644 index 0000000..d520c1c --- /dev/null +++ b/docs/html/camera__parameters_8h_source.html @@ -0,0 +1,293 @@ + + + + + + + +Anahita: vision_layer/image_undistort/include/image_undistort/camera_parameters.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
camera_parameters.h
+
+
+
1 #ifndef IMAGE_UNDISTORT_CAMERA_PARAMETERS_H
+
2 #define IMAGE_UNDISTORT_CAMERA_PARAMETERS_H
+
3 
+
4 #include <ros/ros.h>
+
5 #include <sensor_msgs/CameraInfo.h>
+
6 
+
7 #include <cv_bridge/cv_bridge.h>
+
8 
+
9 #include <Eigen/Dense>
+
10 
+
11 namespace image_undistort {
+
12 
+
13 enum class CameraSide { FIRST, SECOND };
+
14 enum class CameraIO { INPUT, OUTPUT };
+
15 enum class DistortionModel {
+
16  NONE,
+
17  RADTAN,
+
18  EQUIDISTANT,
+
19  FOV,
+
20  OMNI,
+
21  OMNIRADTAN,
+
22  DOUBLESPHERE,
+
23  UNIFIED,
+
24  EXTENDEDUNIFIED
+
25 };
+
26 enum class DistortionProcessing { UNDISTORT, PRESERVE };
+
27 
+
28 // holds basic properties of a camera
+
29 class BaseCameraParameters {
+
30  public:
+
31  BaseCameraParameters(const ros::NodeHandle& nh,
+
32  const std::string& camera_namespace,
+
33  const bool invert_T);
+
34 
+
35  BaseCameraParameters(const sensor_msgs::CameraInfo& camera_info);
+
36 
+
37  BaseCameraParameters(const cv::Size& resolution_in,
+
38  const Eigen::Matrix<double, 4, 4>& T_in,
+
39  const Eigen::Matrix<double, 3, 3>& K_in);
+
40 
+
41  const cv::Size& resolution() const; // get image size
+
42 
+
43  const Eigen::Matrix<double, 4, 4>& T() const; // get transformation matrix
+
44  const Eigen::Ref<const Eigen::Matrix<double, 3, 3>> R()
+
45  const; // get rotation matrix
+
46  const Eigen::Ref<const Eigen::Matrix<double, 3, 1>> p()
+
47  const; // get position vector
+
48 
+
49  const Eigen::Matrix<double, 3, 4>& P() const; // get projection matrix
+
50  const Eigen::Matrix<double, 3, 3>& K() const; // get camera matrix
+
51 
+
52  bool operator==(const BaseCameraParameters& B) const;
+
53  bool operator!=(const BaseCameraParameters& B) const;
+
54 
+
55  private:
+
56  template <typename Derived>
+
57  static void xmlRpcToMatrix(const XmlRpc::XmlRpcValue& const_input,
+
58  Eigen::MatrixBase<Derived>* output) {
+
59  // A local copy is required as the methods that allow you to access the
+
60  // XmlRpc values as doubles are not const and so cannot be used with the
+
61  // const ref
+
62  XmlRpc::XmlRpcValue input = const_input;
+
63 
+
64  if (input.size() != output->rows()) {
+
65  throw std::runtime_error("Loaded matrix has incorrect number of rows");
+
66  }
+
67  for (size_t i = 0; i < output->rows(); ++i) {
+
68  if (input[i].size() != output->cols()) {
+
69  throw std::runtime_error(
+
70  "Loaded matrix has incorrect number of columns");
+
71  }
+
72  for (size_t j = 0; j < output->cols(); ++j) {
+
73  output->coeffRef(i, j) = input[i][j];
+
74  }
+
75  }
+
76  }
+
77 
+
78  cv::Size resolution_;
+
79  Eigen::Matrix<double, 4, 4> T_;
+
80  Eigen::Matrix<double, 3, 4> P_;
+
81  Eigen::Matrix<double, 3, 3> K_;
+
82 };
+
83 
+
84 // basic camera properties + distortion parameters
+
85 class InputCameraParameters : public BaseCameraParameters {
+
86  public:
+
87  InputCameraParameters(const ros::NodeHandle& nh,
+
88  const std::string& camera_namespace,
+
89  const bool invert_T = false);
+
90 
+
91  InputCameraParameters(const sensor_msgs::CameraInfo& camera_info);
+
92 
+
93  InputCameraParameters(const cv::Size& resolution_in,
+
94  const Eigen::Matrix<double, 4, 4>& T_in,
+
95  const Eigen::Matrix<double, 3, 3>& K_in,
+
96  const std::vector<double>& D_in,
+
97  const DistortionModel& distortion_model);
+
98 
+
99  const std::vector<double>& D() const; // get distortion vector
+
100  const DistortionModel& distortionModel() const;
+
101 
+
102  bool operator==(const InputCameraParameters& B) const;
+
103  bool operator!=(const InputCameraParameters& B) const;
+
104 
+
105  private:
+
106  static const DistortionModel stringToDistortion(
+
107  const std::string& distortion_model, const std::string& camera_model);
+
108 
+
109  std::vector<double> D_;
+
110  DistortionModel distortion_model_;
+
111 };
+
112 
+
113 // basic camera properties + anything special to output cameras (currently
+
114 // nothing)
+
115 class OutputCameraParameters : public BaseCameraParameters {
+
116  public:
+
117  using BaseCameraParameters::BaseCameraParameters;
+
118 };
+
119 
+
120 // holds the camera parameters of the input camera and virtual output camera
+
121 class CameraParametersPair {
+
122  public:
+
123  CameraParametersPair(const DistortionProcessing distortion_processing =
+
124  DistortionProcessing::UNDISTORT);
+
125 
+
126  bool setCameraParameters(const ros::NodeHandle& nh,
+
127  const std::string& camera_namespace,
+
128  const CameraIO& io, const bool invert_T = false);
+
129 
+
130  bool setCameraParameters(const sensor_msgs::CameraInfo& camera_info,
+
131  const CameraIO& io);
+
132 
+
133  bool setInputCameraParameters(const cv::Size& resolution,
+
134  const Eigen::Matrix<double, 4, 4>& T,
+
135  const Eigen::Matrix<double, 3, 3>& K,
+
136  const std::vector<double>& D,
+
137  const DistortionModel& distortion_model);
+
138 
+
139  bool setOutputCameraParameters(const cv::Size& resolution,
+
140  const Eigen::Matrix<double, 4, 4>& T,
+
141  const Eigen::Matrix<double, 3, 3>& K);
+
142 
+
143  bool setOutputFromInput(const double scale);
+
144 
+
145  bool setOptimalOutputCameraParameters(const double scale);
+
146 
+
147  const DistortionProcessing& distortionProcessing() const;
+
148 
+
149  void generateCameraInfoMessage(const CameraIO& io,
+
150  sensor_msgs::CameraInfo* camera_info) const;
+
151 
+
152  const std::shared_ptr<InputCameraParameters>& getInputPtr() const;
+
153  const std::shared_ptr<OutputCameraParameters>& getOutputPtr() const;
+
154 
+
155  bool valid() const;
+
156  bool valid(const CameraIO& io) const;
+
157 
+
158  bool operator==(const CameraParametersPair& B) const;
+
159  bool operator!=(const CameraParametersPair& B) const;
+
160 
+
161  private:
+
162  std::shared_ptr<InputCameraParameters> input_ptr_;
+
163  std::shared_ptr<OutputCameraParameters> output_ptr_;
+
164 
+
165  DistortionProcessing distortion_processing_;
+
166 
+
167  static constexpr double kFocalLengthEstimationAttempts = 100;
+
168 };
+
169 
+
170 // holds the camera parameters of the first and second camera and uses them to
+
171 // generate virtual output cameras with properties that will produce correctly
+
172 // rectified images
+
173 class StereoCameraParameters {
+
174  public:
+
175  StereoCameraParameters(const double scale = 1.0);
+
176 
+
177  bool setInputCameraParameters(const ros::NodeHandle& nh,
+
178  const std::string& camera_namespace,
+
179  const CameraSide& side, const bool invert_T);
+
180 
+
181  bool setInputCameraParameters(const sensor_msgs::CameraInfo& camera_info,
+
182  const CameraSide& side);
+
183 
+
184  bool setInputCameraParameters(const cv::Size& resolution,
+
185  const Eigen::Matrix<double, 4, 4>& T,
+
186  const Eigen::Matrix<double, 3, 3>& K,
+
187  const std::vector<double>& D,
+
188  const DistortionModel& distortion_model,
+
189  const CameraSide& side);
+
190 
+
191  void generateCameraInfoMessage(const CameraSide& side, const CameraIO& io,
+
192  sensor_msgs::CameraInfo* camera_info) const;
+
193 
+
194  const CameraParametersPair& getFirst() const;
+
195  const CameraParametersPair& getSecond() const;
+
196 
+
197  bool valid() const;
+
198  bool valid(const CameraSide& side, const CameraIO& io) const;
+
199 
+
200  private:
+
201  bool generateRectificationParameters();
+
202 
+
203  double scale_;
+
204  CameraParametersPair first_;
+
205  CameraParametersPair second_;
+
206 };
+
207 } // namespace image_undistort
+
208 #endif // CAMERA_PARAMETERS_H
+
+
image_undistort::OutputCameraParameters
Definition: camera_parameters.h:115
+
image_undistort::InputCameraParameters
Definition: camera_parameters.h:85
+
image_undistort::BaseCameraParameters
Definition: camera_parameters.h:29
+
image_undistort::CameraParametersPair
Definition: camera_parameters.h:121
+
image_undistort::StereoCameraParameters
Definition: camera_parameters.h:173
+ +
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__init__(self) (defined in AccelerationControl.AccelerationControllerNode)AccelerationControl.AccelerationControllerNode
acc_ (defined in AccelerationControl.AccelerationControllerNode)AccelerationControl.AccelerationControllerNode
accel_callback(self, msg) (defined in AccelerationControl.AccelerationControllerNode)AccelerationControl.AccelerationControllerNode
force_callback(self, msg) (defined in AccelerationControl.AccelerationControllerNode)AccelerationControl.AccelerationControllerNode
inertial (defined in AccelerationControl.AccelerationControllerNode)AccelerationControl.AccelerationControllerNode
inertial_tensor (defined in AccelerationControl.AccelerationControllerNode)AccelerationControl.AccelerationControllerNode
mass (defined in AccelerationControl.AccelerationControllerNode)AccelerationControl.AccelerationControllerNode
mass_inertial_matrix (defined in AccelerationControl.AccelerationControllerNode)AccelerationControl.AccelerationControllerNode
pub_gen_force (defined in AccelerationControl.AccelerationControllerNode)AccelerationControl.AccelerationControllerNode
ready (defined in AccelerationControl.AccelerationControllerNode)AccelerationControl.AccelerationControllerNode
sub_accel (defined in AccelerationControl.AccelerationControllerNode)AccelerationControl.AccelerationControllerNode
sub_force (defined in AccelerationControl.AccelerationControllerNode)AccelerationControl.AccelerationControllerNode
sub_vel (defined in AccelerationControl.AccelerationControllerNode)AccelerationControl.AccelerationControllerNode
vehicle_model (defined in AccelerationControl.AccelerationControllerNode)AccelerationControl.AccelerationControllerNode
vel_ (defined in AccelerationControl.AccelerationControllerNode)AccelerationControl.AccelerationControllerNode
vel_callback(self, msg)AccelerationControl.AccelerationControllerNode
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AccelerationControl.AccelerationControllerNode Class Reference
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+Public Member Functions

+def __init__ (self)
 
+def force_callback (self, msg)
 
def vel_callback (self, msg)
 
+def accel_callback (self, msg)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ vehicle_model
 
+ ready
 
+ mass
 
+ inertial_tensor
 
+ mass_inertial_matrix
 
+ vel_
 
+ acc_
 
+ pub_gen_force
 
+ sub_accel
 
+ sub_vel
 
+ sub_force
 
+ inertial
 
+

Member Function Documentation

+ +

◆ vel_callback()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def AccelerationControl.AccelerationControllerNode.vel_callback ( self,
 msg 
)
+
+
Handle updated measured velocity callback.
+
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classBase__class-members.html b/docs/html/classBase__class-members.html new file mode 100644 index 0000000..5d38297 --- /dev/null +++ b/docs/html/classBase__class-members.html @@ -0,0 +1,145 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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Base_class() (defined in Base_class)Base_class
bottom_bilateral_iter_ (defined in Base_class)Base_classprotected
bottom_closing_iter_ (defined in Base_class)Base_classprotected
bottom_closing_mat_point_ (defined in Base_class)Base_classprotected
bottom_high_b_ (defined in Base_class)Base_classprotected
bottom_high_g_ (defined in Base_class)Base_classprotected
bottom_high_r_ (defined in Base_class)Base_classprotected
bottom_image_sub (defined in Base_class)Base_classprotected
bottom_low_b_ (defined in Base_class)Base_classprotected
bottom_low_g_ (defined in Base_class)Base_classprotected
bottom_low_r_ (defined in Base_class)Base_classprotected
bottom_marked_pub (defined in Base_class)Base_classprotected
bottom_opening_iter_ (defined in Base_class)Base_classprotected
bottom_opening_mat_point_ (defined in Base_class)Base_classprotected
bottom_thresholded_pub (defined in Base_class)Base_classprotected
bottom_x_coordinate (defined in Base_class)Base_class
bottom_x_coordinate_pub (defined in Base_class)Base_classprotected
bottom_y_coordinate (defined in Base_class)Base_class
bottom_y_coordinate_pub (defined in Base_class)Base_classprotected
bottom_z_coordinate (defined in Base_class)Base_class
bottom_z_coordinate_pub (defined in Base_class)Base_classprotected
bottomTaskHandling(bool status) (defined in Base_class)Base_class
close_task (defined in Base_class)Base_classprotected
detection_pub (defined in Base_class)Base_classprotected
enhanced_image (defined in Base_class)Base_class
enhanced_image_sub (defined in Base_class)Base_classprotected
front_bilateral_iter_ (defined in Base_class)Base_classprotected
front_closing_iter_ (defined in Base_class)Base_classprotected
front_closing_mat_point_ (defined in Base_class)Base_classprotected
front_edges_pub (defined in Base_class)Base_classprotected
front_high_b_ (defined in Base_class)Base_classprotected
front_high_g_ (defined in Base_class)Base_classprotected
front_high_r_ (defined in Base_class)Base_classprotected
front_image_sub (defined in Base_class)Base_classprotected
front_low_b_ (defined in Base_class)Base_classprotected
front_low_g_ (defined in Base_class)Base_classprotected
front_low_r_ (defined in Base_class)Base_classprotected
front_marked_pub (defined in Base_class)Base_classprotected
front_opening_iter_ (defined in Base_class)Base_classprotected
front_opening_mat_point_ (defined in Base_class)Base_classprotected
front_thresholded_pub (defined in Base_class)Base_classprotected
front_x_coordinate (defined in Base_class)Base_class
front_x_coordinate_pub (defined in Base_class)Base_classprotected
front_y_coordinate (defined in Base_class)Base_class
front_y_coordinate_pub (defined in Base_class)Base_classprotected
front_z_coordinate (defined in Base_class)Base_class
front_z_coordinate_pub (defined in Base_class)Base_classprotected
frontTaskHandling(bool status) (defined in Base_class)Base_class
fusionCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
image_bottom (defined in Base_class)Base_class
image_bottom_marked (defined in Base_class)Base_class
image_bottom_thresholded (defined in Base_class)Base_class
image_front (defined in Base_class)Base_class
image_front_marked (defined in Base_class)Base_class
image_front_thresholded (defined in Base_class)Base_class
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
init() (defined in Base_class)Base_class
it (defined in Base_class)Base_class
loadParams() (defined in Base_class)Base_classvirtual
nh (defined in Base_class)Base_class
spin_thread_bottom (defined in Base_class)Base_class
spin_thread_front (defined in Base_class)Base_class
spinThreadBottom() (defined in Base_class)Base_classvirtual
spinThreadFront() (defined in Base_class)Base_classvirtual
vision_mutex (defined in Base_class)Base_class
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+ + +Buoy +Crucifix +Gate +Grabber +Line +Marker +MarkerDropper +Octagon +PathMarker +Pinger +StartGate +TestGate +Torpedo +TriangularBuoy + +
+ + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+virtual void spinThreadFront ()
 
+virtual void spinThreadBottom ()
 
+void bottomTaskHandling (bool status)
 
+void frontTaskHandling (bool status)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void fusionCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+virtual void loadParams ()
 
+void init ()
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ros::NodeHandle nh
 
+image_transport::ImageTransport it
 
+std_msgs::Float32 front_x_coordinate
 
+std_msgs::Float32 front_y_coordinate
 
+std_msgs::Float32 front_z_coordinate
 
+std_msgs::Float32 bottom_x_coordinate
 
+std_msgs::Float32 bottom_y_coordinate
 
+std_msgs::Float32 bottom_z_coordinate
 
+cv::Mat image_front
 
+cv::Mat image_bottom
 
+cv::Mat image_front_marked
 
+cv::Mat image_bottom_marked
 
+cv::Mat image_front_thresholded
 
+cv::Mat image_bottom_thresholded
 
+cv::Mat enhanced_image
 
+boost::thread * spin_thread_bottom
 
+boost::thread * spin_thread_front
 
+std::mutex vision_mutex
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Protected Attributes

+int front_low_g_
 
+int front_high_g_
 
+int front_low_r_
 
+int front_high_r_
 
+int front_low_b_
 
+int front_high_b_
 
+int front_opening_mat_point_
 
+int front_opening_iter_
 
+int front_closing_mat_point_
 
+int front_closing_iter_
 
+int front_bilateral_iter_
 
+int bottom_low_g_
 
+int bottom_low_r_
 
+int bottom_low_b_
 
+int bottom_high_g_
 
+int bottom_high_r_
 
+int bottom_high_b_
 
+int bottom_closing_mat_point_
 
+int bottom_closing_iter_
 
+int bottom_opening_iter_
 
+int bottom_opening_mat_point_
 
+int bottom_bilateral_iter_
 
+bool close_task = false
 
+image_transport::Subscriber front_image_sub
 
+image_transport::Subscriber bottom_image_sub
 
+image_transport::Subscriber enhanced_image_sub
 
+image_transport::Publisher bottom_thresholded_pub
 
+image_transport::Publisher bottom_marked_pub
 
+image_transport::Publisher front_thresholded_pub
 
+image_transport::Publisher front_marked_pub
 
+image_transport::Publisher front_edges_pub
 
+ros::Publisher front_x_coordinate_pub
 
+ros::Publisher front_y_coordinate_pub
 
+ros::Publisher front_z_coordinate_pub
 
+ros::Publisher bottom_x_coordinate_pub
 
+ros::Publisher bottom_y_coordinate_pub
 
+ros::Publisher bottom_z_coordinate_pub
 
+ros::Publisher detection_pub
 
+
The documentation for this class was generated from the following files: +
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balanced_bilateral_iter_ (defined in Buoy)Buoyprotected
Base_class() (defined in Base_class)Base_class
blue_filtered_pub (defined in Buoy)Buoyprotected
bottom_bilateral_iter_ (defined in Base_class)Base_classprotected
bottom_closing_iter_ (defined in Base_class)Base_classprotected
bottom_closing_mat_point_ (defined in Base_class)Base_classprotected
bottom_high_b_ (defined in Base_class)Base_classprotected
bottom_high_g_ (defined in Base_class)Base_classprotected
bottom_high_r_ (defined in Base_class)Base_classprotected
bottom_image_sub (defined in Base_class)Base_classprotected
bottom_low_b_ (defined in Base_class)Base_classprotected
bottom_low_g_ (defined in Base_class)Base_classprotected
bottom_low_r_ (defined in Base_class)Base_classprotected
bottom_marked_pub (defined in Base_class)Base_classprotected
bottom_opening_iter_ (defined in Base_class)Base_classprotected
bottom_opening_mat_point_ (defined in Base_class)Base_classprotected
bottom_thresholded_pub (defined in Base_class)Base_classprotected
bottom_x_coordinate (defined in Base_class)Base_class
bottom_x_coordinate_pub (defined in Base_class)Base_classprotected
bottom_y_coordinate (defined in Base_class)Base_class
bottom_y_coordinate_pub (defined in Base_class)Base_classprotected
bottom_z_coordinate (defined in Base_class)Base_class
bottom_z_coordinate_pub (defined in Base_class)Base_classprotected
bottomTaskHandling(bool status) (defined in Base_class)Base_class
Buoy() (defined in Buoy)Buoy
callback(vision_tasks::buoyRangeConfig &config, double level) (defined in Buoy)Buoyprotected
camera_frame_ (defined in Buoy)Buoyprotected
clahe_bilateral_iter_ (defined in Buoy)Buoyprotected
clahe_clip_ (defined in Buoy)Buoyprotected
clahe_grid_size_ (defined in Buoy)Buoyprotected
close_task (defined in Base_class)Base_classprotected
current_color (defined in Buoy)Buoy
data_high_h (defined in Buoy)Buoyprotected
data_high_s (defined in Buoy)Buoyprotected
data_high_v (defined in Buoy)Buoyprotected
data_low_h (defined in Buoy)Buoyprotected
data_low_s (defined in Buoy)Buoyprotected
data_low_v (defined in Buoy)Buoyprotected
denoise_h_ (defined in Buoy)Buoyprotected
detection_pub (defined in Base_class)Base_classprotected
enhanced_image (defined in Base_class)Base_class
enhanced_image_sub (defined in Base_class)Base_classprotected
front_bilateral_iter_ (defined in Base_class)Base_classprotected
front_closing_iter_ (defined in Base_class)Base_classprotected
front_closing_mat_point_ (defined in Base_class)Base_classprotected
front_edges_pub (defined in Base_class)Base_classprotected
front_high_b_ (defined in Base_class)Base_classprotected
front_high_g_ (defined in Base_class)Base_classprotected
front_high_r_ (defined in Base_class)Base_classprotected
front_image_sub (defined in Base_class)Base_classprotected
front_low_b_ (defined in Base_class)Base_classprotected
front_low_g_ (defined in Base_class)Base_classprotected
front_low_r_ (defined in Base_class)Base_classprotected
front_marked_pub (defined in Base_class)Base_classprotected
front_opening_iter_ (defined in Base_class)Base_classprotected
front_opening_mat_point_ (defined in Base_class)Base_classprotected
front_thresholded_pub (defined in Base_class)Base_classprotected
front_x_coordinate (defined in Base_class)Base_class
front_x_coordinate_pub (defined in Base_class)Base_classprotected
front_y_coordinate (defined in Base_class)Base_class
front_y_coordinate_pub (defined in Base_class)Base_classprotected
front_z_coordinate (defined in Base_class)Base_class
front_z_coordinate_pub (defined in Base_class)Base_classprotected
frontTaskHandling(bool status) (defined in Base_class)Base_class
fusionCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
image_bottom (defined in Base_class)Base_class
image_bottom_marked (defined in Base_class)Base_class
image_bottom_thresholded (defined in Base_class)Base_class
image_front (defined in Base_class)Base_class
image_front_marked (defined in Base_class)Base_class
image_front_thresholded (defined in Base_class)Base_class
image_raw_sub (defined in Buoy)Buoyprotected
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
imageCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Buoy)Buoyprotected
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
init() (defined in Base_class)Base_class
it (defined in Base_class)Base_class
loadParams() (defined in Base_class)Base_classvirtual
nh (defined in Buoy)Buoyprotected
spin_thread_bottom (defined in Base_class)Base_class
spin_thread_front (defined in Base_class)Base_class
spinThread() (defined in Buoy)Buoy
spinThreadBottom() (defined in Base_class)Base_classvirtual
spinThreadFront() (defined in Buoy)Buoyvirtual
switchColor(int) (defined in Buoy)Buoy
vision_mutex (defined in Base_class)Base_class
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+Public Member Functions

+void switchColor (int)
 
+void spinThreadFront ()
 
+void spinThread ()
 
- Public Member Functions inherited from Base_class
+virtual void spinThreadBottom ()
 
+void bottomTaskHandling (bool status)
 
+void frontTaskHandling (bool status)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void fusionCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+virtual void loadParams ()
 
+void init ()
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+int current_color
 
- Public Attributes inherited from Base_class
+ros::NodeHandle nh
 
+image_transport::ImageTransport it
 
+std_msgs::Float32 front_x_coordinate
 
+std_msgs::Float32 front_y_coordinate
 
+std_msgs::Float32 front_z_coordinate
 
+std_msgs::Float32 bottom_x_coordinate
 
+std_msgs::Float32 bottom_y_coordinate
 
+std_msgs::Float32 bottom_z_coordinate
 
+cv::Mat image_front
 
+cv::Mat image_bottom
 
+cv::Mat image_front_marked
 
+cv::Mat image_bottom_marked
 
+cv::Mat image_front_thresholded
 
+cv::Mat image_bottom_thresholded
 
+cv::Mat enhanced_image
 
+boost::thread * spin_thread_bottom
 
+boost::thread * spin_thread_front
 
+std::mutex vision_mutex
 
+ + + + + +

+Protected Member Functions

+void callback (vision_tasks::buoyRangeConfig &config, double level)
 
+void imageCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Protected Attributes

+ros::NodeHandle nh
 
+image_transport::Publisher blue_filtered_pub
 
+image_transport::Subscriber image_raw_sub
 
+std::string camera_frame_
 
+double clahe_clip_
 
+int clahe_grid_size_
 
+int clahe_bilateral_iter_
 
+int balanced_bilateral_iter_
 
+double denoise_h_
 
+int data_low_h [3] = {0, 12, 0}
 
+int data_high_h [3] = {17, 40, 56}
 
+int data_low_s [3] = {206, 183, 0}
 
+int data_high_s [3] = {255, 255, 255}
 
+int data_low_v [3] = {30, 3, 2}
 
+int data_high_v [3] = {255, 255, 82}
 
- Protected Attributes inherited from Base_class
+int front_low_g_
 
+int front_high_g_
 
+int front_low_r_
 
+int front_high_r_
 
+int front_low_b_
 
+int front_high_b_
 
+int front_opening_mat_point_
 
+int front_opening_iter_
 
+int front_closing_mat_point_
 
+int front_closing_iter_
 
+int front_bilateral_iter_
 
+int bottom_low_g_
 
+int bottom_low_r_
 
+int bottom_low_b_
 
+int bottom_high_g_
 
+int bottom_high_r_
 
+int bottom_high_b_
 
+int bottom_closing_mat_point_
 
+int bottom_closing_iter_
 
+int bottom_opening_iter_
 
+int bottom_opening_mat_point_
 
+int bottom_bilateral_iter_
 
+bool close_task = false
 
+image_transport::Subscriber front_image_sub
 
+image_transport::Subscriber bottom_image_sub
 
+image_transport::Subscriber enhanced_image_sub
 
+image_transport::Publisher bottom_thresholded_pub
 
+image_transport::Publisher bottom_marked_pub
 
+image_transport::Publisher front_thresholded_pub
 
+image_transport::Publisher front_marked_pub
 
+image_transport::Publisher front_edges_pub
 
+ros::Publisher front_x_coordinate_pub
 
+ros::Publisher front_y_coordinate_pub
 
+ros::Publisher front_z_coordinate_pub
 
+ros::Publisher bottom_x_coordinate_pub
 
+ros::Publisher bottom_y_coordinate_pub
 
+ros::Publisher bottom_z_coordinate_pub
 
+ros::Publisher detection_pub
 
+
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Base_class() (defined in Base_class)Base_class
bottom_bilateral_iter_ (defined in Base_class)Base_classprotected
bottom_closing_iter_ (defined in Base_class)Base_classprotected
bottom_closing_mat_point_ (defined in Base_class)Base_classprotected
bottom_high_b_ (defined in Base_class)Base_classprotected
bottom_high_g_ (defined in Base_class)Base_classprotected
bottom_high_r_ (defined in Base_class)Base_classprotected
bottom_image_sub (defined in Base_class)Base_classprotected
bottom_low_b_ (defined in Base_class)Base_classprotected
bottom_low_g_ (defined in Base_class)Base_classprotected
bottom_low_r_ (defined in Base_class)Base_classprotected
bottom_marked_pub (defined in Base_class)Base_classprotected
bottom_opening_iter_ (defined in Base_class)Base_classprotected
bottom_opening_mat_point_ (defined in Base_class)Base_classprotected
bottom_thresholded_pub (defined in Base_class)Base_classprotected
bottom_x_coordinate (defined in Base_class)Base_class
bottom_x_coordinate_pub (defined in Base_class)Base_classprotected
bottom_y_coordinate (defined in Base_class)Base_class
bottom_y_coordinate_pub (defined in Base_class)Base_classprotected
bottom_z_coordinate (defined in Base_class)Base_class
bottom_z_coordinate_pub (defined in Base_class)Base_classprotected
bottomTaskHandling(bool status) (defined in Base_class)Base_class
close_task (defined in Base_class)Base_classprotected
Crucifix() (defined in Crucifix)Crucifix
detection_pub (defined in Base_class)Base_classprotected
enhanced_image (defined in Base_class)Base_class
enhanced_image_sub (defined in Base_class)Base_classprotected
front_bilateral_iter_ (defined in Base_class)Base_classprotected
front_closing_iter_ (defined in Base_class)Base_classprotected
front_closing_mat_point_ (defined in Base_class)Base_classprotected
front_edges_pub (defined in Base_class)Base_classprotected
front_high_b_ (defined in Base_class)Base_classprotected
front_high_g_ (defined in Base_class)Base_classprotected
front_high_r_ (defined in Base_class)Base_classprotected
front_image_sub (defined in Base_class)Base_classprotected
front_low_b_ (defined in Base_class)Base_classprotected
front_low_g_ (defined in Base_class)Base_classprotected
front_low_r_ (defined in Base_class)Base_classprotected
front_marked_pub (defined in Base_class)Base_classprotected
front_opening_iter_ (defined in Base_class)Base_classprotected
front_opening_mat_point_ (defined in Base_class)Base_classprotected
front_thresholded_pub (defined in Base_class)Base_classprotected
front_x_coordinate (defined in Base_class)Base_class
front_x_coordinate_pub (defined in Base_class)Base_classprotected
front_y_coordinate (defined in Base_class)Base_class
front_y_coordinate_pub (defined in Base_class)Base_classprotected
front_z_coordinate (defined in Base_class)Base_class
front_z_coordinate_pub (defined in Base_class)Base_classprotected
frontTaskHandling(bool status) (defined in Base_class)Base_class
fusionCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
image_bottom (defined in Base_class)Base_class
image_bottom_marked (defined in Base_class)Base_class
image_bottom_thresholded (defined in Base_class)Base_class
image_front (defined in Base_class)Base_class
image_front_marked (defined in Base_class)Base_class
image_front_thresholded (defined in Base_class)Base_class
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
init() (defined in Base_class)Base_class
it (defined in Base_class)Base_class
loadParams() override (defined in Crucifix)Crucifixvirtual
nh (defined in Base_class)Base_class
spin_thread_bottom (defined in Base_class)Base_class
spin_thread_front (defined in Base_class)Base_class
spinThreadBottom() override (defined in Crucifix)Crucifixvirtual
spinThreadFront() override (defined in Crucifix)Crucifixvirtual
vision_mutex (defined in Base_class)Base_class
~Crucifix() (defined in Crucifix)Crucifix
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+Public Member Functions

+virtual void loadParams () override
 
+virtual void spinThreadFront () override
 
+virtual void spinThreadBottom () override
 
- Public Member Functions inherited from Base_class
+void bottomTaskHandling (bool status)
 
+void frontTaskHandling (bool status)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void fusionCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void init ()
 
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+Additional Inherited Members

- Public Attributes inherited from Base_class
+ros::NodeHandle nh
 
+image_transport::ImageTransport it
 
+std_msgs::Float32 front_x_coordinate
 
+std_msgs::Float32 front_y_coordinate
 
+std_msgs::Float32 front_z_coordinate
 
+std_msgs::Float32 bottom_x_coordinate
 
+std_msgs::Float32 bottom_y_coordinate
 
+std_msgs::Float32 bottom_z_coordinate
 
+cv::Mat image_front
 
+cv::Mat image_bottom
 
+cv::Mat image_front_marked
 
+cv::Mat image_bottom_marked
 
+cv::Mat image_front_thresholded
 
+cv::Mat image_bottom_thresholded
 
+cv::Mat enhanced_image
 
+boost::thread * spin_thread_bottom
 
+boost::thread * spin_thread_front
 
+std::mutex vision_mutex
 
- Protected Attributes inherited from Base_class
+int front_low_g_
 
+int front_high_g_
 
+int front_low_r_
 
+int front_high_r_
 
+int front_low_b_
 
+int front_high_b_
 
+int front_opening_mat_point_
 
+int front_opening_iter_
 
+int front_closing_mat_point_
 
+int front_closing_iter_
 
+int front_bilateral_iter_
 
+int bottom_low_g_
 
+int bottom_low_r_
 
+int bottom_low_b_
 
+int bottom_high_g_
 
+int bottom_high_r_
 
+int bottom_high_b_
 
+int bottom_closing_mat_point_
 
+int bottom_closing_iter_
 
+int bottom_opening_iter_
 
+int bottom_opening_mat_point_
 
+int bottom_bilateral_iter_
 
+bool close_task = false
 
+image_transport::Subscriber front_image_sub
 
+image_transport::Subscriber bottom_image_sub
 
+image_transport::Subscriber enhanced_image_sub
 
+image_transport::Publisher bottom_thresholded_pub
 
+image_transport::Publisher bottom_marked_pub
 
+image_transport::Publisher front_thresholded_pub
 
+image_transport::Publisher front_marked_pub
 
+image_transport::Publisher front_edges_pub
 
+ros::Publisher front_x_coordinate_pub
 
+ros::Publisher front_y_coordinate_pub
 
+ros::Publisher front_z_coordinate_pub
 
+ros::Publisher bottom_x_coordinate_pub
 
+ros::Publisher bottom_y_coordinate_pub
 
+ros::Publisher bottom_z_coordinate_pub
 
+ros::Publisher detection_pub
 
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Connect(std::string address, int port) (defined in DVLEthernet)DVLEthernet
DVLEthernet() (defined in DVLEthernet)DVLEthernet
GetRawData() (defined in DVLEthernet)DVLEthernet
Receive() (defined in DVLEthernet)DVLEthernet
~DVLEthernet() (defined in DVLEthernet)DVLEthernet
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+Public Member Functions

+void Connect (std::string address, int port)
 
+void Receive ()
 
+char * GetRawData ()
 
+
The documentation for this class was generated from the following files: +
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ErrorDescriptor(std::string _name) (defined in ErrorDescriptor)ErrorDescriptor
errorToPWM(double _current_value) (defined in ErrorDescriptor)ErrorDescriptor
getCurrentValue() (defined in ErrorDescriptor)ErrorDescriptor
getPWM() (defined in ErrorDescriptor)ErrorDescriptor
setPID(float new_p, float new_i, float new_d, float new_band) (defined in ErrorDescriptor)ErrorDescriptor
setReference(double _value) (defined in ErrorDescriptor)ErrorDescriptor
setType(std::string _name) (defined in ErrorDescriptor)ErrorDescriptor
~ErrorDescriptor() (defined in ErrorDescriptor)ErrorDescriptor
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ErrorDescriptor Class Reference
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+ ErrorDescriptor (std::string _name)
 
+void setPID (float new_p, float new_i, float new_d, float new_band)
 
+void setType (std::string _name)
 
+void setReference (double _value)
 
+void errorToPWM (double _current_value)
 
+int getPWM ()
 
+double getCurrentValue ()
 
+
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Base_class() (defined in Base_class)Base_class
bottom_bilateral_iter_ (defined in Base_class)Base_classprotected
bottom_closing_iter_ (defined in Base_class)Base_classprotected
bottom_closing_mat_point_ (defined in Base_class)Base_classprotected
bottom_high_b_ (defined in Base_class)Base_classprotected
bottom_high_g_ (defined in Base_class)Base_classprotected
bottom_high_r_ (defined in Base_class)Base_classprotected
bottom_image_sub (defined in Base_class)Base_classprotected
bottom_low_b_ (defined in Base_class)Base_classprotected
bottom_low_g_ (defined in Base_class)Base_classprotected
bottom_low_r_ (defined in Base_class)Base_classprotected
bottom_marked_pub (defined in Base_class)Base_classprotected
bottom_opening_iter_ (defined in Base_class)Base_classprotected
bottom_opening_mat_point_ (defined in Base_class)Base_classprotected
bottom_thresholded_pub (defined in Base_class)Base_classprotected
bottom_x_coordinate (defined in Base_class)Base_class
bottom_x_coordinate_pub (defined in Base_class)Base_classprotected
bottom_y_coordinate (defined in Base_class)Base_class
bottom_y_coordinate_pub (defined in Base_class)Base_classprotected
bottom_z_coordinate (defined in Base_class)Base_class
bottom_z_coordinate_pub (defined in Base_class)Base_classprotected
bottomTaskHandling(bool status) (defined in Base_class)Base_class
close_task (defined in Base_class)Base_classprotected
detection_pub (defined in Base_class)Base_classprotected
enhanced_image (defined in Base_class)Base_class
enhanced_image_sub (defined in Base_class)Base_classprotected
front_bilateral_iter_ (defined in Base_class)Base_classprotected
front_closing_iter_ (defined in Base_class)Base_classprotected
front_closing_mat_point_ (defined in Base_class)Base_classprotected
front_edges_pub (defined in Base_class)Base_classprotected
front_high_b_ (defined in Base_class)Base_classprotected
front_high_g_ (defined in Base_class)Base_classprotected
front_high_r_ (defined in Base_class)Base_classprotected
front_image_sub (defined in Base_class)Base_classprotected
front_low_b_ (defined in Base_class)Base_classprotected
front_low_g_ (defined in Base_class)Base_classprotected
front_low_r_ (defined in Base_class)Base_classprotected
front_marked_pub (defined in Base_class)Base_classprotected
front_opening_iter_ (defined in Base_class)Base_classprotected
front_opening_mat_point_ (defined in Base_class)Base_classprotected
front_thresholded_pub (defined in Base_class)Base_classprotected
front_x_coordinate (defined in Base_class)Base_class
front_x_coordinate_pub (defined in Base_class)Base_classprotected
front_y_coordinate (defined in Base_class)Base_class
front_y_coordinate_pub (defined in Base_class)Base_classprotected
front_z_coordinate (defined in Base_class)Base_class
front_z_coordinate_pub (defined in Base_class)Base_classprotected
frontTaskHandling(bool status) (defined in Base_class)Base_class
fusionCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
Gate() (defined in Gate)Gate
image_bottom (defined in Base_class)Base_class
image_bottom_marked (defined in Base_class)Base_class
image_bottom_thresholded (defined in Base_class)Base_class
image_front (defined in Base_class)Base_class
image_front_marked (defined in Base_class)Base_class
image_front_thresholded (defined in Base_class)Base_class
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
init() (defined in Base_class)Base_class
it (defined in Base_class)Base_class
loadParams() override (defined in Gate)Gatevirtual
nh (defined in Base_class)Base_class
spin_thread_bottom (defined in Base_class)Base_class
spin_thread_front (defined in Base_class)Base_class
spinThreadBottom() (defined in Base_class)Base_classvirtual
spinThreadFront() override (defined in Gate)Gatevirtual
vision_mutex (defined in Base_class)Base_class
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+void loadParams () override
 
+void spinThreadFront () override
 
- Public Member Functions inherited from Base_class
+virtual void spinThreadBottom ()
 
+void bottomTaskHandling (bool status)
 
+void frontTaskHandling (bool status)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void fusionCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void init ()
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Attributes inherited from Base_class
+ros::NodeHandle nh
 
+image_transport::ImageTransport it
 
+std_msgs::Float32 front_x_coordinate
 
+std_msgs::Float32 front_y_coordinate
 
+std_msgs::Float32 front_z_coordinate
 
+std_msgs::Float32 bottom_x_coordinate
 
+std_msgs::Float32 bottom_y_coordinate
 
+std_msgs::Float32 bottom_z_coordinate
 
+cv::Mat image_front
 
+cv::Mat image_bottom
 
+cv::Mat image_front_marked
 
+cv::Mat image_bottom_marked
 
+cv::Mat image_front_thresholded
 
+cv::Mat image_bottom_thresholded
 
+cv::Mat enhanced_image
 
+boost::thread * spin_thread_bottom
 
+boost::thread * spin_thread_front
 
+std::mutex vision_mutex
 
- Protected Attributes inherited from Base_class
+int front_low_g_
 
+int front_high_g_
 
+int front_low_r_
 
+int front_high_r_
 
+int front_low_b_
 
+int front_high_b_
 
+int front_opening_mat_point_
 
+int front_opening_iter_
 
+int front_closing_mat_point_
 
+int front_closing_iter_
 
+int front_bilateral_iter_
 
+int bottom_low_g_
 
+int bottom_low_r_
 
+int bottom_low_b_
 
+int bottom_high_g_
 
+int bottom_high_r_
 
+int bottom_high_b_
 
+int bottom_closing_mat_point_
 
+int bottom_closing_iter_
 
+int bottom_opening_iter_
 
+int bottom_opening_mat_point_
 
+int bottom_bilateral_iter_
 
+bool close_task = false
 
+image_transport::Subscriber front_image_sub
 
+image_transport::Subscriber bottom_image_sub
 
+image_transport::Subscriber enhanced_image_sub
 
+image_transport::Publisher bottom_thresholded_pub
 
+image_transport::Publisher bottom_marked_pub
 
+image_transport::Publisher front_thresholded_pub
 
+image_transport::Publisher front_marked_pub
 
+image_transport::Publisher front_edges_pub
 
+ros::Publisher front_x_coordinate_pub
 
+ros::Publisher front_y_coordinate_pub
 
+ros::Publisher front_z_coordinate_pub
 
+ros::Publisher bottom_x_coordinate_pub
 
+ros::Publisher bottom_y_coordinate_pub
 
+ros::Publisher bottom_z_coordinate_pub
 
+ros::Publisher detection_pub
 
+
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Base_class() (defined in Base_class)Base_class
bottom_bilateral_iter_ (defined in Base_class)Base_classprotected
bottom_closing_iter_ (defined in Base_class)Base_classprotected
bottom_closing_mat_point_ (defined in Base_class)Base_classprotected
bottom_high_b_ (defined in Base_class)Base_classprotected
bottom_high_g_ (defined in Base_class)Base_classprotected
bottom_high_r_ (defined in Base_class)Base_classprotected
bottom_image_sub (defined in Base_class)Base_classprotected
bottom_low_b_ (defined in Base_class)Base_classprotected
bottom_low_g_ (defined in Base_class)Base_classprotected
bottom_low_r_ (defined in Base_class)Base_classprotected
bottom_marked_pub (defined in Base_class)Base_classprotected
bottom_opening_iter_ (defined in Base_class)Base_classprotected
bottom_opening_mat_point_ (defined in Base_class)Base_classprotected
bottom_thresholded_pub (defined in Base_class)Base_classprotected
bottom_x_coordinate (defined in Base_class)Base_class
bottom_x_coordinate_pub (defined in Base_class)Base_classprotected
bottom_y_coordinate (defined in Base_class)Base_class
bottom_y_coordinate_pub (defined in Base_class)Base_classprotected
bottom_z_coordinate (defined in Base_class)Base_class
bottom_z_coordinate_pub (defined in Base_class)Base_classprotected
bottomTaskHandling(bool status) (defined in Base_class)Base_class
close_task (defined in Base_class)Base_classprotected
detection_pub (defined in Base_class)Base_classprotected
enhanced_image (defined in Base_class)Base_class
enhanced_image_sub (defined in Base_class)Base_classprotected
front_bilateral_iter_ (defined in Base_class)Base_classprotected
front_closing_iter_ (defined in Base_class)Base_classprotected
front_closing_mat_point_ (defined in Base_class)Base_classprotected
front_edges_pub (defined in Base_class)Base_classprotected
front_high_b_ (defined in Base_class)Base_classprotected
front_high_g_ (defined in Base_class)Base_classprotected
front_high_r_ (defined in Base_class)Base_classprotected
front_image_sub (defined in Base_class)Base_classprotected
front_low_b_ (defined in Base_class)Base_classprotected
front_low_g_ (defined in Base_class)Base_classprotected
front_low_r_ (defined in Base_class)Base_classprotected
front_marked_pub (defined in Base_class)Base_classprotected
front_opening_iter_ (defined in Base_class)Base_classprotected
front_opening_mat_point_ (defined in Base_class)Base_classprotected
front_thresholded_pub (defined in Base_class)Base_classprotected
front_x_coordinate (defined in Base_class)Base_class
front_x_coordinate_pub (defined in Base_class)Base_classprotected
front_y_coordinate (defined in Base_class)Base_class
front_y_coordinate_pub (defined in Base_class)Base_classprotected
front_z_coordinate (defined in Base_class)Base_class
front_z_coordinate_pub (defined in Base_class)Base_classprotected
frontTaskHandling(bool status) (defined in Base_class)Base_class
fusionCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
Grabber() (defined in Grabber)Grabber
image_bottom (defined in Base_class)Base_class
image_bottom_marked (defined in Base_class)Base_class
image_bottom_thresholded (defined in Base_class)Base_class
image_front (defined in Base_class)Base_class
image_front_marked (defined in Base_class)Base_class
image_front_thresholded (defined in Base_class)Base_class
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
init() (defined in Base_class)Base_class
it (defined in Base_class)Base_class
loadParams() override (defined in Grabber)Grabbervirtual
nh (defined in Base_class)Base_class
spin_thread_bottom (defined in Base_class)Base_class
spin_thread_front (defined in Base_class)Base_class
spinThreadBottom() override (defined in Grabber)Grabbervirtual
spinThreadFront() override (defined in Grabber)Grabbervirtual
vision_mutex (defined in Base_class)Base_class
~Grabber() (defined in Grabber)Grabber
+ +
+Generated by   +doxygen + 1.8.18 +
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+Public Member Functions

+virtual void loadParams () override
 
+virtual void spinThreadFront () override
 
+virtual void spinThreadBottom () override
 
- Public Member Functions inherited from Base_class
+void bottomTaskHandling (bool status)
 
+void frontTaskHandling (bool status)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void fusionCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void init ()
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Attributes inherited from Base_class
+ros::NodeHandle nh
 
+image_transport::ImageTransport it
 
+std_msgs::Float32 front_x_coordinate
 
+std_msgs::Float32 front_y_coordinate
 
+std_msgs::Float32 front_z_coordinate
 
+std_msgs::Float32 bottom_x_coordinate
 
+std_msgs::Float32 bottom_y_coordinate
 
+std_msgs::Float32 bottom_z_coordinate
 
+cv::Mat image_front
 
+cv::Mat image_bottom
 
+cv::Mat image_front_marked
 
+cv::Mat image_bottom_marked
 
+cv::Mat image_front_thresholded
 
+cv::Mat image_bottom_thresholded
 
+cv::Mat enhanced_image
 
+boost::thread * spin_thread_bottom
 
+boost::thread * spin_thread_front
 
+std::mutex vision_mutex
 
- Protected Attributes inherited from Base_class
+int front_low_g_
 
+int front_high_g_
 
+int front_low_r_
 
+int front_high_r_
 
+int front_low_b_
 
+int front_high_b_
 
+int front_opening_mat_point_
 
+int front_opening_iter_
 
+int front_closing_mat_point_
 
+int front_closing_iter_
 
+int front_bilateral_iter_
 
+int bottom_low_g_
 
+int bottom_low_r_
 
+int bottom_low_b_
 
+int bottom_high_g_
 
+int bottom_high_r_
 
+int bottom_high_b_
 
+int bottom_closing_mat_point_
 
+int bottom_closing_iter_
 
+int bottom_opening_iter_
 
+int bottom_opening_mat_point_
 
+int bottom_bilateral_iter_
 
+bool close_task = false
 
+image_transport::Subscriber front_image_sub
 
+image_transport::Subscriber bottom_image_sub
 
+image_transport::Subscriber enhanced_image_sub
 
+image_transport::Publisher bottom_thresholded_pub
 
+image_transport::Publisher bottom_marked_pub
 
+image_transport::Publisher front_thresholded_pub
 
+image_transport::Publisher front_marked_pub
 
+image_transport::Publisher front_edges_pub
 
+ros::Publisher front_x_coordinate_pub
 
+ros::Publisher front_y_coordinate_pub
 
+ros::Publisher front_z_coordinate_pub
 
+ros::Publisher bottom_x_coordinate_pub
 
+ros::Publisher bottom_y_coordinate_pub
 
+ros::Publisher bottom_z_coordinate_pub
 
+ros::Publisher detection_pub
 
+
The documentation for this class was generated from the following files: +
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+ + diff --git a/docs/html/classGrabber.png b/docs/html/classGrabber.png new file mode 100644 index 0000000..8953504 Binary files /dev/null and b/docs/html/classGrabber.png differ diff --git a/docs/html/classLaplacianBlending-members.html b/docs/html/classLaplacianBlending-members.html new file mode 100644 index 0000000..b38b951 --- /dev/null +++ b/docs/html/classLaplacianBlending-members.html @@ -0,0 +1,81 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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blend() (defined in LaplacianBlending)LaplacianBlending
LaplacianBlending(const Mat_< Vec3f > &_left, const Mat_< Vec3f > &_right, const Mat_< float > &_leftMask, const Mat_< float > &_rightMask, int _levels) (defined in LaplacianBlending)LaplacianBlending
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LaplacianBlending Class Reference
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+Public Member Functions

+ LaplacianBlending (const Mat_< Vec3f > &_left, const Mat_< Vec3f > &_right, const Mat_< float > &_leftMask, const Mat_< float > &_rightMask, int _levels)
 
+Mat_< Vec3f > blend ()
 
+
The documentation for this class was generated from the following files: +
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+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classLine-members.html b/docs/html/classLine-members.html new file mode 100644 index 0000000..115ed7a --- /dev/null +++ b/docs/html/classLine-members.html @@ -0,0 +1,154 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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Line Member List
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ang_pub (defined in Line)Lineprotected
Base_class() (defined in Base_class)Base_class
bottom_bilateral_iter_ (defined in Base_class)Base_classprotected
bottom_closing_iter_ (defined in Base_class)Base_classprotected
bottom_closing_mat_point_ (defined in Base_class)Base_classprotected
bottom_high_b_ (defined in Base_class)Base_classprotected
bottom_high_g_ (defined in Base_class)Base_classprotected
bottom_high_r_ (defined in Base_class)Base_classprotected
bottom_image_sub (defined in Base_class)Base_classprotected
bottom_low_b_ (defined in Base_class)Base_classprotected
bottom_low_g_ (defined in Base_class)Base_classprotected
bottom_low_r_ (defined in Base_class)Base_classprotected
bottom_marked_pub (defined in Base_class)Base_classprotected
bottom_opening_iter_ (defined in Base_class)Base_classprotected
bottom_opening_mat_point_ (defined in Base_class)Base_classprotected
bottom_thresholded_pub (defined in Base_class)Base_classprotected
bottom_x_coordinate (defined in Base_class)Base_class
bottom_x_coordinate_pub (defined in Base_class)Base_classprotected
bottom_y_coordinate (defined in Base_class)Base_class
bottom_y_coordinate_pub (defined in Base_class)Base_classprotected
bottom_z_coordinate (defined in Base_class)Base_class
bottom_z_coordinate_pub (defined in Base_class)Base_classprotected
bottomTaskHandling(bool status) (defined in Base_class)Base_class
callback(vision_tasks::lineRangeConfig &config, double level) (defined in Line)Lineprotected
camera_frame_ (defined in Line)Lineprotected
close_task (defined in Base_class)Base_classprotected
computeMean(std::vector< double > &newAngles) (defined in Line)Lineprotected
coordinates_pub (defined in Line)Lineprotected
detection_pub (defined in Line)Lineprotected
enhanced_image (defined in Base_class)Base_class
enhanced_image_sub (defined in Base_class)Base_classprotected
front_bilateral_iter_ (defined in Base_class)Base_classprotected
front_closing_iter_ (defined in Base_class)Base_classprotected
front_closing_mat_point_ (defined in Base_class)Base_classprotected
front_edges_pub (defined in Base_class)Base_classprotected
front_high_b_ (defined in Base_class)Base_classprotected
front_high_g_ (defined in Base_class)Base_classprotected
front_high_r_ (defined in Base_class)Base_classprotected
front_image_sub (defined in Base_class)Base_classprotected
front_low_b_ (defined in Base_class)Base_classprotected
front_low_g_ (defined in Base_class)Base_classprotected
front_low_r_ (defined in Base_class)Base_classprotected
front_marked_pub (defined in Base_class)Base_classprotected
front_opening_iter_ (defined in Base_class)Base_classprotected
front_opening_mat_point_ (defined in Base_class)Base_classprotected
front_thresholded_pub (defined in Base_class)Base_classprotected
front_x_coordinate (defined in Base_class)Base_class
front_x_coordinate_pub (defined in Base_class)Base_classprotected
front_y_coordinate (defined in Base_class)Base_class
front_y_coordinate_pub (defined in Base_class)Base_classprotected
front_z_coordinate (defined in Base_class)Base_class
front_z_coordinate_pub (defined in Base_class)Base_classprotected
frontTaskHandling(bool status) (defined in Base_class)Base_class
fusionCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
image_bottom (defined in Base_class)Base_class
image_bottom_marked (defined in Base_class)Base_class
image_bottom_thresholded (defined in Base_class)Base_class
image_front (defined in Base_class)Base_class
image_front_marked (defined in Base_class)Base_class
image_front_thresholded (defined in Base_class)Base_class
image_raw_sub (defined in Line)Lineprotected
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
imageCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Line)Lineprotected
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
init() (defined in Base_class)Base_class
it (defined in Base_class)Base_class
Line() (defined in Line)Line
loadParams() (defined in Base_class)Base_classvirtual
nh (defined in Base_class)Base_class
spin_thread_bottom (defined in Base_class)Base_class
spin_thread_front (defined in Base_class)Base_class
spinThreadBottom() (defined in Line)Linevirtual
spinThreadFront() (defined in Base_class)Base_classvirtual
task_done (defined in Line)Lineprotected
vision_mutex (defined in Base_class)Base_class
+ +
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+ + diff --git a/docs/html/classLine.html b/docs/html/classLine.html new file mode 100644 index 0000000..c1ac89d --- /dev/null +++ b/docs/html/classLine.html @@ -0,0 +1,332 @@ + + + + + + + +Anahita: Line Class Reference + + + + + + + + + +
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Line Class Reference
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+Public Member Functions

+void spinThreadBottom ()
 
- Public Member Functions inherited from Base_class
+virtual void spinThreadFront ()
 
+void bottomTaskHandling (bool status)
 
+void frontTaskHandling (bool status)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void fusionCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+virtual void loadParams ()
 
+void init ()
 
+ + + + + + + +

+Protected Member Functions

+void callback (vision_tasks::lineRangeConfig &config, double level)
 
+void imageCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+double computeMean (std::vector< double > &newAngles)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Protected Attributes

+image_transport::Subscriber image_raw_sub
 
+ros::Publisher detection_pub
 
+ros::Publisher coordinates_pub
 
+std::string camera_frame_
 
+bool task_done = false
 
+ros::Publisher ang_pub
 
- Protected Attributes inherited from Base_class
+int front_low_g_
 
+int front_high_g_
 
+int front_low_r_
 
+int front_high_r_
 
+int front_low_b_
 
+int front_high_b_
 
+int front_opening_mat_point_
 
+int front_opening_iter_
 
+int front_closing_mat_point_
 
+int front_closing_iter_
 
+int front_bilateral_iter_
 
+int bottom_low_g_
 
+int bottom_low_r_
 
+int bottom_low_b_
 
+int bottom_high_g_
 
+int bottom_high_r_
 
+int bottom_high_b_
 
+int bottom_closing_mat_point_
 
+int bottom_closing_iter_
 
+int bottom_opening_iter_
 
+int bottom_opening_mat_point_
 
+int bottom_bilateral_iter_
 
+bool close_task = false
 
+image_transport::Subscriber front_image_sub
 
+image_transport::Subscriber bottom_image_sub
 
+image_transport::Subscriber enhanced_image_sub
 
+image_transport::Publisher bottom_thresholded_pub
 
+image_transport::Publisher bottom_marked_pub
 
+image_transport::Publisher front_thresholded_pub
 
+image_transport::Publisher front_marked_pub
 
+image_transport::Publisher front_edges_pub
 
+ros::Publisher front_x_coordinate_pub
 
+ros::Publisher front_y_coordinate_pub
 
+ros::Publisher front_z_coordinate_pub
 
+ros::Publisher bottom_x_coordinate_pub
 
+ros::Publisher bottom_y_coordinate_pub
 
+ros::Publisher bottom_z_coordinate_pub
 
+ros::Publisher detection_pub
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Attributes inherited from Base_class
+ros::NodeHandle nh
 
+image_transport::ImageTransport it
 
+std_msgs::Float32 front_x_coordinate
 
+std_msgs::Float32 front_y_coordinate
 
+std_msgs::Float32 front_z_coordinate
 
+std_msgs::Float32 bottom_x_coordinate
 
+std_msgs::Float32 bottom_y_coordinate
 
+std_msgs::Float32 bottom_z_coordinate
 
+cv::Mat image_front
 
+cv::Mat image_bottom
 
+cv::Mat image_front_marked
 
+cv::Mat image_bottom_marked
 
+cv::Mat image_front_thresholded
 
+cv::Mat image_bottom_thresholded
 
+cv::Mat enhanced_image
 
+boost::thread * spin_thread_bottom
 
+boost::thread * spin_thread_front
 
+std::mutex vision_mutex
 
+
The documentation for this class was generated from the following files: +
+ +
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+ + diff --git a/docs/html/classLine.png b/docs/html/classLine.png new file mode 100644 index 0000000..0fd2349 Binary files /dev/null and b/docs/html/classLine.png differ diff --git a/docs/html/classMS5837-members.html b/docs/html/classMS5837-members.html new file mode 100644 index 0000000..1fb41c2 --- /dev/null +++ b/docs/html/classMS5837-members.html @@ -0,0 +1,93 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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This is the complete list of members for MS5837, including all inherited members.

+ + + + + + + + + + + + + + + +
altitude()MS5837
bar (defined in MS5837)MS5837static
depth()MS5837
init() (defined in MS5837)MS5837
mbar (defined in MS5837)MS5837static
MS5837() (defined in MS5837)MS5837
MS5837_02BA (defined in MS5837)MS5837static
MS5837_30BA (defined in MS5837)MS5837static
Pa (defined in MS5837)MS5837static
pressure(float conversion=1.0f)MS5837
read()MS5837
setFluidDensity(float density)MS5837
setModel(uint8_t model)MS5837
temperature()MS5837
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+Public Member Functions

+bool init ()
 
void setModel (uint8_t model)
 
void setFluidDensity (float density)
 
void read ()
 
float pressure (float conversion=1.0f)
 
float temperature ()
 
float depth ()
 
float altitude ()
 
+ + + + + + + + + + + +

+Static Public Attributes

+static const float Pa = 100.0f
 
+static const float bar = 0.001f
 
+static const float mbar = 1.0f
 
+static const uint8_t MS5837_30BA = 0
 
+static const uint8_t MS5837_02BA = 1
 
+

Member Function Documentation

+ +

◆ altitude()

+ +
+
+ + + + + + + +
float MS5837::altitude ()
+
+

Altitude returned in meters (valid for operation in air only).

+ +
+
+ +

◆ depth()

+ +
+
+ + + + + + + +
float MS5837::depth ()
+
+

Depth returned in meters (valid for operation in incompressible liquids only. Uses density that is set for fresh or seawater.

+ +
+
+ +

◆ pressure()

+ +
+
+ + + + + + + + +
float MS5837::pressure (float conversion = 1.0f)
+
+

Pressure returned in mbar or mbar*conversion rate.

+ +
+
+ +

◆ read()

+ +
+
+ + + + + + + +
void MS5837::read ()
+
+

The read from I2C takes up to 40 ms, so use sparingly is possible.

+ +
+
+ +

◆ setFluidDensity()

+ +
+
+ + + + + + + + +
void MS5837::setFluidDensity (float density)
+
+

Provide the density of the working fluid in kg/m^3. Default is for seawater. Should be 997 for freshwater.

+ +
+
+ +

◆ setModel()

+ +
+
+ + + + + + + + +
void MS5837::setModel (uint8_t model)
+
+

Set model of MS5837 sensor. Valid options are MS5837::MS5837_30BA (default) and MS5837::MS5837_02BA.

+ +
+
+ +

◆ temperature()

+ +
+
+ + + + + + + +
float MS5837::temperature ()
+
+

Temperature returned in deg C.

+ +
+
+
The documentation for this class was generated from the following files: +
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Base_class() (defined in Base_class)Base_class
bottom_bilateral_iter_ (defined in Base_class)Base_classprotected
bottom_closing_iter_ (defined in Base_class)Base_classprotected
bottom_closing_mat_point_ (defined in Base_class)Base_classprotected
bottom_high_b_ (defined in Base_class)Base_classprotected
bottom_high_g_ (defined in Base_class)Base_classprotected
bottom_high_r_ (defined in Base_class)Base_classprotected
bottom_image_sub (defined in Base_class)Base_classprotected
bottom_low_b_ (defined in Base_class)Base_classprotected
bottom_low_g_ (defined in Base_class)Base_classprotected
bottom_low_r_ (defined in Base_class)Base_classprotected
bottom_marked_pub (defined in Base_class)Base_classprotected
bottom_opening_iter_ (defined in Base_class)Base_classprotected
bottom_opening_mat_point_ (defined in Base_class)Base_classprotected
bottom_thresholded_pub (defined in Base_class)Base_classprotected
bottom_x_coordinate (defined in Base_class)Base_class
bottom_x_coordinate_pub (defined in Base_class)Base_classprotected
bottom_y_coordinate (defined in Base_class)Base_class
bottom_y_coordinate_pub (defined in Base_class)Base_classprotected
bottom_z_coordinate (defined in Base_class)Base_class
bottom_z_coordinate_pub (defined in Base_class)Base_classprotected
bottomTaskHandling(bool status) (defined in Base_class)Base_class
close_task (defined in Base_class)Base_classprotected
detection_pub (defined in Base_class)Base_classprotected
enhanced_image (defined in Base_class)Base_class
enhanced_image_sub (defined in Base_class)Base_classprotected
front_bilateral_iter_ (defined in Base_class)Base_classprotected
front_closing_iter_ (defined in Base_class)Base_classprotected
front_closing_mat_point_ (defined in Base_class)Base_classprotected
front_edges_pub (defined in Base_class)Base_classprotected
front_high_b_ (defined in Base_class)Base_classprotected
front_high_g_ (defined in Base_class)Base_classprotected
front_high_r_ (defined in Base_class)Base_classprotected
front_image_sub (defined in Base_class)Base_classprotected
front_low_b_ (defined in Base_class)Base_classprotected
front_low_g_ (defined in Base_class)Base_classprotected
front_low_r_ (defined in Base_class)Base_classprotected
front_marked_pub (defined in Base_class)Base_classprotected
front_opening_iter_ (defined in Base_class)Base_classprotected
front_opening_mat_point_ (defined in Base_class)Base_classprotected
front_thresholded_pub (defined in Base_class)Base_classprotected
front_x_coordinate (defined in Base_class)Base_class
front_x_coordinate_pub (defined in Base_class)Base_classprotected
front_y_coordinate (defined in Base_class)Base_class
front_y_coordinate_pub (defined in Base_class)Base_classprotected
front_z_coordinate (defined in Base_class)Base_class
front_z_coordinate_pub (defined in Base_class)Base_classprotected
frontTaskHandling(bool status) (defined in Base_class)Base_class
fusionCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
image_bottom (defined in Base_class)Base_class
image_bottom_marked (defined in Base_class)Base_class
image_bottom_thresholded (defined in Base_class)Base_class
image_front (defined in Base_class)Base_class
image_front_marked (defined in Base_class)Base_class
image_front_thresholded (defined in Base_class)Base_class
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
init() (defined in Base_class)Base_class
it (defined in Base_class)Base_class
loadParams() override (defined in Marker)Markervirtual
Marker() (defined in Marker)Marker
nh (defined in Base_class)Base_class
spin_thread_bottom (defined in Base_class)Base_class
spin_thread_front (defined in Base_class)Base_class
spinThreadBottom() (defined in Base_class)Base_classvirtual
spinThreadFront() override (defined in Marker)Markervirtual
vision_mutex (defined in Base_class)Base_class
+ +
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+Public Member Functions

+virtual void loadParams () override
 
+virtual void spinThreadFront () override
 
- Public Member Functions inherited from Base_class
+virtual void spinThreadBottom ()
 
+void bottomTaskHandling (bool status)
 
+void frontTaskHandling (bool status)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void fusionCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void init ()
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Attributes inherited from Base_class
+ros::NodeHandle nh
 
+image_transport::ImageTransport it
 
+std_msgs::Float32 front_x_coordinate
 
+std_msgs::Float32 front_y_coordinate
 
+std_msgs::Float32 front_z_coordinate
 
+std_msgs::Float32 bottom_x_coordinate
 
+std_msgs::Float32 bottom_y_coordinate
 
+std_msgs::Float32 bottom_z_coordinate
 
+cv::Mat image_front
 
+cv::Mat image_bottom
 
+cv::Mat image_front_marked
 
+cv::Mat image_bottom_marked
 
+cv::Mat image_front_thresholded
 
+cv::Mat image_bottom_thresholded
 
+cv::Mat enhanced_image
 
+boost::thread * spin_thread_bottom
 
+boost::thread * spin_thread_front
 
+std::mutex vision_mutex
 
- Protected Attributes inherited from Base_class
+int front_low_g_
 
+int front_high_g_
 
+int front_low_r_
 
+int front_high_r_
 
+int front_low_b_
 
+int front_high_b_
 
+int front_opening_mat_point_
 
+int front_opening_iter_
 
+int front_closing_mat_point_
 
+int front_closing_iter_
 
+int front_bilateral_iter_
 
+int bottom_low_g_
 
+int bottom_low_r_
 
+int bottom_low_b_
 
+int bottom_high_g_
 
+int bottom_high_r_
 
+int bottom_high_b_
 
+int bottom_closing_mat_point_
 
+int bottom_closing_iter_
 
+int bottom_opening_iter_
 
+int bottom_opening_mat_point_
 
+int bottom_bilateral_iter_
 
+bool close_task = false
 
+image_transport::Subscriber front_image_sub
 
+image_transport::Subscriber bottom_image_sub
 
+image_transport::Subscriber enhanced_image_sub
 
+image_transport::Publisher bottom_thresholded_pub
 
+image_transport::Publisher bottom_marked_pub
 
+image_transport::Publisher front_thresholded_pub
 
+image_transport::Publisher front_marked_pub
 
+image_transport::Publisher front_edges_pub
 
+ros::Publisher front_x_coordinate_pub
 
+ros::Publisher front_y_coordinate_pub
 
+ros::Publisher front_z_coordinate_pub
 
+ros::Publisher bottom_x_coordinate_pub
 
+ros::Publisher bottom_y_coordinate_pub
 
+ros::Publisher bottom_z_coordinate_pub
 
+ros::Publisher detection_pub
 
+
The documentation for this class was generated from the following files: +
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+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classMarker.png b/docs/html/classMarker.png new file mode 100644 index 0000000..a0d8c74 Binary files /dev/null and b/docs/html/classMarker.png differ diff --git a/docs/html/classMarkerDropper-members.html b/docs/html/classMarkerDropper-members.html new file mode 100644 index 0000000..f93f6c0 --- /dev/null +++ b/docs/html/classMarkerDropper-members.html @@ -0,0 +1,184 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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This is the complete list of members for MarkerDropper, including all inherited members.

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Base_class() (defined in Base_class)Base_class
bottom_balanced_bilateral_iter_ (defined in MarkerDropper)MarkerDropperprotected
bottom_bilateral_iter_ (defined in Base_class)Base_classprotected
bottom_blue_filtered_pub (defined in MarkerDropper)MarkerDropperprotected
bottom_clahe_bilateral_iter_ (defined in MarkerDropper)MarkerDropperprotected
bottom_clahe_clip_ (defined in MarkerDropper)MarkerDropperprotected
bottom_clahe_grid_size_ (defined in MarkerDropper)MarkerDropperprotected
bottom_closing_iter_ (defined in Base_class)Base_classprotected
bottom_closing_mat_point_ (defined in Base_class)Base_classprotected
bottom_denoise_h_ (defined in MarkerDropper)MarkerDropperprotected
bottom_high_b_ (defined in Base_class)Base_classprotected
bottom_high_g_ (defined in Base_class)Base_classprotected
bottom_high_r_ (defined in Base_class)Base_classprotected
bottom_image_raw_sub (defined in MarkerDropper)MarkerDropperprotected
bottom_image_sub (defined in Base_class)Base_classprotected
bottom_low_b_ (defined in Base_class)Base_classprotected
bottom_low_g_ (defined in Base_class)Base_classprotected
bottom_low_r_ (defined in Base_class)Base_classprotected
bottom_marked_pub (defined in Base_class)Base_classprotected
bottom_opening_iter_ (defined in Base_class)Base_classprotected
bottom_opening_mat_point_ (defined in Base_class)Base_classprotected
bottom_thresholded_pub (defined in Base_class)Base_classprotected
bottom_x_coordinate (defined in Base_class)Base_class
bottom_x_coordinate_pub (defined in Base_class)Base_classprotected
bottom_y_coordinate (defined in Base_class)Base_class
bottom_y_coordinate_pub (defined in Base_class)Base_classprotected
bottom_z_coordinate (defined in Base_class)Base_class
bottom_z_coordinate_pub (defined in Base_class)Base_classprotected
bottomCallback(vision_tasks::markerDropperBottomRangeConfig &config, double level) (defined in MarkerDropper)MarkerDropperprotected
bottomCallback(vision_tasks::markerDropperBottomRangeConfig &config, double level) (defined in MarkerDropper)MarkerDropperprotected
bottomTaskHandling(bool status) (defined in Base_class)Base_class
camera_frame_ (defined in MarkerDropper)MarkerDropperprotected
close_task (defined in Base_class)Base_classprotected
detection_pub (defined in MarkerDropper)MarkerDropperprotected
enhanced_image (defined in Base_class)Base_class
enhanced_image_sub (defined in Base_class)Base_classprotected
findCenter() (defined in MarkerDropper)MarkerDropper
front_balanced_bilateral_iter_ (defined in MarkerDropper)MarkerDropperprotected
front_bilateral_iter_ (defined in Base_class)Base_classprotected
front_blue_filtered_pub (defined in MarkerDropper)MarkerDropperprotected
front_canny_kernel_size_ (defined in MarkerDropper)MarkerDropperprotected
front_canny_threshold_high_ (defined in MarkerDropper)MarkerDropperprotected
front_canny_threshold_low_ (defined in MarkerDropper)MarkerDropperprotected
front_clahe_bilateral_iter_ (defined in MarkerDropper)MarkerDropperprotected
front_clahe_clip_ (defined in MarkerDropper)MarkerDropperprotected
front_clahe_grid_size_ (defined in MarkerDropper)MarkerDropperprotected
front_closing_iter_ (defined in Base_class)Base_classprotected
front_closing_mat_point_ (defined in Base_class)Base_classprotected
front_denoise_h_ (defined in MarkerDropper)MarkerDropperprotected
front_edges_pub (defined in Base_class)Base_classprotected
front_gate_angle_tolerance_ (defined in MarkerDropper)MarkerDropperprotected
front_gate_distance_tolerance_ (defined in MarkerDropper)MarkerDropperprotected
front_high_b_ (defined in Base_class)Base_classprotected
front_high_g_ (defined in Base_class)Base_classprotected
front_high_r_ (defined in Base_class)Base_classprotected
front_hough_angle_tolerance_ (defined in MarkerDropper)MarkerDropperprotected
front_hough_maxgap_ (defined in MarkerDropper)MarkerDropperprotected
front_hough_minline_ (defined in MarkerDropper)MarkerDropperprotected
front_hough_threshold_ (defined in MarkerDropper)MarkerDropperprotected
front_image_raw_sub (defined in MarkerDropper)MarkerDropperprotected
front_image_sub (defined in Base_class)Base_classprotected
front_low_b_ (defined in Base_class)Base_classprotected
front_low_g_ (defined in Base_class)Base_classprotected
front_low_r_ (defined in Base_class)Base_classprotected
front_marked_pub (defined in Base_class)Base_classprotected
front_opening_iter_ (defined in Base_class)Base_classprotected
front_opening_mat_point_ (defined in Base_class)Base_classprotected
front_thresholded_pub (defined in Base_class)Base_classprotected
front_x_coordinate (defined in Base_class)Base_class
front_x_coordinate_pub (defined in Base_class)Base_classprotected
front_y_coordinate (defined in Base_class)Base_class
front_y_coordinate_pub (defined in Base_class)Base_classprotected
front_z_coordinate (defined in Base_class)Base_class
front_z_coordinate_pub (defined in Base_class)Base_classprotected
frontCallback(vision_tasks::markerDropperFrontRangeConfig &config, double level) (defined in MarkerDropper)MarkerDropperprotected
frontCallback(vision_tasks::markerDropperFrontRangeConfig &config, double level) (defined in MarkerDropper)MarkerDropperprotected
frontTaskHandling(bool status) (defined in Base_class)Base_class
fusionCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
image_bottom (defined in Base_class)Base_class
image_bottom_marked (defined in Base_class)Base_class
image_bottom_thresholded (defined in Base_class)Base_class
image_front (defined in Base_class)Base_class
image_front_marked (defined in Base_class)Base_class
image_front_thresholded (defined in Base_class)Base_class
image_marked (defined in MarkerDropper)MarkerDropper
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in MarkerDropper)MarkerDropperprotected
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in MarkerDropper)MarkerDropperprotected
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in MarkerDropper)MarkerDropperprotected
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in MarkerDropper)MarkerDropperprotected
init() (defined in Base_class)Base_class
it (defined in Base_class)Base_class
loadParams() override (defined in MarkerDropper)MarkerDroppervirtual
MarkerDropper() (defined in MarkerDropper)MarkerDropper
MarkerDropper() (defined in MarkerDropper)MarkerDropper
MarkerDropper() (defined in MarkerDropper)MarkerDropper
nh (defined in Base_class)Base_class
preProcess(cv::Mat &temp_src) (defined in MarkerDropper)MarkerDropper
spin_thread_bottom (defined in Base_class)Base_class
spin_thread_front (defined in Base_class)Base_class
spinThreadBottom() override (defined in MarkerDropper)MarkerDroppervirtual
spinThreadBottom() (defined in MarkerDropper)MarkerDroppervirtual
spinThreadBottom() (defined in MarkerDropper)MarkerDroppervirtual
spinThreadFront() (defined in MarkerDropper)MarkerDroppervirtual
spinThreadFront() (defined in MarkerDropper)MarkerDroppervirtual
vision_mutex (defined in Base_class)Base_class
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classMarkerDropper.html b/docs/html/classMarkerDropper.html new file mode 100644 index 0000000..cb3f40b --- /dev/null +++ b/docs/html/classMarkerDropper.html @@ -0,0 +1,427 @@ + + + + + + + +Anahita: MarkerDropper Class Reference + + + + + + + + + +
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MarkerDropper Class Reference
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+Public Member Functions

+virtual void loadParams () override
 
+virtual void spinThreadBottom () override
 
+void preProcess (cv::Mat &temp_src)
 
+cv::Point findCenter ()
 
+void spinThreadBottom ()
 
+void spinThreadFront ()
 
+void spinThreadBottom ()
 
+void spinThreadFront ()
 
- Public Member Functions inherited from Base_class
+void bottomTaskHandling (bool status)
 
+void frontTaskHandling (bool status)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void fusionCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void init ()
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+cv::Mat image_marked
 
- Public Attributes inherited from Base_class
+ros::NodeHandle nh
 
+image_transport::ImageTransport it
 
+std_msgs::Float32 front_x_coordinate
 
+std_msgs::Float32 front_y_coordinate
 
+std_msgs::Float32 front_z_coordinate
 
+std_msgs::Float32 bottom_x_coordinate
 
+std_msgs::Float32 bottom_y_coordinate
 
+std_msgs::Float32 bottom_z_coordinate
 
+cv::Mat image_front
 
+cv::Mat image_bottom
 
+cv::Mat image_front_marked
 
+cv::Mat image_bottom_marked
 
+cv::Mat image_front_thresholded
 
+cv::Mat image_bottom_thresholded
 
+cv::Mat enhanced_image
 
+boost::thread * spin_thread_bottom
 
+boost::thread * spin_thread_front
 
+std::mutex vision_mutex
 
+ + + + + + + + + + + + + + + + + +

+Protected Member Functions

+void frontCallback (vision_tasks::markerDropperFrontRangeConfig &config, double level)
 
+void bottomCallback (vision_tasks::markerDropperBottomRangeConfig &config, double level)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void frontCallback (vision_tasks::markerDropperFrontRangeConfig &config, double level)
 
+void bottomCallback (vision_tasks::markerDropperBottomRangeConfig &config, double level)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Protected Attributes

+image_transport::Publisher bottom_blue_filtered_pub
 
+image_transport::Publisher front_blue_filtered_pub
 
+image_transport::Subscriber front_image_raw_sub
 
+image_transport::Subscriber bottom_image_raw_sub
 
+ros::Publisher detection_pub
 
+std::string camera_frame_
 
+double front_clahe_clip_ = 4.0
 
+int front_clahe_grid_size_ = 8
 
+int front_clahe_bilateral_iter_ = 8
 
+int front_balanced_bilateral_iter_ = 4
 
+double front_denoise_h_ = 10.0
 
+int front_canny_threshold_low_ = 0
 
+int front_canny_threshold_high_ = 1000
 
+int front_canny_kernel_size_ = 3
 
+int front_hough_threshold_ = 0
 
+int front_hough_minline_ = 0
 
+int front_hough_maxgap_ = 0
 
+double front_hough_angle_tolerance_ = 0.0
 
+double front_gate_distance_tolerance_ = 50.0
 
+double front_gate_angle_tolerance_ = 0.0
 
+double bottom_clahe_clip_ = 4.0
 
+int bottom_clahe_grid_size_ = 8
 
+int bottom_clahe_bilateral_iter_ = 8
 
+int bottom_balanced_bilateral_iter_ = 4
 
+double bottom_denoise_h_ = 10.0
 
- Protected Attributes inherited from Base_class
+int front_low_g_
 
+int front_high_g_
 
+int front_low_r_
 
+int front_high_r_
 
+int front_low_b_
 
+int front_high_b_
 
+int front_opening_mat_point_
 
+int front_opening_iter_
 
+int front_closing_mat_point_
 
+int front_closing_iter_
 
+int front_bilateral_iter_
 
+int bottom_low_g_
 
+int bottom_low_r_
 
+int bottom_low_b_
 
+int bottom_high_g_
 
+int bottom_high_r_
 
+int bottom_high_b_
 
+int bottom_closing_mat_point_
 
+int bottom_closing_iter_
 
+int bottom_opening_iter_
 
+int bottom_opening_mat_point_
 
+int bottom_bilateral_iter_
 
+bool close_task = false
 
+image_transport::Subscriber front_image_sub
 
+image_transport::Subscriber bottom_image_sub
 
+image_transport::Subscriber enhanced_image_sub
 
+image_transport::Publisher bottom_thresholded_pub
 
+image_transport::Publisher bottom_marked_pub
 
+image_transport::Publisher front_thresholded_pub
 
+image_transport::Publisher front_marked_pub
 
+image_transport::Publisher front_edges_pub
 
+ros::Publisher front_x_coordinate_pub
 
+ros::Publisher front_y_coordinate_pub
 
+ros::Publisher front_z_coordinate_pub
 
+ros::Publisher bottom_x_coordinate_pub
 
+ros::Publisher bottom_y_coordinate_pub
 
+ros::Publisher bottom_z_coordinate_pub
 
+ros::Publisher detection_pub
 
+
The documentation for this class was generated from the following files: +
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+ + diff --git a/docs/html/classMarkerDropper.png b/docs/html/classMarkerDropper.png new file mode 100644 index 0000000..eb453fe Binary files /dev/null and b/docs/html/classMarkerDropper.png differ diff --git a/docs/html/classOctagon-members.html b/docs/html/classOctagon-members.html new file mode 100644 index 0000000..a63274a --- /dev/null +++ b/docs/html/classOctagon-members.html @@ -0,0 +1,171 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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Base_class() (defined in Base_class)Base_class
blue_filtered_pub (defined in Octagon)Octagonprotected
bottom_balanced_bilateral_iter_ (defined in Octagon)Octagonprotected
bottom_bilateral_iter_ (defined in Base_class)Base_classprotected
bottom_clahe_bilateral_iter_ (defined in Octagon)Octagonprotected
bottom_clahe_clip_ (defined in Octagon)Octagonprotected
bottom_clahe_grid_size_ (defined in Octagon)Octagonprotected
bottom_closing_iter_ (defined in Base_class)Base_classprotected
bottom_closing_mat_point_ (defined in Base_class)Base_classprotected
bottom_denoise_h_ (defined in Octagon)Octagonprotected
bottom_high_b_ (defined in Base_class)Base_classprotected
bottom_high_g_ (defined in Base_class)Base_classprotected
bottom_high_r_ (defined in Base_class)Base_classprotected
bottom_image_sub (defined in Base_class)Base_classprotected
bottom_low_b_ (defined in Base_class)Base_classprotected
bottom_low_g_ (defined in Base_class)Base_classprotected
bottom_low_r_ (defined in Base_class)Base_classprotected
bottom_marked_pub (defined in Base_class)Base_classprotected
bottom_opening_iter_ (defined in Base_class)Base_classprotected
bottom_opening_mat_point_ (defined in Base_class)Base_classprotected
bottom_thresholded_pub (defined in Base_class)Base_classprotected
bottom_x_coordinate (defined in Base_class)Base_class
bottom_x_coordinate_pub (defined in Base_class)Base_classprotected
bottom_y_coordinate (defined in Base_class)Base_class
bottom_y_coordinate_pub (defined in Base_class)Base_classprotected
bottom_z_coordinate (defined in Base_class)Base_class
bottom_z_coordinate_pub (defined in Base_class)Base_classprotected
bottomCallback(vision_tasks::octagonBottomRangeConfig &config, double level) (defined in Octagon)Octagonprotected
bottomTaskHandling(bool status) (defined in Base_class)Base_class
camera_frame_ (defined in Octagon)Octagonprotected
close_task (defined in Base_class)Base_classprotected
detection_pub (defined in Base_class)Base_classprotected
enhanced_image (defined in Base_class)Base_class
enhanced_image_sub (defined in Base_class)Base_classprotected
front_balanced_bilateral_iter_ (defined in Octagon)Octagonprotected
front_bilateral_iter_ (defined in Base_class)Base_classprotected
front_canny_kernel_size_ (defined in Octagon)Octagonprotected
front_canny_threshold_high_ (defined in Octagon)Octagonprotected
front_canny_threshold_low_ (defined in Octagon)Octagonprotected
front_clahe_bilateral_iter_ (defined in Octagon)Octagonprotected
front_clahe_clip_ (defined in Octagon)Octagonprotected
front_clahe_grid_size_ (defined in Octagon)Octagonprotected
front_closing_iter_ (defined in Base_class)Base_classprotected
front_closing_mat_point_ (defined in Base_class)Base_classprotected
front_denoise_h_ (defined in Octagon)Octagonprotected
front_edges_pub (defined in Base_class)Base_classprotected
front_gate_angle_tolerance_ (defined in Octagon)Octagonprotected
front_gate_distance_tolerance_ (defined in Octagon)Octagonprotected
front_high_b_ (defined in Base_class)Base_classprotected
front_high_g_ (defined in Base_class)Base_classprotected
front_high_r_ (defined in Base_class)Base_classprotected
front_hough_angle_tolerance_ (defined in Octagon)Octagonprotected
front_hough_maxgap_ (defined in Octagon)Octagonprotected
front_hough_minline_ (defined in Octagon)Octagonprotected
front_hough_threshold_ (defined in Octagon)Octagonprotected
front_image_sub (defined in Base_class)Base_classprotected
front_low_b_ (defined in Base_class)Base_classprotected
front_low_g_ (defined in Base_class)Base_classprotected
front_low_r_ (defined in Base_class)Base_classprotected
front_marked_pub (defined in Base_class)Base_classprotected
front_opening_iter_ (defined in Base_class)Base_classprotected
front_opening_mat_point_ (defined in Base_class)Base_classprotected
front_thresholded_pub (defined in Base_class)Base_classprotected
front_x_coordinate (defined in Base_class)Base_class
front_x_coordinate_pub (defined in Base_class)Base_classprotected
front_y_coordinate (defined in Base_class)Base_class
front_y_coordinate_pub (defined in Base_class)Base_classprotected
front_z_coordinate (defined in Base_class)Base_class
front_z_coordinate_pub (defined in Base_class)Base_classprotected
frontCallback(vision_tasks::octagonFrontRangeConfig &config, double level) (defined in Octagon)Octagonprotected
frontTaskHandling(bool status) (defined in Base_class)Base_class
fusionCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
image_bottom (defined in Base_class)Base_class
image_bottom_marked (defined in Base_class)Base_class
image_bottom_thresholded (defined in Base_class)Base_class
image_front (defined in Base_class)Base_class
image_front_marked (defined in Base_class)Base_class
image_front_thresholded (defined in Base_class)Base_class
image_raw_sub (defined in Octagon)Octagonprotected
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Octagon)Octagonprotected
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Octagon)Octagonprotected
init() (defined in Base_class)Base_class
it (defined in Base_class)Base_class
loadParams() (defined in Base_class)Base_classvirtual
nh (defined in Base_class)Base_class
Octagon() (defined in Octagon)Octagon
spin_thread_bottom (defined in Base_class)Base_class
spin_thread_front (defined in Base_class)Base_class
spinThreadBottom() (defined in Octagon)Octagonvirtual
spinThreadFront() (defined in Octagon)Octagonvirtual
task_done (defined in Octagon)Octagonprotected
vision_mutex (defined in Base_class)Base_class
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classOctagon.html b/docs/html/classOctagon.html new file mode 100644 index 0000000..2bfb542 --- /dev/null +++ b/docs/html/classOctagon.html @@ -0,0 +1,386 @@ + + + + + + + +Anahita: Octagon Class Reference + + + + + + + + + +
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+Public Member Functions

+void spinThreadBottom ()
 
+void spinThreadFront ()
 
- Public Member Functions inherited from Base_class
+void bottomTaskHandling (bool status)
 
+void frontTaskHandling (bool status)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void fusionCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+virtual void loadParams ()
 
+void init ()
 
+ + + + + + + + + +

+Protected Member Functions

+void frontCallback (vision_tasks::octagonFrontRangeConfig &config, double level)
 
+void bottomCallback (vision_tasks::octagonBottomRangeConfig &config, double level)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Protected Attributes

+image_transport::Publisher blue_filtered_pub
 
+image_transport::Subscriber image_raw_sub
 
+std::string camera_frame_
 
+double front_clahe_clip_ = 4.0
 
+int front_clahe_grid_size_ = 8
 
+int front_clahe_bilateral_iter_ = 8
 
+int front_balanced_bilateral_iter_ = 4
 
+double front_denoise_h_ = 10.0
 
+int front_canny_threshold_low_ = 0
 
+int front_canny_threshold_high_ = 1000
 
+int front_canny_kernel_size_ = 3
 
+int front_hough_threshold_ = 0
 
+int front_hough_minline_ = 0
 
+int front_hough_maxgap_ = 0
 
+double front_hough_angle_tolerance_ = 0.0
 
+double front_gate_distance_tolerance_ = 50.0
 
+double front_gate_angle_tolerance_ = 0.0
 
+double bottom_clahe_clip_ = 4.0
 
+int bottom_clahe_grid_size_ = 8
 
+int bottom_clahe_bilateral_iter_ = 8
 
+int bottom_balanced_bilateral_iter_ = 4
 
+double bottom_denoise_h_ = 10.0
 
+bool task_done = false
 
- Protected Attributes inherited from Base_class
+int front_low_g_
 
+int front_high_g_
 
+int front_low_r_
 
+int front_high_r_
 
+int front_low_b_
 
+int front_high_b_
 
+int front_opening_mat_point_
 
+int front_opening_iter_
 
+int front_closing_mat_point_
 
+int front_closing_iter_
 
+int front_bilateral_iter_
 
+int bottom_low_g_
 
+int bottom_low_r_
 
+int bottom_low_b_
 
+int bottom_high_g_
 
+int bottom_high_r_
 
+int bottom_high_b_
 
+int bottom_closing_mat_point_
 
+int bottom_closing_iter_
 
+int bottom_opening_iter_
 
+int bottom_opening_mat_point_
 
+int bottom_bilateral_iter_
 
+bool close_task = false
 
+image_transport::Subscriber front_image_sub
 
+image_transport::Subscriber bottom_image_sub
 
+image_transport::Subscriber enhanced_image_sub
 
+image_transport::Publisher bottom_thresholded_pub
 
+image_transport::Publisher bottom_marked_pub
 
+image_transport::Publisher front_thresholded_pub
 
+image_transport::Publisher front_marked_pub
 
+image_transport::Publisher front_edges_pub
 
+ros::Publisher front_x_coordinate_pub
 
+ros::Publisher front_y_coordinate_pub
 
+ros::Publisher front_z_coordinate_pub
 
+ros::Publisher bottom_x_coordinate_pub
 
+ros::Publisher bottom_y_coordinate_pub
 
+ros::Publisher bottom_z_coordinate_pub
 
+ros::Publisher detection_pub
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Attributes inherited from Base_class
+ros::NodeHandle nh
 
+image_transport::ImageTransport it
 
+std_msgs::Float32 front_x_coordinate
 
+std_msgs::Float32 front_y_coordinate
 
+std_msgs::Float32 front_z_coordinate
 
+std_msgs::Float32 bottom_x_coordinate
 
+std_msgs::Float32 bottom_y_coordinate
 
+std_msgs::Float32 bottom_z_coordinate
 
+cv::Mat image_front
 
+cv::Mat image_bottom
 
+cv::Mat image_front_marked
 
+cv::Mat image_bottom_marked
 
+cv::Mat image_front_thresholded
 
+cv::Mat image_bottom_thresholded
 
+cv::Mat enhanced_image
 
+boost::thread * spin_thread_bottom
 
+boost::thread * spin_thread_front
 
+std::mutex vision_mutex
 
+
The documentation for this class was generated from the following files: +
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__init__(self, p, i, d, sat) (defined in PID.PIDRegulator.PIDRegulator)PID.PIDRegulator.PIDRegulator
__str__(self) (defined in PID.PIDRegulator.PIDRegulator)PID.PIDRegulator.PIDRegulator
d (defined in PID.PIDRegulator.PIDRegulator)PID.PIDRegulator.PIDRegulator
i (defined in PID.PIDRegulator.PIDRegulator)PID.PIDRegulator.PIDRegulator
integral (defined in PID.PIDRegulator.PIDRegulator)PID.PIDRegulator.PIDRegulator
p (defined in PID.PIDRegulator.PIDRegulator)PID.PIDRegulator.PIDRegulator
prev_err (defined in PID.PIDRegulator.PIDRegulator)PID.PIDRegulator.PIDRegulator
prev_t (defined in PID.PIDRegulator.PIDRegulator)PID.PIDRegulator.PIDRegulator
regulate(self, err, t) (defined in PID.PIDRegulator.PIDRegulator)PID.PIDRegulator.PIDRegulator
sat (defined in PID.PIDRegulator.PIDRegulator)PID.PIDRegulator.PIDRegulator
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PID.PIDRegulator.PIDRegulator Class Reference
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+Public Member Functions

+def __init__ (self, p, i, d, sat)
 
+def __str__ (self)
 
+def regulate (self, err, t)
 
+ + + + + + + + + + + + + + + +

+Public Attributes

+ p
 
+ i
 
+ d
 
+ sat
 
+ integral
 
+ prev_err
 
+ prev_t
 
+

Detailed Description

+
A very basic 1D PID Regulator.
The documentation for this class was generated from the following file: +
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+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classPathMarker-members.html b/docs/html/classPathMarker-members.html new file mode 100644 index 0000000..ba910d2 --- /dev/null +++ b/docs/html/classPathMarker-members.html @@ -0,0 +1,147 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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Base_class() (defined in Base_class)Base_class
bottom_bilateral_iter_ (defined in Base_class)Base_classprotected
bottom_closing_iter_ (defined in Base_class)Base_classprotected
bottom_closing_mat_point_ (defined in Base_class)Base_classprotected
bottom_high_b_ (defined in Base_class)Base_classprotected
bottom_high_g_ (defined in Base_class)Base_classprotected
bottom_high_r_ (defined in Base_class)Base_classprotected
bottom_image_sub (defined in Base_class)Base_classprotected
bottom_low_b_ (defined in Base_class)Base_classprotected
bottom_low_g_ (defined in Base_class)Base_classprotected
bottom_low_r_ (defined in Base_class)Base_classprotected
bottom_marked_pub (defined in Base_class)Base_classprotected
bottom_opening_iter_ (defined in Base_class)Base_classprotected
bottom_opening_mat_point_ (defined in Base_class)Base_classprotected
bottom_thresholded_pub (defined in Base_class)Base_classprotected
bottom_x_coordinate (defined in Base_class)Base_class
bottom_x_coordinate_pub (defined in Base_class)Base_classprotected
bottom_y_coordinate (defined in Base_class)Base_class
bottom_y_coordinate_pub (defined in Base_class)Base_classprotected
bottom_z_coordinate (defined in Base_class)Base_class
bottom_z_coordinate_pub (defined in Base_class)Base_classprotected
bottomTaskHandling(bool status) (defined in Base_class)Base_class
close_task (defined in Base_class)Base_classprotected
detection_pub (defined in Base_class)Base_classprotected
enhanced_image (defined in Base_class)Base_class
enhanced_image_sub (defined in Base_class)Base_classprotected
front_bilateral_iter_ (defined in Base_class)Base_classprotected
front_closing_iter_ (defined in Base_class)Base_classprotected
front_closing_mat_point_ (defined in Base_class)Base_classprotected
front_edges_pub (defined in Base_class)Base_classprotected
front_high_b_ (defined in Base_class)Base_classprotected
front_high_g_ (defined in Base_class)Base_classprotected
front_high_r_ (defined in Base_class)Base_classprotected
front_image_sub (defined in Base_class)Base_classprotected
front_low_b_ (defined in Base_class)Base_classprotected
front_low_g_ (defined in Base_class)Base_classprotected
front_low_r_ (defined in Base_class)Base_classprotected
front_marked_pub (defined in Base_class)Base_classprotected
front_opening_iter_ (defined in Base_class)Base_classprotected
front_opening_mat_point_ (defined in Base_class)Base_classprotected
front_thresholded_pub (defined in Base_class)Base_classprotected
front_x_coordinate (defined in Base_class)Base_class
front_x_coordinate_pub (defined in Base_class)Base_classprotected
front_y_coordinate (defined in Base_class)Base_class
front_y_coordinate_pub (defined in Base_class)Base_classprotected
front_z_coordinate (defined in Base_class)Base_class
front_z_coordinate_pub (defined in Base_class)Base_classprotected
frontTaskHandling(bool status) (defined in Base_class)Base_class
fusionCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
image_bottom (defined in Base_class)Base_class
image_bottom_marked (defined in Base_class)Base_class
image_bottom_thresholded (defined in Base_class)Base_class
image_front (defined in Base_class)Base_class
image_front_marked (defined in Base_class)Base_class
image_front_thresholded (defined in Base_class)Base_class
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
init() (defined in Base_class)Base_class
it (defined in Base_class)Base_class
loadParams() override (defined in PathMarker)PathMarkervirtual
markerAngle(master_layer::RequestMarkerAngle::Request &req, master_layer::RequestMarkerAngle::Response &res) (defined in PathMarker)PathMarker
nh (defined in Base_class)Base_class
PathMarker() (defined in PathMarker)PathMarker
spin_thread_bottom (defined in Base_class)Base_class
spin_thread_front (defined in Base_class)Base_class
spinThreadBottom() override (defined in PathMarker)PathMarkervirtual
spinThreadFront() (defined in Base_class)Base_classvirtual
vision_mutex (defined in Base_class)Base_class
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+Public Member Functions

+virtual void loadParams () override
 
+virtual void spinThreadBottom () override
 
+bool markerAngle (master_layer::RequestMarkerAngle::Request &req, master_layer::RequestMarkerAngle::Response &res)
 
- Public Member Functions inherited from Base_class
+virtual void spinThreadFront ()
 
+void bottomTaskHandling (bool status)
 
+void frontTaskHandling (bool status)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void fusionCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void init ()
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Attributes inherited from Base_class
+ros::NodeHandle nh
 
+image_transport::ImageTransport it
 
+std_msgs::Float32 front_x_coordinate
 
+std_msgs::Float32 front_y_coordinate
 
+std_msgs::Float32 front_z_coordinate
 
+std_msgs::Float32 bottom_x_coordinate
 
+std_msgs::Float32 bottom_y_coordinate
 
+std_msgs::Float32 bottom_z_coordinate
 
+cv::Mat image_front
 
+cv::Mat image_bottom
 
+cv::Mat image_front_marked
 
+cv::Mat image_bottom_marked
 
+cv::Mat image_front_thresholded
 
+cv::Mat image_bottom_thresholded
 
+cv::Mat enhanced_image
 
+boost::thread * spin_thread_bottom
 
+boost::thread * spin_thread_front
 
+std::mutex vision_mutex
 
- Protected Attributes inherited from Base_class
+int front_low_g_
 
+int front_high_g_
 
+int front_low_r_
 
+int front_high_r_
 
+int front_low_b_
 
+int front_high_b_
 
+int front_opening_mat_point_
 
+int front_opening_iter_
 
+int front_closing_mat_point_
 
+int front_closing_iter_
 
+int front_bilateral_iter_
 
+int bottom_low_g_
 
+int bottom_low_r_
 
+int bottom_low_b_
 
+int bottom_high_g_
 
+int bottom_high_r_
 
+int bottom_high_b_
 
+int bottom_closing_mat_point_
 
+int bottom_closing_iter_
 
+int bottom_opening_iter_
 
+int bottom_opening_mat_point_
 
+int bottom_bilateral_iter_
 
+bool close_task = false
 
+image_transport::Subscriber front_image_sub
 
+image_transport::Subscriber bottom_image_sub
 
+image_transport::Subscriber enhanced_image_sub
 
+image_transport::Publisher bottom_thresholded_pub
 
+image_transport::Publisher bottom_marked_pub
 
+image_transport::Publisher front_thresholded_pub
 
+image_transport::Publisher front_marked_pub
 
+image_transport::Publisher front_edges_pub
 
+ros::Publisher front_x_coordinate_pub
 
+ros::Publisher front_y_coordinate_pub
 
+ros::Publisher front_z_coordinate_pub
 
+ros::Publisher bottom_x_coordinate_pub
 
+ros::Publisher bottom_y_coordinate_pub
 
+ros::Publisher bottom_z_coordinate_pub
 
+ros::Publisher detection_pub
 
+
The documentation for this class was generated from the following files: +
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Base_class() (defined in Base_class)Base_class
bottom_bilateral_iter_ (defined in Base_class)Base_classprotected
bottom_closing_iter_ (defined in Base_class)Base_classprotected
bottom_closing_mat_point_ (defined in Base_class)Base_classprotected
bottom_high_b_ (defined in Base_class)Base_classprotected
bottom_high_g_ (defined in Base_class)Base_classprotected
bottom_high_r_ (defined in Base_class)Base_classprotected
bottom_image_sub (defined in Base_class)Base_classprotected
bottom_low_b_ (defined in Base_class)Base_classprotected
bottom_low_g_ (defined in Base_class)Base_classprotected
bottom_low_r_ (defined in Base_class)Base_classprotected
bottom_marked_pub (defined in Base_class)Base_classprotected
bottom_opening_iter_ (defined in Base_class)Base_classprotected
bottom_opening_mat_point_ (defined in Base_class)Base_classprotected
bottom_thresholded_pub (defined in Base_class)Base_classprotected
bottom_x_coordinate (defined in Base_class)Base_class
bottom_x_coordinate_pub (defined in Base_class)Base_classprotected
bottom_y_coordinate (defined in Base_class)Base_class
bottom_y_coordinate_pub (defined in Base_class)Base_classprotected
bottom_z_coordinate (defined in Base_class)Base_class
bottom_z_coordinate_pub (defined in Base_class)Base_classprotected
bottomTarget(master_layer::PingerBottomTarget::Request &req, master_layer::PingerBottomTarget::Response &resp) (defined in Pinger)Pinger
bottomTaskHandling(bool status) (defined in Base_class)Base_class
close_task (defined in Base_class)Base_classprotected
detection_pub (defined in Base_class)Base_classprotected
enhanced_image (defined in Base_class)Base_class
enhanced_image_sub (defined in Base_class)Base_classprotected
front_bilateral_iter_ (defined in Base_class)Base_classprotected
front_closing_iter_ (defined in Base_class)Base_classprotected
front_closing_mat_point_ (defined in Base_class)Base_classprotected
front_edges_pub (defined in Base_class)Base_classprotected
front_high_b_ (defined in Base_class)Base_classprotected
front_high_g_ (defined in Base_class)Base_classprotected
front_high_r_ (defined in Base_class)Base_classprotected
front_image_sub (defined in Base_class)Base_classprotected
front_low_b_ (defined in Base_class)Base_classprotected
front_low_g_ (defined in Base_class)Base_classprotected
front_low_r_ (defined in Base_class)Base_classprotected
front_marked_pub (defined in Base_class)Base_classprotected
front_opening_iter_ (defined in Base_class)Base_classprotected
front_opening_mat_point_ (defined in Base_class)Base_classprotected
front_thresholded_pub (defined in Base_class)Base_classprotected
front_x_coordinate (defined in Base_class)Base_class
front_x_coordinate_pub (defined in Base_class)Base_classprotected
front_y_coordinate (defined in Base_class)Base_class
front_y_coordinate_pub (defined in Base_class)Base_classprotected
front_z_coordinate (defined in Base_class)Base_class
front_z_coordinate_pub (defined in Base_class)Base_classprotected
frontTarget(master_layer::PingerFrontTarget::Request &req, master_layer::PingerFrontTarget::Response &resp) (defined in Pinger)Pinger
frontTaskHandling(bool status) (defined in Base_class)Base_class
fusionCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
getContourCenter(const std::vector< cv::Point > &contour) (defined in Pinger)Pinger
image_bottom (defined in Base_class)Base_class
image_bottom_marked (defined in Base_class)Base_class
image_bottom_thresholded (defined in Base_class)Base_class
image_front (defined in Base_class)Base_class
image_front_marked (defined in Base_class)Base_class
image_front_thresholded (defined in Base_class)Base_class
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
init() (defined in Base_class)Base_class
it (defined in Base_class)Base_class
loadParams() override (defined in Pinger)Pingervirtual
nh (defined in Base_class)Base_class
Pinger() (defined in Pinger)Pinger
spin_thread_bottom (defined in Base_class)Base_class
spin_thread_front (defined in Base_class)Base_class
spinThreadBottom() override (defined in Pinger)Pingervirtual
spinThreadFront() override (defined in Pinger)Pingervirtual
vision_mutex (defined in Base_class)Base_class
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classPinger.html b/docs/html/classPinger.html new file mode 100644 index 0000000..6295af5 --- /dev/null +++ b/docs/html/classPinger.html @@ -0,0 +1,306 @@ + + + + + + + +Anahita: Pinger Class Reference + + + + + + + + + +
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+Public Member Functions

+void loadParams () override
 
+void spinThreadFront () override
 
+void spinThreadBottom () override
 
+cv::Point getContourCenter (const std::vector< cv::Point > &contour)
 
+bool bottomTarget (master_layer::PingerBottomTarget::Request &req, master_layer::PingerBottomTarget::Response &resp)
 
+bool frontTarget (master_layer::PingerFrontTarget::Request &req, master_layer::PingerFrontTarget::Response &resp)
 
- Public Member Functions inherited from Base_class
+void bottomTaskHandling (bool status)
 
+void frontTaskHandling (bool status)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void fusionCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void init ()
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Attributes inherited from Base_class
+ros::NodeHandle nh
 
+image_transport::ImageTransport it
 
+std_msgs::Float32 front_x_coordinate
 
+std_msgs::Float32 front_y_coordinate
 
+std_msgs::Float32 front_z_coordinate
 
+std_msgs::Float32 bottom_x_coordinate
 
+std_msgs::Float32 bottom_y_coordinate
 
+std_msgs::Float32 bottom_z_coordinate
 
+cv::Mat image_front
 
+cv::Mat image_bottom
 
+cv::Mat image_front_marked
 
+cv::Mat image_bottom_marked
 
+cv::Mat image_front_thresholded
 
+cv::Mat image_bottom_thresholded
 
+cv::Mat enhanced_image
 
+boost::thread * spin_thread_bottom
 
+boost::thread * spin_thread_front
 
+std::mutex vision_mutex
 
- Protected Attributes inherited from Base_class
+int front_low_g_
 
+int front_high_g_
 
+int front_low_r_
 
+int front_high_r_
 
+int front_low_b_
 
+int front_high_b_
 
+int front_opening_mat_point_
 
+int front_opening_iter_
 
+int front_closing_mat_point_
 
+int front_closing_iter_
 
+int front_bilateral_iter_
 
+int bottom_low_g_
 
+int bottom_low_r_
 
+int bottom_low_b_
 
+int bottom_high_g_
 
+int bottom_high_r_
 
+int bottom_high_b_
 
+int bottom_closing_mat_point_
 
+int bottom_closing_iter_
 
+int bottom_opening_iter_
 
+int bottom_opening_mat_point_
 
+int bottom_bilateral_iter_
 
+bool close_task = false
 
+image_transport::Subscriber front_image_sub
 
+image_transport::Subscriber bottom_image_sub
 
+image_transport::Subscriber enhanced_image_sub
 
+image_transport::Publisher bottom_thresholded_pub
 
+image_transport::Publisher bottom_marked_pub
 
+image_transport::Publisher front_thresholded_pub
 
+image_transport::Publisher front_marked_pub
 
+image_transport::Publisher front_edges_pub
 
+ros::Publisher front_x_coordinate_pub
 
+ros::Publisher front_y_coordinate_pub
 
+ros::Publisher front_z_coordinate_pub
 
+ros::Publisher bottom_x_coordinate_pub
 
+ros::Publisher bottom_y_coordinate_pub
 
+ros::Publisher bottom_z_coordinate_pub
 
+ros::Publisher detection_pub
 
+
The documentation for this class was generated from the following files: +
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__init__(self) (defined in PositionControlUnderactuated.PositionControllerNode)PositionControlUnderactuated.PositionControllerNode
cmd_pose_callback(self, msg)PositionControlUnderactuated.PositionControllerNode
config (defined in PositionControlUnderactuated.PositionControllerNode)PositionControlUnderactuated.PositionControllerNode
config_callback(self, config, level)PositionControlUnderactuated.PositionControllerNode
initialized (defined in PositionControlUnderactuated.PositionControllerNode)PositionControlUnderactuated.PositionControllerNode
listener (defined in PositionControlUnderactuated.PositionControllerNode)PositionControlUnderactuated.PositionControllerNode
odometry_callback(self, msg)PositionControlUnderactuated.PositionControllerNode
pid_depth (defined in PositionControlUnderactuated.PositionControllerNode)PositionControlUnderactuated.PositionControllerNode
pid_forward (defined in PositionControlUnderactuated.PositionControllerNode)PositionControlUnderactuated.PositionControllerNode
pid_heading (defined in PositionControlUnderactuated.PositionControllerNode)PositionControlUnderactuated.PositionControllerNode
pos_des (defined in PositionControlUnderactuated.PositionControllerNode)PositionControlUnderactuated.PositionControllerNode
pub_cmd_vel (defined in PositionControlUnderactuated.PositionControllerNode)PositionControlUnderactuated.PositionControllerNode
quat_des (defined in PositionControlUnderactuated.PositionControllerNode)PositionControlUnderactuated.PositionControllerNode
srv_reconfigure (defined in PositionControlUnderactuated.PositionControllerNode)PositionControlUnderactuated.PositionControllerNode
sub_cmd_pose (defined in PositionControlUnderactuated.PositionControllerNode)PositionControlUnderactuated.PositionControllerNode
sub_odometry (defined in PositionControlUnderactuated.PositionControllerNode)PositionControlUnderactuated.PositionControllerNode
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PositionControlUnderactuated.PositionControllerNode Class Reference
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+Public Member Functions

+def __init__ (self)
 
def cmd_pose_callback (self, msg)
 
def odometry_callback (self, msg)
 
def config_callback (self, config, level)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ config
 
+ pos_des
 
+ quat_des
 
+ initialized
 
+ pid_depth
 
+ pid_heading
 
+ pid_forward
 
+ listener
 
+ sub_cmd_pose
 
+ sub_odometry
 
+ pub_cmd_vel
 
+ srv_reconfigure
 
+

Member Function Documentation

+ +

◆ cmd_pose_callback()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def PositionControlUnderactuated.PositionControllerNode.cmd_pose_callback ( self,
 msg 
)
+
+
Handle updated set pose callback.
+
+
+ +

◆ config_callback()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def PositionControlUnderactuated.PositionControllerNode.config_callback ( self,
 config,
 level 
)
+
+
Handle updated configuration values.
+
+
+ +

◆ odometry_callback()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def PositionControlUnderactuated.PositionControllerNode.odometry_callback ( self,
 msg 
)
+
+
Handle updated measured velocity callback.
+
+
+
The documentation for this class was generated from the following file: +
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+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classPositionControl_1_1PositionControllerNode-members.html b/docs/html/classPositionControl_1_1PositionControllerNode-members.html new file mode 100644 index 0000000..228c7e6 --- /dev/null +++ b/docs/html/classPositionControl_1_1PositionControllerNode-members.html @@ -0,0 +1,97 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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PositionControl.PositionControllerNode Member List
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This is the complete list of members for PositionControl.PositionControllerNode, including all inherited members.

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__init__(self) (defined in PositionControl.PositionControllerNode)PositionControl.PositionControllerNode
cmd_pose_callback(self, msg)PositionControl.PositionControllerNode
config (defined in PositionControl.PositionControllerNode)PositionControl.PositionControllerNode
config_callback(self, config, level)PositionControl.PositionControllerNode
initialized (defined in PositionControl.PositionControllerNode)PositionControl.PositionControllerNode
odometry_callback(self, msg)PositionControl.PositionControllerNode
pid_pos (defined in PositionControl.PositionControllerNode)PositionControl.PositionControllerNode
pid_rot (defined in PositionControl.PositionControllerNode)PositionControl.PositionControllerNode
pos_des (defined in PositionControl.PositionControllerNode)PositionControl.PositionControllerNode
pub_cmd_vel (defined in PositionControl.PositionControllerNode)PositionControl.PositionControllerNode
quat_des (defined in PositionControl.PositionControllerNode)PositionControl.PositionControllerNode
srv_reconfigure (defined in PositionControl.PositionControllerNode)PositionControl.PositionControllerNode
sub_cmd_pose (defined in PositionControl.PositionControllerNode)PositionControl.PositionControllerNode
sub_odometry (defined in PositionControl.PositionControllerNode)PositionControl.PositionControllerNode
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classPositionControl_1_1PositionControllerNode.html b/docs/html/classPositionControl_1_1PositionControllerNode.html new file mode 100644 index 0000000..d8dc5ae --- /dev/null +++ b/docs/html/classPositionControl_1_1PositionControllerNode.html @@ -0,0 +1,224 @@ + + + + + + + +Anahita: PositionControl.PositionControllerNode Class Reference + + + + + + + + + +
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PositionControl.PositionControllerNode Class Reference
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+Public Member Functions

+def __init__ (self)
 
def cmd_pose_callback (self, msg)
 
def odometry_callback (self, msg)
 
def config_callback (self, config, level)
 
+ + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ config
 
+ pos_des
 
+ quat_des
 
+ initialized
 
+ pid_rot
 
+ pid_pos
 
+ sub_cmd_pose
 
+ sub_odometry
 
+ pub_cmd_vel
 
+ srv_reconfigure
 
+

Member Function Documentation

+ +

◆ cmd_pose_callback()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def PositionControl.PositionControllerNode.cmd_pose_callback ( self,
 msg 
)
+
+
Handle updated set pose callback.
+
+
+ +

◆ config_callback()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def PositionControl.PositionControllerNode.config_callback ( self,
 config,
 level 
)
+
+
Handle updated configuration values.
+
+
+ +

◆ odometry_callback()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def PositionControl.PositionControllerNode.odometry_callback ( self,
 msg 
)
+
+
Handle updated measured velocity callback.
+
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classStartGate-members.html b/docs/html/classStartGate-members.html new file mode 100644 index 0000000..af91431 --- /dev/null +++ b/docs/html/classStartGate-members.html @@ -0,0 +1,147 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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Base_class() (defined in Base_class)Base_class
bottom_bilateral_iter_ (defined in Base_class)Base_classprotected
bottom_closing_iter_ (defined in Base_class)Base_classprotected
bottom_closing_mat_point_ (defined in Base_class)Base_classprotected
bottom_high_b_ (defined in Base_class)Base_classprotected
bottom_high_g_ (defined in Base_class)Base_classprotected
bottom_high_r_ (defined in Base_class)Base_classprotected
bottom_image_sub (defined in Base_class)Base_classprotected
bottom_low_b_ (defined in Base_class)Base_classprotected
bottom_low_g_ (defined in Base_class)Base_classprotected
bottom_low_r_ (defined in Base_class)Base_classprotected
bottom_marked_pub (defined in Base_class)Base_classprotected
bottom_opening_iter_ (defined in Base_class)Base_classprotected
bottom_opening_mat_point_ (defined in Base_class)Base_classprotected
bottom_thresholded_pub (defined in Base_class)Base_classprotected
bottom_x_coordinate (defined in Base_class)Base_class
bottom_x_coordinate_pub (defined in Base_class)Base_classprotected
bottom_y_coordinate (defined in Base_class)Base_class
bottom_y_coordinate_pub (defined in Base_class)Base_classprotected
bottom_z_coordinate (defined in Base_class)Base_class
bottom_z_coordinate_pub (defined in Base_class)Base_classprotected
bottomTaskHandling(bool status) (defined in Base_class)Base_class
close_task (defined in Base_class)Base_classprotected
detection_pub (defined in Base_class)Base_classprotected
enhanced_image (defined in Base_class)Base_class
enhanced_image_sub (defined in Base_class)Base_classprotected
findGateCenter(cv::Mat &thres_img) (defined in StartGate)StartGate
front_bilateral_iter_ (defined in Base_class)Base_classprotected
front_closing_iter_ (defined in Base_class)Base_classprotected
front_closing_mat_point_ (defined in Base_class)Base_classprotected
front_edges_pub (defined in Base_class)Base_classprotected
front_high_b_ (defined in Base_class)Base_classprotected
front_high_g_ (defined in Base_class)Base_classprotected
front_high_r_ (defined in Base_class)Base_classprotected
front_image_sub (defined in Base_class)Base_classprotected
front_low_b_ (defined in Base_class)Base_classprotected
front_low_g_ (defined in Base_class)Base_classprotected
front_low_r_ (defined in Base_class)Base_classprotected
front_marked_pub (defined in Base_class)Base_classprotected
front_opening_iter_ (defined in Base_class)Base_classprotected
front_opening_mat_point_ (defined in Base_class)Base_classprotected
front_thresholded_pub (defined in Base_class)Base_classprotected
front_x_coordinate (defined in Base_class)Base_class
front_x_coordinate_pub (defined in Base_class)Base_classprotected
front_y_coordinate (defined in Base_class)Base_class
front_y_coordinate_pub (defined in Base_class)Base_classprotected
front_z_coordinate (defined in Base_class)Base_class
front_z_coordinate_pub (defined in Base_class)Base_classprotected
frontTaskHandling(bool status) (defined in Base_class)Base_class
fusionCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
image_bottom (defined in Base_class)Base_class
image_bottom_marked (defined in Base_class)Base_class
image_bottom_thresholded (defined in Base_class)Base_class
image_front (defined in Base_class)Base_class
image_front_marked (defined in Base_class)Base_class
image_front_thresholded (defined in Base_class)Base_class
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
init() (defined in Base_class)Base_class
it (defined in Base_class)Base_class
loadParams() override (defined in StartGate)StartGatevirtual
nh (defined in Base_class)Base_class
spin_thread_bottom (defined in Base_class)Base_class
spin_thread_front (defined in Base_class)Base_class
spinThreadBottom() (defined in Base_class)Base_classvirtual
spinThreadFront() override (defined in StartGate)StartGatevirtual
StartGate() (defined in StartGate)StartGate
vision_mutex (defined in Base_class)Base_class
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+void loadParams () override
 
+void spinThreadFront () override
 
+cv::Point findGateCenter (cv::Mat &thres_img)
 
- Public Member Functions inherited from Base_class
+virtual void spinThreadBottom ()
 
+void bottomTaskHandling (bool status)
 
+void frontTaskHandling (bool status)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void fusionCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void init ()
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Attributes inherited from Base_class
+ros::NodeHandle nh
 
+image_transport::ImageTransport it
 
+std_msgs::Float32 front_x_coordinate
 
+std_msgs::Float32 front_y_coordinate
 
+std_msgs::Float32 front_z_coordinate
 
+std_msgs::Float32 bottom_x_coordinate
 
+std_msgs::Float32 bottom_y_coordinate
 
+std_msgs::Float32 bottom_z_coordinate
 
+cv::Mat image_front
 
+cv::Mat image_bottom
 
+cv::Mat image_front_marked
 
+cv::Mat image_bottom_marked
 
+cv::Mat image_front_thresholded
 
+cv::Mat image_bottom_thresholded
 
+cv::Mat enhanced_image
 
+boost::thread * spin_thread_bottom
 
+boost::thread * spin_thread_front
 
+std::mutex vision_mutex
 
- Protected Attributes inherited from Base_class
+int front_low_g_
 
+int front_high_g_
 
+int front_low_r_
 
+int front_high_r_
 
+int front_low_b_
 
+int front_high_b_
 
+int front_opening_mat_point_
 
+int front_opening_iter_
 
+int front_closing_mat_point_
 
+int front_closing_iter_
 
+int front_bilateral_iter_
 
+int bottom_low_g_
 
+int bottom_low_r_
 
+int bottom_low_b_
 
+int bottom_high_g_
 
+int bottom_high_r_
 
+int bottom_high_b_
 
+int bottom_closing_mat_point_
 
+int bottom_closing_iter_
 
+int bottom_opening_iter_
 
+int bottom_opening_mat_point_
 
+int bottom_bilateral_iter_
 
+bool close_task = false
 
+image_transport::Subscriber front_image_sub
 
+image_transport::Subscriber bottom_image_sub
 
+image_transport::Subscriber enhanced_image_sub
 
+image_transport::Publisher bottom_thresholded_pub
 
+image_transport::Publisher bottom_marked_pub
 
+image_transport::Publisher front_thresholded_pub
 
+image_transport::Publisher front_marked_pub
 
+image_transport::Publisher front_edges_pub
 
+ros::Publisher front_x_coordinate_pub
 
+ros::Publisher front_y_coordinate_pub
 
+ros::Publisher front_z_coordinate_pub
 
+ros::Publisher bottom_x_coordinate_pub
 
+ros::Publisher bottom_y_coordinate_pub
 
+ros::Publisher bottom_z_coordinate_pub
 
+ros::Publisher detection_pub
 
+
The documentation for this class was generated from the following files: +
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Test Class Reference
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Detailed Description

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This is a test class. *.

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starts detailed description

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Parameters
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'['dir']'<parameter-name> { parameter description } Starts a parameter description for a function parameter with name <parameter-name>, followed by a description of the parameter. The
commandhas an optional attribute, dir, specifying the direction of the parameter. Possible values are "[in]", "[in,out]", and "[out]", note the [square] brackets in this description. When a parameter is both input and output, [in,out] is used as attribute. Ex- /*!
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  • Copies bytes from a source memory area to a destination memory area,
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[out]destThe memory area to copy to.
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[in]srcThe memory area to copy from.
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[in]nThe number of bytes to copy */ void memcpy(void *dest, const void *src, size_t n);
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Link to official documentation of all the commands http://www.doxygen.nl/manual/commands.html

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Base_class() (defined in Base_class)Base_class
bottom_bilateral_iter_ (defined in Base_class)Base_classprotected
bottom_closing_iter_ (defined in Base_class)Base_classprotected
bottom_closing_mat_point_ (defined in Base_class)Base_classprotected
bottom_high_b_ (defined in Base_class)Base_classprotected
bottom_high_g_ (defined in Base_class)Base_classprotected
bottom_high_r_ (defined in Base_class)Base_classprotected
bottom_image_sub (defined in Base_class)Base_classprotected
bottom_low_b_ (defined in Base_class)Base_classprotected
bottom_low_g_ (defined in Base_class)Base_classprotected
bottom_low_r_ (defined in Base_class)Base_classprotected
bottom_marked_pub (defined in Base_class)Base_classprotected
bottom_opening_iter_ (defined in Base_class)Base_classprotected
bottom_opening_mat_point_ (defined in Base_class)Base_classprotected
bottom_thresholded_pub (defined in Base_class)Base_classprotected
bottom_x_coordinate (defined in Base_class)Base_class
bottom_x_coordinate_pub (defined in Base_class)Base_classprotected
bottom_y_coordinate (defined in Base_class)Base_class
bottom_y_coordinate_pub (defined in Base_class)Base_classprotected
bottom_z_coordinate (defined in Base_class)Base_class
bottom_z_coordinate_pub (defined in Base_class)Base_classprotected
bottomTaskHandling(bool status) (defined in Base_class)Base_class
close_task (defined in Base_class)Base_classprotected
detection_pub (defined in Base_class)Base_classprotected
enhanced_image (defined in Base_class)Base_class
enhanced_image_sub (defined in Base_class)Base_classprotected
front_bilateral_iter_ (defined in Base_class)Base_classprotected
front_closing_iter_ (defined in Base_class)Base_classprotected
front_closing_mat_point_ (defined in Base_class)Base_classprotected
front_edges_pub (defined in Base_class)Base_classprotected
front_high_b_ (defined in Base_class)Base_classprotected
front_high_g_ (defined in Base_class)Base_classprotected
front_high_r_ (defined in Base_class)Base_classprotected
front_image_sub (defined in Base_class)Base_classprotected
front_low_b_ (defined in Base_class)Base_classprotected
front_low_g_ (defined in Base_class)Base_classprotected
front_low_r_ (defined in Base_class)Base_classprotected
front_marked_pub (defined in Base_class)Base_classprotected
front_opening_iter_ (defined in Base_class)Base_classprotected
front_opening_mat_point_ (defined in Base_class)Base_classprotected
front_thresholded_pub (defined in Base_class)Base_classprotected
front_x_coordinate (defined in Base_class)Base_class
front_x_coordinate_pub (defined in Base_class)Base_classprotected
front_y_coordinate (defined in Base_class)Base_class
front_y_coordinate_pub (defined in Base_class)Base_classprotected
front_z_coordinate (defined in Base_class)Base_class
front_z_coordinate_pub (defined in Base_class)Base_classprotected
frontTaskHandling(bool status) (defined in Base_class)Base_class
fusionCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
getNormal(master_layer::TargetNormal::Request &req, master_layer::TargetNormal::Response &resp) (defined in TestGate)TestGate
image_bottom (defined in Base_class)Base_class
image_bottom_marked (defined in Base_class)Base_class
image_bottom_thresholded (defined in Base_class)Base_class
image_front (defined in Base_class)Base_class
image_front_marked (defined in Base_class)Base_class
image_front_thresholded (defined in Base_class)Base_class
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
init() (defined in Base_class)Base_class
it (defined in Base_class)Base_class
loadParams() override (defined in TestGate)TestGatevirtual
nh (defined in Base_class)Base_class
rectCB(const sensor_msgs::Image::ConstPtr &msg) (defined in TestGate)TestGate
spin_thread_bottom (defined in Base_class)Base_class
spin_thread_front (defined in Base_class)Base_class
spinThreadBottom() (defined in Base_class)Base_classvirtual
spinThreadFront() override (defined in TestGate)TestGatevirtual
TestGate() (defined in TestGate)TestGate
vision_mutex (defined in Base_class)Base_class
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+Public Member Functions

+void loadParams () override
 
+void spinThreadFront () override
 
+void rectCB (const sensor_msgs::Image::ConstPtr &msg)
 
+bool getNormal (master_layer::TargetNormal::Request &req, master_layer::TargetNormal::Response &resp)
 
- Public Member Functions inherited from Base_class
+virtual void spinThreadBottom ()
 
+void bottomTaskHandling (bool status)
 
+void frontTaskHandling (bool status)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void fusionCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void init ()
 
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+Additional Inherited Members

- Public Attributes inherited from Base_class
+ros::NodeHandle nh
 
+image_transport::ImageTransport it
 
+std_msgs::Float32 front_x_coordinate
 
+std_msgs::Float32 front_y_coordinate
 
+std_msgs::Float32 front_z_coordinate
 
+std_msgs::Float32 bottom_x_coordinate
 
+std_msgs::Float32 bottom_y_coordinate
 
+std_msgs::Float32 bottom_z_coordinate
 
+cv::Mat image_front
 
+cv::Mat image_bottom
 
+cv::Mat image_front_marked
 
+cv::Mat image_bottom_marked
 
+cv::Mat image_front_thresholded
 
+cv::Mat image_bottom_thresholded
 
+cv::Mat enhanced_image
 
+boost::thread * spin_thread_bottom
 
+boost::thread * spin_thread_front
 
+std::mutex vision_mutex
 
- Protected Attributes inherited from Base_class
+int front_low_g_
 
+int front_high_g_
 
+int front_low_r_
 
+int front_high_r_
 
+int front_low_b_
 
+int front_high_b_
 
+int front_opening_mat_point_
 
+int front_opening_iter_
 
+int front_closing_mat_point_
 
+int front_closing_iter_
 
+int front_bilateral_iter_
 
+int bottom_low_g_
 
+int bottom_low_r_
 
+int bottom_low_b_
 
+int bottom_high_g_
 
+int bottom_high_r_
 
+int bottom_high_b_
 
+int bottom_closing_mat_point_
 
+int bottom_closing_iter_
 
+int bottom_opening_iter_
 
+int bottom_opening_mat_point_
 
+int bottom_bilateral_iter_
 
+bool close_task = false
 
+image_transport::Subscriber front_image_sub
 
+image_transport::Subscriber bottom_image_sub
 
+image_transport::Subscriber enhanced_image_sub
 
+image_transport::Publisher bottom_thresholded_pub
 
+image_transport::Publisher bottom_marked_pub
 
+image_transport::Publisher front_thresholded_pub
 
+image_transport::Publisher front_marked_pub
 
+image_transport::Publisher front_edges_pub
 
+ros::Publisher front_x_coordinate_pub
 
+ros::Publisher front_y_coordinate_pub
 
+ros::Publisher front_z_coordinate_pub
 
+ros::Publisher bottom_x_coordinate_pub
 
+ros::Publisher bottom_y_coordinate_pub
 
+ros::Publisher bottom_z_coordinate_pub
 
+ros::Publisher detection_pub
 
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Base_class() (defined in Base_class)Base_class
bottom_bilateral_iter_ (defined in Base_class)Base_classprotected
bottom_closing_iter_ (defined in Base_class)Base_classprotected
bottom_closing_mat_point_ (defined in Base_class)Base_classprotected
bottom_high_b_ (defined in Base_class)Base_classprotected
bottom_high_g_ (defined in Base_class)Base_classprotected
bottom_high_r_ (defined in Base_class)Base_classprotected
bottom_image_sub (defined in Base_class)Base_classprotected
bottom_low_b_ (defined in Base_class)Base_classprotected
bottom_low_g_ (defined in Base_class)Base_classprotected
bottom_low_r_ (defined in Base_class)Base_classprotected
bottom_marked_pub (defined in Base_class)Base_classprotected
bottom_opening_iter_ (defined in Base_class)Base_classprotected
bottom_opening_mat_point_ (defined in Base_class)Base_classprotected
bottom_thresholded_pub (defined in Base_class)Base_classprotected
bottom_x_coordinate (defined in Base_class)Base_class
bottom_x_coordinate_pub (defined in Base_class)Base_classprotected
bottom_y_coordinate (defined in Base_class)Base_class
bottom_y_coordinate_pub (defined in Base_class)Base_classprotected
bottom_z_coordinate (defined in Base_class)Base_class
bottom_z_coordinate_pub (defined in Base_class)Base_classprotected
bottomTaskHandling(bool status) (defined in Base_class)Base_class
changeTorpedoHole(master_layer::ChangeTorpedoHole::Request &req, master_layer::ChangeTorpedoHole::Response &resp) (defined in Torpedo)Torpedo
close_task (defined in Base_class)Base_classprotected
detection_pub (defined in Base_class)Base_classprotected
enhanced_image (defined in Base_class)Base_class
enhanced_image_sub (defined in Base_class)Base_classprotected
findCircles(cv::Mat &src_img, cv::Mat &thres_img, double circle_threshold) (defined in Torpedo)Torpedo
front_bilateral_iter_ (defined in Base_class)Base_classprotected
front_closing_iter_ (defined in Base_class)Base_classprotected
front_closing_mat_point_ (defined in Base_class)Base_classprotected
front_edges_pub (defined in Base_class)Base_classprotected
front_high_b_ (defined in Base_class)Base_classprotected
front_high_g_ (defined in Base_class)Base_classprotected
front_high_r_ (defined in Base_class)Base_classprotected
front_image_sub (defined in Base_class)Base_classprotected
front_low_b_ (defined in Base_class)Base_classprotected
front_low_g_ (defined in Base_class)Base_classprotected
front_low_r_ (defined in Base_class)Base_classprotected
front_marked_pub (defined in Base_class)Base_classprotected
front_opening_iter_ (defined in Base_class)Base_classprotected
front_opening_mat_point_ (defined in Base_class)Base_classprotected
front_thresholded_pub (defined in Base_class)Base_classprotected
front_x_coordinate (defined in Base_class)Base_class
front_x_coordinate_pub (defined in Base_class)Base_classprotected
front_y_coordinate (defined in Base_class)Base_class
front_y_coordinate_pub (defined in Base_class)Base_classprotected
front_z_coordinate (defined in Base_class)Base_class
front_z_coordinate_pub (defined in Base_class)Base_classprotected
frontTaskHandling(bool status) (defined in Base_class)Base_class
fusionCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
image_bottom (defined in Base_class)Base_class
image_bottom_marked (defined in Base_class)Base_class
image_bottom_thresholded (defined in Base_class)Base_class
image_front (defined in Base_class)Base_class
image_front_marked (defined in Base_class)Base_class
image_front_thresholded (defined in Base_class)Base_class
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
init() (defined in Base_class)Base_class
InitTracker(cv::Mat &src_img, cv::Mat &thres_img, double circle_threshold) (defined in Torpedo)Torpedo
it (defined in Base_class)Base_class
loadParams() override (defined in Torpedo)Torpedovirtual
nh (defined in Base_class)Base_class
recogniseHoles(cv::Mat &thres_img) (defined in Torpedo)Torpedo
spin_thread_bottom (defined in Base_class)Base_class
spin_thread_front (defined in Base_class)Base_class
spinThreadBottom() (defined in Base_class)Base_classvirtual
spinThreadFront() override (defined in Torpedo)Torpedovirtual
threshROI(const cv::Rect2d &bounding_rect, const cv::Mat &img, int padding) (defined in Torpedo)Torpedo
Torpedo() (defined in Torpedo)Torpedo
updateCoordinates(std::vector< cv::Point > points) (defined in Torpedo)Torpedo
updateTracker(cv::Mat &src_img) (defined in Torpedo)Torpedo
vision_mutex (defined in Base_class)Base_class
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+Public Member Functions

+virtual void loadParams () override
 
+virtual void spinThreadFront () override
 
+void findCircles (cv::Mat &src_img, cv::Mat &thres_img, double circle_threshold)
 
+void InitTracker (cv::Mat &src_img, cv::Mat &thres_img, double circle_threshold)
 
+void updateTracker (cv::Mat &src_img)
 
+cv::Point2f threshROI (const cv::Rect2d &bounding_rect, const cv::Mat &img, int padding)
 
+void recogniseHoles (cv::Mat &thres_img)
 
+void updateCoordinates (std::vector< cv::Point > points)
 
+bool changeTorpedoHole (master_layer::ChangeTorpedoHole::Request &req, master_layer::ChangeTorpedoHole::Response &resp)
 
- Public Member Functions inherited from Base_class
+virtual void spinThreadBottom ()
 
+void bottomTaskHandling (bool status)
 
+void frontTaskHandling (bool status)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void fusionCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void init ()
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Attributes inherited from Base_class
+ros::NodeHandle nh
 
+image_transport::ImageTransport it
 
+std_msgs::Float32 front_x_coordinate
 
+std_msgs::Float32 front_y_coordinate
 
+std_msgs::Float32 front_z_coordinate
 
+std_msgs::Float32 bottom_x_coordinate
 
+std_msgs::Float32 bottom_y_coordinate
 
+std_msgs::Float32 bottom_z_coordinate
 
+cv::Mat image_front
 
+cv::Mat image_bottom
 
+cv::Mat image_front_marked
 
+cv::Mat image_bottom_marked
 
+cv::Mat image_front_thresholded
 
+cv::Mat image_bottom_thresholded
 
+cv::Mat enhanced_image
 
+boost::thread * spin_thread_bottom
 
+boost::thread * spin_thread_front
 
+std::mutex vision_mutex
 
- Protected Attributes inherited from Base_class
+int front_low_g_
 
+int front_high_g_
 
+int front_low_r_
 
+int front_high_r_
 
+int front_low_b_
 
+int front_high_b_
 
+int front_opening_mat_point_
 
+int front_opening_iter_
 
+int front_closing_mat_point_
 
+int front_closing_iter_
 
+int front_bilateral_iter_
 
+int bottom_low_g_
 
+int bottom_low_r_
 
+int bottom_low_b_
 
+int bottom_high_g_
 
+int bottom_high_r_
 
+int bottom_high_b_
 
+int bottom_closing_mat_point_
 
+int bottom_closing_iter_
 
+int bottom_opening_iter_
 
+int bottom_opening_mat_point_
 
+int bottom_bilateral_iter_
 
+bool close_task = false
 
+image_transport::Subscriber front_image_sub
 
+image_transport::Subscriber bottom_image_sub
 
+image_transport::Subscriber enhanced_image_sub
 
+image_transport::Publisher bottom_thresholded_pub
 
+image_transport::Publisher bottom_marked_pub
 
+image_transport::Publisher front_thresholded_pub
 
+image_transport::Publisher front_marked_pub
 
+image_transport::Publisher front_edges_pub
 
+ros::Publisher front_x_coordinate_pub
 
+ros::Publisher front_y_coordinate_pub
 
+ros::Publisher front_z_coordinate_pub
 
+ros::Publisher bottom_x_coordinate_pub
 
+ros::Publisher bottom_y_coordinate_pub
 
+ros::Publisher bottom_z_coordinate_pub
 
+ros::Publisher detection_pub
 
+
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Base_class() (defined in Base_class)Base_class
blackoutCB(master_layer::GetBlackoutTime::Request &req, master_layer::GetBlackoutTime::Response &res) (defined in TriangularBuoy)TriangularBuoy
bottom_bilateral_iter_ (defined in Base_class)Base_classprotected
bottom_closing_iter_ (defined in Base_class)Base_classprotected
bottom_closing_mat_point_ (defined in Base_class)Base_classprotected
bottom_high_b_ (defined in Base_class)Base_classprotected
bottom_high_g_ (defined in Base_class)Base_classprotected
bottom_high_r_ (defined in Base_class)Base_classprotected
bottom_image_sub (defined in Base_class)Base_classprotected
bottom_low_b_ (defined in Base_class)Base_classprotected
bottom_low_g_ (defined in Base_class)Base_classprotected
bottom_low_r_ (defined in Base_class)Base_classprotected
bottom_marked_pub (defined in Base_class)Base_classprotected
bottom_opening_iter_ (defined in Base_class)Base_classprotected
bottom_opening_mat_point_ (defined in Base_class)Base_classprotected
bottom_thresholded_pub (defined in Base_class)Base_classprotected
bottom_x_coordinate (defined in Base_class)Base_class
bottom_x_coordinate_pub (defined in Base_class)Base_classprotected
bottom_y_coordinate (defined in Base_class)Base_class
bottom_y_coordinate_pub (defined in Base_class)Base_classprotected
bottom_z_coordinate (defined in Base_class)Base_class
bottom_z_coordinate_pub (defined in Base_class)Base_classprotected
bottomTaskHandling(bool status) (defined in Base_class)Base_class
close_task (defined in Base_class)Base_classprotected
depthCallback(const geometry_msgs::Point msg) (defined in TriangularBuoy)TriangularBuoy
depthRequest(master_layer::GetMaxDepth::Request &req, master_layer::GetMaxDepth::Response &res) (defined in TriangularBuoy)TriangularBuoy
detection_pub (defined in Base_class)Base_classprotected
enhanced_image (defined in Base_class)Base_class
enhanced_image_sub (defined in Base_class)Base_classprotected
findCenter() (defined in TriangularBuoy)TriangularBuoy
front_bilateral_iter_ (defined in Base_class)Base_classprotected
front_closing_iter_ (defined in Base_class)Base_classprotected
front_closing_mat_point_ (defined in Base_class)Base_classprotected
front_edges_pub (defined in Base_class)Base_classprotected
front_high_b_ (defined in Base_class)Base_classprotected
front_high_g_ (defined in Base_class)Base_classprotected
front_high_r_ (defined in Base_class)Base_classprotected
front_image_sub (defined in Base_class)Base_classprotected
front_low_b_ (defined in Base_class)Base_classprotected
front_low_g_ (defined in Base_class)Base_classprotected
front_low_r_ (defined in Base_class)Base_classprotected
front_marked_pub (defined in Base_class)Base_classprotected
front_opening_iter_ (defined in Base_class)Base_classprotected
front_opening_mat_point_ (defined in Base_class)Base_classprotected
front_thresholded_pub (defined in Base_class)Base_classprotected
front_x_coordinate (defined in Base_class)Base_class
front_x_coordinate_pub (defined in Base_class)Base_classprotected
front_y_coordinate (defined in Base_class)Base_class
front_y_coordinate_pub (defined in Base_class)Base_classprotected
front_z_coordinate (defined in Base_class)Base_class
front_z_coordinate_pub (defined in Base_class)Base_classprotected
frontTaskHandling(bool status) (defined in Base_class)Base_class
fusionCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
image_bottom (defined in Base_class)Base_class
image_bottom_marked (defined in Base_class)Base_class
image_bottom_thresholded (defined in Base_class)Base_class
image_front (defined in Base_class)Base_class
image_front_marked (defined in Base_class)Base_class
image_front_thresholded (defined in Base_class)Base_class
imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg) (defined in Base_class)Base_class
it (defined in Base_class)Base_class
loadParams() override (defined in TriangularBuoy)TriangularBuoyvirtual
nh (defined in Base_class)Base_class
preProcess(cv::Mat &temp_src) (defined in TriangularBuoy)TriangularBuoy
rectCB(const sensor_msgs::Image::ConstPtr &msg) (defined in TriangularBuoy)TriangularBuoy
spin_thread_bottom (defined in Base_class)Base_class
spin_thread_front (defined in Base_class)Base_class
spinThreadBottom() (defined in Base_class)Base_classvirtual
spinThreadFront() override (defined in TriangularBuoy)TriangularBuoyvirtual
TriangularBuoy() (defined in TriangularBuoy)TriangularBuoy
vision_mutex (defined in Base_class)Base_class
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+void loadParams () override
 
+void spinThreadFront () override
 
+void preProcess (cv::Mat &temp_src)
 
+cv::Point findCenter ()
 
+void depthCallback (const geometry_msgs::Point msg)
 
+bool depthRequest (master_layer::GetMaxDepth::Request &req, master_layer::GetMaxDepth::Response &res)
 
+bool blackoutCB (master_layer::GetBlackoutTime::Request &req, master_layer::GetBlackoutTime::Response &res)
 
+void rectCB (const sensor_msgs::Image::ConstPtr &msg)
 
- Public Member Functions inherited from Base_class
+virtual void spinThreadBottom ()
 
+void bottomTaskHandling (bool status)
 
+void frontTaskHandling (bool status)
 
+void imageFrontCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void imageBottomCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void fusionCallback (const sensor_msgs::Image::ConstPtr &msg)
 
+void init ()
 
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+Additional Inherited Members

- Public Attributes inherited from Base_class
+ros::NodeHandle nh
 
+image_transport::ImageTransport it
 
+std_msgs::Float32 front_x_coordinate
 
+std_msgs::Float32 front_y_coordinate
 
+std_msgs::Float32 front_z_coordinate
 
+std_msgs::Float32 bottom_x_coordinate
 
+std_msgs::Float32 bottom_y_coordinate
 
+std_msgs::Float32 bottom_z_coordinate
 
+cv::Mat image_front
 
+cv::Mat image_bottom
 
+cv::Mat image_front_marked
 
+cv::Mat image_bottom_marked
 
+cv::Mat image_front_thresholded
 
+cv::Mat image_bottom_thresholded
 
+cv::Mat enhanced_image
 
+boost::thread * spin_thread_bottom
 
+boost::thread * spin_thread_front
 
+std::mutex vision_mutex
 
- Protected Attributes inherited from Base_class
+int front_low_g_
 
+int front_high_g_
 
+int front_low_r_
 
+int front_high_r_
 
+int front_low_b_
 
+int front_high_b_
 
+int front_opening_mat_point_
 
+int front_opening_iter_
 
+int front_closing_mat_point_
 
+int front_closing_iter_
 
+int front_bilateral_iter_
 
+int bottom_low_g_
 
+int bottom_low_r_
 
+int bottom_low_b_
 
+int bottom_high_g_
 
+int bottom_high_r_
 
+int bottom_high_b_
 
+int bottom_closing_mat_point_
 
+int bottom_closing_iter_
 
+int bottom_opening_iter_
 
+int bottom_opening_mat_point_
 
+int bottom_bilateral_iter_
 
+bool close_task = false
 
+image_transport::Subscriber front_image_sub
 
+image_transport::Subscriber bottom_image_sub
 
+image_transport::Subscriber enhanced_image_sub
 
+image_transport::Publisher bottom_thresholded_pub
 
+image_transport::Publisher bottom_marked_pub
 
+image_transport::Publisher front_thresholded_pub
 
+image_transport::Publisher front_marked_pub
 
+image_transport::Publisher front_edges_pub
 
+ros::Publisher front_x_coordinate_pub
 
+ros::Publisher front_y_coordinate_pub
 
+ros::Publisher front_z_coordinate_pub
 
+ros::Publisher bottom_x_coordinate_pub
 
+ros::Publisher bottom_y_coordinate_pub
 
+ros::Publisher bottom_z_coordinate_pub
 
+ros::Publisher detection_pub
 
+
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__init__(self) (defined in VelocityControl.VelocityControllerNode)VelocityControl.VelocityControllerNode
cmd_vel_callback(self, msg)VelocityControl.VelocityControllerNode
config (defined in VelocityControl.VelocityControllerNode)VelocityControl.VelocityControllerNode
config_callback(self, config, level)VelocityControl.VelocityControllerNode
odometry_callback(self, msg)VelocityControl.VelocityControllerNode
pid_angular (defined in VelocityControl.VelocityControllerNode)VelocityControl.VelocityControllerNode
pid_linear (defined in VelocityControl.VelocityControllerNode)VelocityControl.VelocityControllerNode
pub_cmd_accel (defined in VelocityControl.VelocityControllerNode)VelocityControl.VelocityControllerNode
srv_reconfigure (defined in VelocityControl.VelocityControllerNode)VelocityControl.VelocityControllerNode
sub_cmd_vel (defined in VelocityControl.VelocityControllerNode)VelocityControl.VelocityControllerNode
sub_odometry (defined in VelocityControl.VelocityControllerNode)VelocityControl.VelocityControllerNode
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+def __init__ (self)
 
def cmd_vel_callback (self, msg)
 
def odometry_callback (self, msg)
 
def config_callback (self, config, level)
 
+ + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ config
 
+ v_linear_des
 
+ v_angular_des
 
+ pid_angular
 
+ pid_linear
 
+ sub_cmd_vel
 
+ sub_odometry
 
+ pub_cmd_accel
 
+ srv_reconfigure
 
+

Member Function Documentation

+ +

◆ cmd_vel_callback()

+ +
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def VelocityControl.VelocityControllerNode.cmd_vel_callback ( self,
 msg 
)
+
+
Handle updated set velocity callback.
+
+
+ +

◆ config_callback()

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def VelocityControl.VelocityControllerNode.config_callback ( self,
 config,
 level 
)
+
+
Handle updated configuration values.
+
+
+ +

◆ odometry_callback()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def VelocityControl.VelocityControllerNode.odometry_callback ( self,
 msg 
)
+
+
Handle updated measured velocity callback.
+
+
+
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__init__(self) (defined in cascaded_pid_dp_controller.ROV_CascadedController)cascaded_pid_dp_controller.ROV_CascadedController
cmd_pose_pub (defined in cascaded_pid_dp_controller.ROV_CascadedController)cascaded_pid_dp_controller.ROV_CascadedController
o_callback(self, msg) (defined in cascaded_pid_dp_controller.ROV_CascadedController)cascaded_pid_dp_controller.ROV_CascadedController
odom_pos (defined in cascaded_pid_dp_controller.ROV_CascadedController)cascaded_pid_dp_controller.ROV_CascadedController
odom_quat (defined in cascaded_pid_dp_controller.ROV_CascadedController)cascaded_pid_dp_controller.ROV_CascadedController
odom_vel_ang (defined in cascaded_pid_dp_controller.ROV_CascadedController)cascaded_pid_dp_controller.ROV_CascadedController
odom_vel_lin (defined in cascaded_pid_dp_controller.ROV_CascadedController)cascaded_pid_dp_controller.ROV_CascadedController
saturate(self) (defined in cascaded_pid_dp_controller.ROV_CascadedController)cascaded_pid_dp_controller.ROV_CascadedController
sub_odometry (defined in cascaded_pid_dp_controller.ROV_CascadedController)cascaded_pid_dp_controller.ROV_CascadedController
update_controller(self) (defined in cascaded_pid_dp_controller.ROV_CascadedController)cascaded_pid_dp_controller.ROV_CascadedController
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+def __init__ (self)
 
+def update_controller (self)
 
+def saturate (self)
 
+def o_callback (self, msg)
 
+ + + + + + + + + + + + + +

+Public Attributes

+ odom_pos
 
+ odom_quat
 
+ odom_vel_ang
 
+ odom_vel_lin
 
+ sub_odometry
 
+ cmd_pose_pub
 
+
The documentation for this class was generated from the following file: +
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color_correction Class Reference
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class defining generic interfaces and methods common for color correction methods + More...

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#include <color_constancy.hpp>

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+Classes

class  contrast_stretching
 class defining methods to perform color correction using modified contrast stretching More...
 
class  gray_edge
 
class  gray_world
 
class  max_edge
 
class  maxRGB
 
+

Detailed Description

+

class defining generic interfaces and methods common for color correction methods

+
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run(Mat)color_correction::contrast_stretching
run1(Mat src)color_correction::contrast_stretching
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color_correction::contrast_stretching Class Reference
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class defining methods to perform color correction using modified contrast stretching + More...

+ +

#include <color_constancy.hpp>

+ + + + + + +

+Public Member Functions

Mat run (Mat)
 
Mat run1 (Mat src)
 
+

Detailed Description

+

class defining methods to perform color correction using modified contrast stretching

+

Member Function Documentation

+ +

◆ run()

+ +
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+ + + + + + + + +
Mat color_correction::contrast_stretching::run (Mat src)
+
+

The main method called to perform color correction using modified contrast stretching The only input required is the input image The method computes the lower and higher threshold pixel values and then calls the contrast_stretching method

+ +
+
+ +

◆ run1()

+ +
+
+ + + + + + + + +
Mat color_correction::contrast_stretching::run1 (Mat src)
+
+

Establish the number of bins

+

Set the ranges ( for B,G,R) )

+ +
+
+
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run(Mat, int p, int m)color_correction::gray_edge
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Mat run (Mat, int p, int m)
 
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◆ run()

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Mat color_correction::gray_edge::run (Mat src1,
int p,
int m 
)
+
+

this is a main function to call to perform color correction using gray edge algorithm in RGB color space

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process(Mat src1, int p, float *ml, float *ma, float *mb)color_correction::gray_world
process(Mat src1, float *ml, float *ma, float *mb, int p, int m)color_correction::gray_world
run1(Mat, int p)color_correction::gray_world
run2(Mat, int p, int m)color_correction::gray_world
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#include <color_constancy.hpp>

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+Public Member Functions

void process (Mat src1, int p, float *ml, float *ma, float *mb)
 
void process (Mat src1, float *ml, float *ma, float *mb, int p, int m)
 
Mat run2 (Mat, int p, int m)
 
Mat run1 (Mat, int p)
 
+

Detailed Description

+

class containing methods to perform gray world and shades of gray color correction in RGB and Lab Color space

+

Member Function Documentation

+ +

◆ process() [1/2]

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void color_correction::gray_world::process (Mat src1,
float * ml,
float * ma,
float * mb,
int p,
int m 
)
+
+

function to estimate the illumination vector or scaling factor for RGB color space computation inputs are the sourc image, minkownski norm factor (p), and three normalization defined by (m = 0, 1, 2) the outputs are the factor ml,ma,mb for each of the color channel

+ +
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+ +

◆ process() [2/2]

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void color_correction::gray_world::process (Mat src1,
int p,
float * ml,
float * ma,
float * mb 
)
+
+

The method to compute the estimate of illumination vector. Inputs are image and norm and outputs are ml, ma, mb the estimate of illumination vector/scaling factors

+ +
+
+ +

◆ run1()

+ +
+
+ + + + + + + + + + + + + + + + + + +
Mat color_correction::gray_world::run1 (Mat src,
int p 
)
+
+

This is the main method which to call for color correction in Lab Color space.This performs basic pre-processing and calls the gray world function

+ +
+
+ +

◆ run2()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
Mat color_correction::gray_world::run2 (Mat src,
int p,
int m 
)
+
+

this is a main function to call to perform color correction in RGB color space

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process(Mat src1, float *ml, float *ma, float *mb, int p, int m)color_correction::maxRGB
run(Mat, int p, int m)color_correction::maxRGB
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color_correction::maxRGB Class Reference
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Mat run (Mat, int p, int m)
 
void process (Mat src1, float *ml, float *ma, float *mb, int p, int m)
 
+

Member Function Documentation

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◆ process()

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void color_correction::maxRGB::process (Mat src1,
float * ml,
float * ma,
float * mb,
int p,
int m 
)
+
+

function coputes the illumination estimate max RGB algorithm.The function takes input image,minkowski norm and normalization method . the output are ml,,ma,mb for each of the color channels

+ +
+
+ +

◆ run()

+ +
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Mat color_correction::maxRGB::run (Mat src1,
int p,
int m 
)
+
+

main function to call for maxRGB color correction

+ +
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conv2(const Mat &img, const Mat &kernel, ConvolutionType type, Mat &dest)color_correction::max_edge
CONVOLUTION_FULL enum value (defined in color_correction::max_edge)color_correction::max_edge
CONVOLUTION_SAME enum value (defined in color_correction::max_edge)color_correction::max_edge
CONVOLUTION_VALID enum value (defined in color_correction::max_edge)color_correction::max_edge
ConvolutionType enum namecolor_correction::max_edge
process(Mat src1, float *ml, float *ma, float *mb, int p, int m)color_correction::max_edge
run(Mat, int p, int m)color_correction::max_edge
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enum  ConvolutionType { CONVOLUTION_FULL, +CONVOLUTION_SAME, +CONVOLUTION_VALID + }
 
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+Public Member Functions

Mat run (Mat, int p, int m)
 
void conv2 (const Mat &img, const Mat &kernel, ConvolutionType type, Mat &dest)
 
void process (Mat src1, float *ml, float *ma, float *mb, int p, int m)
 
+

Member Enumeration Documentation

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◆ ConvolutionType

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enum color_correction::max_edge::ConvolutionType
+
+

defines convolution type

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Member Function Documentation

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◆ conv2()

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void color_correction::max_edge::conv2 (const Mat & img,
const Mat & kernel,
ConvolutionType type,
Mat & dest 
)
+
+

method to perform 2D convolution

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◆ process()

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void color_correction::max_edge::process (Mat src1,
float * ml,
float * ma,
float * mb,
int p,
int m 
)
+
+

function that computes illumination vector for max_edge algorithm

+ +
+
+ +

◆ run()

+ +
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Mat color_correction::max_edge::run (Mat src1,
int p,
int m 
)
+
+

main function to call to perform max-edge color correction

+ +
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__init__(self) (defined in disturbance_manager.DisturbanceManager)disturbance_manager.DisturbanceManager
set_body_wrench(self, force, torque, duration, starting_time) (defined in disturbance_manager.DisturbanceManager)disturbance_manager.DisturbanceManager
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set_thrust_efficiency(self, thruster_id, eff) (defined in disturbance_manager.DisturbanceManager)disturbance_manager.DisturbanceManager
set_thruster_state(self, thruster_id, is_on) (defined in disturbance_manager.DisturbanceManager)disturbance_manager.DisturbanceManager
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+def __init__ (self)
 
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+def set_thruster_state (self, thruster_id, is_on)
 
+def set_propeller_efficiency (self, thruster_id, eff)
 
+def set_thrust_efficiency (self, thruster_id, eff)
 
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DVLNode(const ros::NodeHandlePtr &nh) (defined in hardware_dvl::DVLNode)hardware_dvl::DVLNode
Spin() (defined in hardware_dvl::DVLNode)hardware_dvl::DVLNode
~DVLNode() (defined in hardware_dvl::DVLNode)hardware_dvl::DVLNode
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+ DVLNode (const ros::NodeHandlePtr &nh)
 
+void Spin ()
 
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BaseCameraParameters(const ros::NodeHandle &nh, const std::string &camera_namespace, const bool invert_T) (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
BaseCameraParameters(const sensor_msgs::CameraInfo &camera_info) (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
BaseCameraParameters(const cv::Size &resolution_in, const Eigen::Matrix< double, 4, 4 > &T_in, const Eigen::Matrix< double, 3, 3 > &K_in) (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
K() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
operator!=(const BaseCameraParameters &B) const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
operator==(const BaseCameraParameters &B) const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
p() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
P() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
R() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
resolution() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
T() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
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+ BaseCameraParameters (const ros::NodeHandle &nh, const std::string &camera_namespace, const bool invert_T)
 
+ BaseCameraParameters (const sensor_msgs::CameraInfo &camera_info)
 
+ BaseCameraParameters (const cv::Size &resolution_in, const Eigen::Matrix< double, 4, 4 > &T_in, const Eigen::Matrix< double, 3, 3 > &K_in)
 
+const cv::Size & resolution () const
 
+const Eigen::Matrix< double, 4, 4 > & T () const
 
+const Eigen::Ref< const Eigen::Matrix< double, 3, 3 > > R () const
 
+const Eigen::Ref< const Eigen::Matrix< double, 3, 1 > > p () const
 
+const Eigen::Matrix< double, 3, 4 > & P () const
 
+const Eigen::Matrix< double, 3, 3 > & K () const
 
+bool operator== (const BaseCameraParameters &B) const
 
+bool operator!= (const BaseCameraParameters &B) const
 
+
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CameraParametersPair(const DistortionProcessing distortion_processing=DistortionProcessing::UNDISTORT) (defined in image_undistort::CameraParametersPair)image_undistort::CameraParametersPair
distortionProcessing() const (defined in image_undistort::CameraParametersPair)image_undistort::CameraParametersPair
generateCameraInfoMessage(const CameraIO &io, sensor_msgs::CameraInfo *camera_info) const (defined in image_undistort::CameraParametersPair)image_undistort::CameraParametersPair
getInputPtr() const (defined in image_undistort::CameraParametersPair)image_undistort::CameraParametersPair
getOutputPtr() const (defined in image_undistort::CameraParametersPair)image_undistort::CameraParametersPair
operator!=(const CameraParametersPair &B) const (defined in image_undistort::CameraParametersPair)image_undistort::CameraParametersPair
operator==(const CameraParametersPair &B) const (defined in image_undistort::CameraParametersPair)image_undistort::CameraParametersPair
setCameraParameters(const ros::NodeHandle &nh, const std::string &camera_namespace, const CameraIO &io, const bool invert_T=false) (defined in image_undistort::CameraParametersPair)image_undistort::CameraParametersPair
setCameraParameters(const sensor_msgs::CameraInfo &camera_info, const CameraIO &io) (defined in image_undistort::CameraParametersPair)image_undistort::CameraParametersPair
setInputCameraParameters(const cv::Size &resolution, const Eigen::Matrix< double, 4, 4 > &T, const Eigen::Matrix< double, 3, 3 > &K, const std::vector< double > &D, const DistortionModel &distortion_model) (defined in image_undistort::CameraParametersPair)image_undistort::CameraParametersPair
setOptimalOutputCameraParameters(const double scale) (defined in image_undistort::CameraParametersPair)image_undistort::CameraParametersPair
setOutputCameraParameters(const cv::Size &resolution, const Eigen::Matrix< double, 4, 4 > &T, const Eigen::Matrix< double, 3, 3 > &K) (defined in image_undistort::CameraParametersPair)image_undistort::CameraParametersPair
setOutputFromInput(const double scale) (defined in image_undistort::CameraParametersPair)image_undistort::CameraParametersPair
valid() const (defined in image_undistort::CameraParametersPair)image_undistort::CameraParametersPair
valid(const CameraIO &io) const (defined in image_undistort::CameraParametersPair)image_undistort::CameraParametersPair
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+ CameraParametersPair (const DistortionProcessing distortion_processing=DistortionProcessing::UNDISTORT)
 
+bool setCameraParameters (const ros::NodeHandle &nh, const std::string &camera_namespace, const CameraIO &io, const bool invert_T=false)
 
+bool setCameraParameters (const sensor_msgs::CameraInfo &camera_info, const CameraIO &io)
 
+bool setInputCameraParameters (const cv::Size &resolution, const Eigen::Matrix< double, 4, 4 > &T, const Eigen::Matrix< double, 3, 3 > &K, const std::vector< double > &D, const DistortionModel &distortion_model)
 
+bool setOutputCameraParameters (const cv::Size &resolution, const Eigen::Matrix< double, 4, 4 > &T, const Eigen::Matrix< double, 3, 3 > &K)
 
+bool setOutputFromInput (const double scale)
 
+bool setOptimalOutputCameraParameters (const double scale)
 
+const DistortionProcessing & distortionProcessing () const
 
+void generateCameraInfoMessage (const CameraIO &io, sensor_msgs::CameraInfo *camera_info) const
 
+const std::shared_ptr< InputCameraParameters > & getInputPtr () const
 
+const std::shared_ptr< OutputCameraParameters > & getOutputPtr () const
 
+bool valid () const
 
+bool valid (const CameraIO &io) const
 
+bool operator== (const CameraParametersPair &B) const
 
+bool operator!= (const CameraParametersPair &B) const
 
+
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camerasCallback(const sensor_msgs::ImageConstPtr &first_image_msg_in, const sensor_msgs::ImageConstPtr &second_image_msg_in, const sensor_msgs::CameraInfoConstPtr &first_camera_info_msg_in, const sensor_msgs::CameraInfoConstPtr &second_camera_info_msg_in) (defined in image_undistort::Depth)image_undistort::Depth
Depth(const ros::NodeHandle &nh, const ros::NodeHandle &nh_private) (defined in image_undistort::Depth)image_undistort::Depth
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+ Depth (const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)
 
+void camerasCallback (const sensor_msgs::ImageConstPtr &first_image_msg_in, const sensor_msgs::ImageConstPtr &second_image_msg_in, const sensor_msgs::CameraInfoConstPtr &first_camera_info_msg_in, const sensor_msgs::CameraInfoConstPtr &second_camera_info_msg_in)
 
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ImageUndistort(const ros::NodeHandle &nh_, const ros::NodeHandle &nh_private_) (defined in image_undistort::ImageUndistort)image_undistort::ImageUndistort
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+ ImageUndistort (const ros::NodeHandle &nh_, const ros::NodeHandle &nh_private_)
 
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BaseCameraParameters(const ros::NodeHandle &nh, const std::string &camera_namespace, const bool invert_T) (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
BaseCameraParameters(const sensor_msgs::CameraInfo &camera_info) (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
BaseCameraParameters(const cv::Size &resolution_in, const Eigen::Matrix< double, 4, 4 > &T_in, const Eigen::Matrix< double, 3, 3 > &K_in) (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
D() const (defined in image_undistort::InputCameraParameters)image_undistort::InputCameraParameters
distortionModel() const (defined in image_undistort::InputCameraParameters)image_undistort::InputCameraParameters
InputCameraParameters(const ros::NodeHandle &nh, const std::string &camera_namespace, const bool invert_T=false) (defined in image_undistort::InputCameraParameters)image_undistort::InputCameraParameters
InputCameraParameters(const sensor_msgs::CameraInfo &camera_info) (defined in image_undistort::InputCameraParameters)image_undistort::InputCameraParameters
InputCameraParameters(const cv::Size &resolution_in, const Eigen::Matrix< double, 4, 4 > &T_in, const Eigen::Matrix< double, 3, 3 > &K_in, const std::vector< double > &D_in, const DistortionModel &distortion_model) (defined in image_undistort::InputCameraParameters)image_undistort::InputCameraParameters
K() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
operator!=(const InputCameraParameters &B) const (defined in image_undistort::InputCameraParameters)image_undistort::InputCameraParameters
operator!=(const BaseCameraParameters &B) const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
operator==(const InputCameraParameters &B) const (defined in image_undistort::InputCameraParameters)image_undistort::InputCameraParameters
operator==(const BaseCameraParameters &B) const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
p() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
P() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
R() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
resolution() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
T() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
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+ InputCameraParameters (const ros::NodeHandle &nh, const std::string &camera_namespace, const bool invert_T=false)
 
+ InputCameraParameters (const sensor_msgs::CameraInfo &camera_info)
 
+ InputCameraParameters (const cv::Size &resolution_in, const Eigen::Matrix< double, 4, 4 > &T_in, const Eigen::Matrix< double, 3, 3 > &K_in, const std::vector< double > &D_in, const DistortionModel &distortion_model)
 
+const std::vector< double > & D () const
 
+const DistortionModel & distortionModel () const
 
+bool operator== (const InputCameraParameters &B) const
 
+bool operator!= (const InputCameraParameters &B) const
 
- Public Member Functions inherited from image_undistort::BaseCameraParameters
+ BaseCameraParameters (const ros::NodeHandle &nh, const std::string &camera_namespace, const bool invert_T)
 
+ BaseCameraParameters (const sensor_msgs::CameraInfo &camera_info)
 
+ BaseCameraParameters (const cv::Size &resolution_in, const Eigen::Matrix< double, 4, 4 > &T_in, const Eigen::Matrix< double, 3, 3 > &K_in)
 
+const cv::Size & resolution () const
 
+const Eigen::Matrix< double, 4, 4 > & T () const
 
+const Eigen::Ref< const Eigen::Matrix< double, 3, 3 > > R () const
 
+const Eigen::Ref< const Eigen::Matrix< double, 3, 1 > > p () const
 
+const Eigen::Matrix< double, 3, 4 > & P () const
 
+const Eigen::Matrix< double, 3, 3 > & K () const
 
+bool operator== (const BaseCameraParameters &B) const
 
+bool operator!= (const BaseCameraParameters &B) const
 
+
The documentation for this class was generated from the following files:
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BaseCameraParameters(const ros::NodeHandle &nh, const std::string &camera_namespace, const bool invert_T) (defined in image_undistort::OutputCameraParameters)image_undistort::OutputCameraParameters
BaseCameraParameters(const sensor_msgs::CameraInfo &camera_info) (defined in image_undistort::OutputCameraParameters)image_undistort::OutputCameraParameters
BaseCameraParameters(const cv::Size &resolution_in, const Eigen::Matrix< double, 4, 4 > &T_in, const Eigen::Matrix< double, 3, 3 > &K_in) (defined in image_undistort::OutputCameraParameters)image_undistort::OutputCameraParameters
BaseCameraParameters(const ros::NodeHandle &nh, const std::string &camera_namespace, const bool invert_T) (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
BaseCameraParameters(const sensor_msgs::CameraInfo &camera_info) (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
BaseCameraParameters(const cv::Size &resolution_in, const Eigen::Matrix< double, 4, 4 > &T_in, const Eigen::Matrix< double, 3, 3 > &K_in) (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
K() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
operator!=(const BaseCameraParameters &B) const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
operator==(const BaseCameraParameters &B) const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
p() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
P() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
R() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
resolution() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
T() const (defined in image_undistort::BaseCameraParameters)image_undistort::BaseCameraParameters
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+Public Member Functions

+ BaseCameraParameters (const ros::NodeHandle &nh, const std::string &camera_namespace, const bool invert_T)
 
+ BaseCameraParameters (const sensor_msgs::CameraInfo &camera_info)
 
+ BaseCameraParameters (const cv::Size &resolution_in, const Eigen::Matrix< double, 4, 4 > &T_in, const Eigen::Matrix< double, 3, 3 > &K_in)
 
- Public Member Functions inherited from image_undistort::BaseCameraParameters
+ BaseCameraParameters (const ros::NodeHandle &nh, const std::string &camera_namespace, const bool invert_T)
 
+ BaseCameraParameters (const sensor_msgs::CameraInfo &camera_info)
 
+ BaseCameraParameters (const cv::Size &resolution_in, const Eigen::Matrix< double, 4, 4 > &T_in, const Eigen::Matrix< double, 3, 3 > &K_in)
 
+const cv::Size & resolution () const
 
+const Eigen::Matrix< double, 4, 4 > & T () const
 
+const Eigen::Ref< const Eigen::Matrix< double, 3, 3 > > R () const
 
+const Eigen::Ref< const Eigen::Matrix< double, 3, 1 > > p () const
 
+const Eigen::Matrix< double, 3, 4 > & P () const
 
+const Eigen::Matrix< double, 3, 3 > & K () const
 
+bool operator== (const BaseCameraParameters &B) const
 
+bool operator!= (const BaseCameraParameters &B) const
 
+
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bearingProjectionError(const std::vector< double > &values, std::vector< double > &grad, void *data) (defined in image_undistort::PointToBearing)image_undistort::PointToBearingstatic
optimizeForBearingVector(const InputCameraParameters &camera_parameters, const Eigen::Vector2d &pixel_location, Eigen::Vector3d *bearing) (defined in image_undistort::PointToBearing)image_undistort::PointToBearingstatic
PointToBearing(const ros::NodeHandle &nh, const ros::NodeHandle &nh_private) (defined in image_undistort::PointToBearing)image_undistort::PointToBearing
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+ PointToBearing (const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)
 
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+Static Public Member Functions

+static void optimizeForBearingVector (const InputCameraParameters &camera_parameters, const Eigen::Vector2d &pixel_location, Eigen::Vector3d *bearing)
 
+static double bearingProjectionError (const std::vector< double > &values, std::vector< double > &grad, void *data)
 
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generateCameraInfoMessage(const CameraSide &side, const CameraIO &io, sensor_msgs::CameraInfo *camera_info) const (defined in image_undistort::StereoCameraParameters)image_undistort::StereoCameraParameters
getFirst() const (defined in image_undistort::StereoCameraParameters)image_undistort::StereoCameraParameters
getSecond() const (defined in image_undistort::StereoCameraParameters)image_undistort::StereoCameraParameters
setInputCameraParameters(const ros::NodeHandle &nh, const std::string &camera_namespace, const CameraSide &side, const bool invert_T) (defined in image_undistort::StereoCameraParameters)image_undistort::StereoCameraParameters
setInputCameraParameters(const sensor_msgs::CameraInfo &camera_info, const CameraSide &side) (defined in image_undistort::StereoCameraParameters)image_undistort::StereoCameraParameters
setInputCameraParameters(const cv::Size &resolution, const Eigen::Matrix< double, 4, 4 > &T, const Eigen::Matrix< double, 3, 3 > &K, const std::vector< double > &D, const DistortionModel &distortion_model, const CameraSide &side) (defined in image_undistort::StereoCameraParameters)image_undistort::StereoCameraParameters
StereoCameraParameters(const double scale=1.0) (defined in image_undistort::StereoCameraParameters)image_undistort::StereoCameraParameters
valid() const (defined in image_undistort::StereoCameraParameters)image_undistort::StereoCameraParameters
valid(const CameraSide &side, const CameraIO &io) const (defined in image_undistort::StereoCameraParameters)image_undistort::StereoCameraParameters
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+ StereoCameraParameters (const double scale=1.0)
 
+bool setInputCameraParameters (const ros::NodeHandle &nh, const std::string &camera_namespace, const CameraSide &side, const bool invert_T)
 
+bool setInputCameraParameters (const sensor_msgs::CameraInfo &camera_info, const CameraSide &side)
 
+bool setInputCameraParameters (const cv::Size &resolution, const Eigen::Matrix< double, 4, 4 > &T, const Eigen::Matrix< double, 3, 3 > &K, const std::vector< double > &D, const DistortionModel &distortion_model, const CameraSide &side)
 
+void generateCameraInfoMessage (const CameraSide &side, const CameraIO &io, sensor_msgs::CameraInfo *camera_info) const
 
+const CameraParametersPair & getFirst () const
 
+const CameraParametersPair & getSecond () const
 
+bool valid () const
 
+bool valid (const CameraSide &side, const CameraIO &io) const
 
+
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firstCameraInfoCallback(const sensor_msgs::CameraInfoConstPtr &camera_info) (defined in image_undistort::StereoInfo)image_undistort::StereoInfo
firstImageCallback(const sensor_msgs::ImageConstPtr &image_msg) (defined in image_undistort::StereoInfo)image_undistort::StereoInfo
secondCameraInfoCallback(const sensor_msgs::CameraInfoConstPtr &camera_info) (defined in image_undistort::StereoInfo)image_undistort::StereoInfo
secondImageCallback(const sensor_msgs::ImageConstPtr &image_msg) (defined in image_undistort::StereoInfo)image_undistort::StereoInfo
StereoInfo(const ros::NodeHandle &nh, const ros::NodeHandle &nh_private) (defined in image_undistort::StereoInfo)image_undistort::StereoInfo
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+ StereoInfo (const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)
 
+void firstImageCallback (const sensor_msgs::ImageConstPtr &image_msg)
 
+void secondImageCallback (const sensor_msgs::ImageConstPtr &image_msg)
 
+void firstCameraInfoCallback (const sensor_msgs::CameraInfoConstPtr &camera_info)
 
+void secondCameraInfoCallback (const sensor_msgs::CameraInfoConstPtr &camera_info)
 
+
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camerasCallback(const sensor_msgs::ImageConstPtr &first_image_msg_in, const sensor_msgs::ImageConstPtr &second_image_msg_in, const sensor_msgs::CameraInfoConstPtr &first_camera_info_msg_in, const sensor_msgs::CameraInfoConstPtr &second_camera_info_msg_in) (defined in image_undistort::StereoUndistort)image_undistort::StereoUndistort
imagesCallback(const sensor_msgs::ImageConstPtr &first_image_msg_in, const sensor_msgs::ImageConstPtr &second_image_msg_in) (defined in image_undistort::StereoUndistort)image_undistort::StereoUndistort
StereoUndistort(const ros::NodeHandle &nh, const ros::NodeHandle &nh_private) (defined in image_undistort::StereoUndistort)image_undistort::StereoUndistort
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+ StereoUndistort (const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)
 
+void imagesCallback (const sensor_msgs::ImageConstPtr &first_image_msg_in, const sensor_msgs::ImageConstPtr &second_image_msg_in)
 
+void camerasCallback (const sensor_msgs::ImageConstPtr &first_image_msg_in, const sensor_msgs::ImageConstPtr &second_image_msg_in, const sensor_msgs::CameraInfoConstPtr &first_camera_info_msg_in, const sensor_msgs::CameraInfoConstPtr &second_camera_info_msg_in)
 
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distortPixel(const Eigen::Matrix< double, 3, 3 > &K_in, const Eigen::Matrix< double, 3, 3 > &R_in, const Eigen::Matrix< double, 3, 4 > &P_out, const DistortionModel &distortion_model, const std::vector< double > &D, const Eigen::Vector2d &pixel_location, Eigen::Vector2d *distorted_pixel_location) (defined in image_undistort::Undistorter)image_undistort::Undistorterstatic
getCameraParametersPair() (defined in image_undistort::Undistorter)image_undistort::Undistorter
Undistorter(const CameraParametersPair &input_camera_parameters_pair) (defined in image_undistort::Undistorter)image_undistort::Undistorter
undistortImage(const cv::Mat &image, cv::Mat *undistored_image) (defined in image_undistort::Undistorter)image_undistort::Undistorter
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+ Undistorter (const CameraParametersPair &input_camera_parameters_pair)
 
+void undistortImage (const cv::Mat &image, cv::Mat *undistored_image)
 
+const CameraParametersPair & getCameraParametersPair ()
 
+ + + +

+Static Public Member Functions

+static void distortPixel (const Eigen::Matrix< double, 3, 3 > &K_in, const Eigen::Matrix< double, 3, 3 > &R_in, const Eigen::Matrix< double, 3, 4 > &P_out, const DistortionModel &distortion_model, const std::vector< double > &D, const Eigen::Vector2d &pixel_location, Eigen::Vector2d *distorted_pixel_location)
 
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mapping::EKF< n, m, b > Member List
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This is the complete list of members for mapping::EKF< n, m, b >, including all inherited members.

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B_ (defined in mapping::EKF< n, m, b >)mapping::EKF< n, m, b >protected
covs_ (defined in mapping::EKF< n, m, b >)mapping::EKF< n, m, b >
EKF(const Eigen::Matrix< float, n, b > &B, const Eigen::Matrix< float, m, m > &R, const Eigen::Matrix< float, n, n > &Q, const Eigen::Matrix< float, n, 1 > &x, const Eigen::Matrix< float, n, n > &p) (defined in mapping::EKF< n, m, b >)mapping::EKF< n, m, b >
EKF(const Eigen::Matrix< float, n, b > &B, const Eigen::Matrix< float, m, m > &R, const Eigen::Matrix< float, n, n > &Q, const Eigen::Matrix< float, n, 1 > &x, const Eigen::Matrix< float, n, n > &p) (defined in mapping::EKF< n, m, b >)mapping::EKF< n, m, b >
Predict(const Eigen::Matrix< float, b, 1 > &u, const Eigen::Matrix< float, n, 1 > &xhat, const Eigen::Matrix< float, n, n > &F) (defined in mapping::EKF< n, m, b >)mapping::EKF< n, m, b >
Predict(const Eigen::Matrix< float, b, 1 > &u, const Eigen::Matrix< float, n, 1 > &xhat, const Eigen::Matrix< float, n, n > &F) (defined in mapping::EKF< n, m, b >)mapping::EKF< n, m, b >
Q_ (defined in mapping::EKF< n, m, b >)mapping::EKF< n, m, b >protected
R_ (defined in mapping::EKF< n, m, b >)mapping::EKF< n, m, b >protected
Update(const Eigen::Matrix< float, m, 1 > &y, const Eigen::Matrix< float, m, n > &H) (defined in mapping::EKF< n, m, b >)mapping::EKF< n, m, b >
Update(const Eigen::Matrix< float, m, 1 > &y, const Eigen::Matrix< float, m, n > &H) (defined in mapping::EKF< n, m, b >)mapping::EKF< n, m, b >
xhat_ (defined in mapping::EKF< n, m, b >)mapping::EKF< n, m, b >
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+ EKF (const Eigen::Matrix< float, n, b > &B, const Eigen::Matrix< float, m, m > &R, const Eigen::Matrix< float, n, n > &Q, const Eigen::Matrix< float, n, 1 > &x, const Eigen::Matrix< float, n, n > &p)
 
+void Predict (const Eigen::Matrix< float, b, 1 > &u, const Eigen::Matrix< float, n, 1 > &xhat, const Eigen::Matrix< float, n, n > &F)
 
+void Update (const Eigen::Matrix< float, m, 1 > &y, const Eigen::Matrix< float, m, n > &H)
 
+ EKF (const Eigen::Matrix< float, n, b > &B, const Eigen::Matrix< float, m, m > &R, const Eigen::Matrix< float, n, n > &Q, const Eigen::Matrix< float, n, 1 > &x, const Eigen::Matrix< float, n, n > &p)
 
+void Predict (const Eigen::Matrix< float, b, 1 > &u, const Eigen::Matrix< float, n, 1 > &xhat, const Eigen::Matrix< float, n, n > &F)
 
+void Update (const Eigen::Matrix< float, m, 1 > &y, const Eigen::Matrix< float, m, n > &H)
 
+ + + + + +

+Public Attributes

+Eigen::Matrix< float, n, 1 > xhat_
 
+Eigen::Matrix< float, n, n > covs_
 
+ + + + + + + +

+Protected Attributes

+Eigen::Matrix< float, n, b > B_
 
+Eigen::Matrix< float, m, m > R_
 
+Eigen::Matrix< float, n, n > Q_
 
+
The documentation for this class was generated from the following files:
    +
  • navigation_layer/mapping/include/ekf.h
    • +
  • navigation_layer/mapping/include/slam_ekf.h
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  • navigation_layer/mapping/src/ekf.cpp
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loadMapFromYAML(grid_map::GridMap &map) (defined in mapping::MappingNode)mapping::MappingNode
MappingNode(const ros::NodeHandlePtr &nh) (defined in mapping::MappingNode)mapping::MappingNode
odometry_update_cb(const nav_msgs::Odometry::ConstPtr &msg) (defined in mapping::MappingNode)mapping::MappingNode
PublishMap() (defined in mapping::MappingNode)mapping::MappingNode
Spin() (defined in mapping::MappingNode)mapping::MappingNode
transform_broadcaster_initial(tf::TransformBroadcaster &map_to_odom_broadcaster) (defined in mapping::MappingNode)mapping::MappingNode
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+ MappingNode (const ros::NodeHandlePtr &nh)
 
+void transform_broadcaster_initial (tf::TransformBroadcaster &map_to_odom_broadcaster)
 
+void odometry_update_cb (const nav_msgs::Odometry::ConstPtr &msg)
 
+void loadMapFromYAML (grid_map::GridMap &map)
 
+void PublishMap ()
 
+void Spin ()
 
+
The documentation for this class was generated from the following files:
    +
  • navigation_layer/mapping/include/mapping_main.h
    • +
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observe_landmark(const ros::NodeHandlePtr &n_, std::string obj_id, double m_x, double m_y, double m_z, double u_x, double u_y, double u_z, int uncertainty) (defined in mapping::SlamClient)mapping::SlamClient
request_landmark(const ros::NodeHandlePtr &n_, std::string obj_id) (defined in mapping::SlamClient)mapping::SlamClient
request_position(const ros::NodeHandlePtr &n_) (defined in mapping::SlamClient)mapping::SlamClient
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+int observe_landmark (const ros::NodeHandlePtr &n_, std::string obj_id, double m_x, double m_y, double m_z, double u_x, double u_y, double u_z, int uncertainty)
 
+vec6 request_landmark (const ros::NodeHandlePtr &n_, std::string obj_id)
 
+vec3 request_position (const ros::NodeHandlePtr &n_)
 
+
The documentation for this class was generated from the following files:
    +
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B_ (defined in mapping::EKF< 3, 3, 3 >)mapping::EKF< 3, 3, 3 >protected
covs_ (defined in mapping::EKF< 3, 3, 3 >)mapping::EKF< 3, 3, 3 >
EKF(const Eigen::Matrix< float, n, b > &B, const Eigen::Matrix< float, m, m > &R, const Eigen::Matrix< float, n, n > &Q, const Eigen::Matrix< float, n, 1 > &x, const Eigen::Matrix< float, n, n > &p) (defined in mapping::EKF< 3, 3, 3 >)mapping::EKF< 3, 3, 3 >
EKF(const Eigen::Matrix< float, n, b > &B, const Eigen::Matrix< float, m, m > &R, const Eigen::Matrix< float, n, n > &Q, const Eigen::Matrix< float, n, 1 > &x, const Eigen::Matrix< float, n, n > &p) (defined in mapping::EKF< 3, 3, 3 >)mapping::EKF< 3, 3, 3 >
id_ (defined in mapping::SlamEKF< n, m, b >)mapping::SlamEKF< n, m, b >
Predict(const vec3 &u) (defined in mapping::SlamEKF< n, m, b >)mapping::SlamEKF< n, m, b >
Predict(const vec3 &u) (defined in mapping::SlamEKF< n, m, b >)mapping::SlamEKF< n, m, b >
Predict(const Eigen::Matrix< float, b, 1 > &u, const Eigen::Matrix< float, n, 1 > &xhat, const Eigen::Matrix< float, n, n > &F) (defined in mapping::EKF< 3, 3, 3 >)mapping::EKF< 3, 3, 3 >
Q_ (defined in mapping::EKF< 3, 3, 3 >)mapping::EKF< 3, 3, 3 >protected
R_ (defined in mapping::EKF< 3, 3, 3 >)mapping::EKF< 3, 3, 3 >protected
SlamEKF(const vec3 &x, const mat3 &p, std::string id) (defined in mapping::SlamEKF< n, m, b >)mapping::SlamEKF< n, m, b >
SlamEKF(const SlamEKF &orig) (defined in mapping::SlamEKF< n, m, b >)mapping::SlamEKF< n, m, b >
SlamEKF(const vec3 &x, const mat3 &p, std::string id) (defined in mapping::SlamEKF< n, m, b >)mapping::SlamEKF< n, m, b >
SlamEKF(const SlamEKF &orig) (defined in mapping::SlamEKF< n, m, b >)mapping::SlamEKF< n, m, b >
Update(const vec3 &z) (defined in mapping::SlamEKF< n, m, b >)mapping::SlamEKF< n, m, b >
Update(const vec3 &z) (defined in mapping::SlamEKF< n, m, b >)mapping::SlamEKF< n, m, b >
Update(const Eigen::Matrix< float, m, 1 > &y, const Eigen::Matrix< float, m, n > &H) (defined in mapping::EKF< 3, 3, 3 >)mapping::EKF< 3, 3, 3 >
xhat_ (defined in mapping::EKF< 3, 3, 3 >)mapping::EKF< 3, 3, 3 >
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+Public Member Functions

+ SlamEKF (const vec3 &x, const mat3 &p, std::string id)
 
+ SlamEKF (const SlamEKF &orig)
 
+void Predict (const vec3 &u)
 
+void Update (const vec3 &z)
 
+ SlamEKF (const vec3 &x, const mat3 &p, std::string id)
 
+ SlamEKF (const SlamEKF &orig)
 
+void Predict (const vec3 &u)
 
+void Update (const vec3 &z)
 
- Public Member Functions inherited from mapping::EKF< 3, 3, 3 >
+ EKF (const Eigen::Matrix< float, n, b > &B, const Eigen::Matrix< float, m, m > &R, const Eigen::Matrix< float, n, n > &Q, const Eigen::Matrix< float, n, 1 > &x, const Eigen::Matrix< float, n, n > &p)
 
+ EKF (const Eigen::Matrix< float, n, b > &B, const Eigen::Matrix< float, m, m > &R, const Eigen::Matrix< float, n, n > &Q, const Eigen::Matrix< float, n, 1 > &x, const Eigen::Matrix< float, n, n > &p)
 
+void Predict (const Eigen::Matrix< float, b, 1 > &u, const Eigen::Matrix< float, n, 1 > &xhat, const Eigen::Matrix< float, n, n > &F)
 
+void Predict (const Eigen::Matrix< float, b, 1 > &u, const Eigen::Matrix< float, n, 1 > &xhat, const Eigen::Matrix< float, n, n > &F)
 
+void Update (const Eigen::Matrix< float, m, 1 > &y, const Eigen::Matrix< float, m, n > &H)
 
+void Update (const Eigen::Matrix< float, m, 1 > &y, const Eigen::Matrix< float, m, n > &H)
 
+ + + + + + + + +

+Public Attributes

+std::string id_
 
- Public Attributes inherited from mapping::EKF< 3, 3, 3 >
+Eigen::Matrix< float, n, 1 > xhat_
 
+Eigen::Matrix< float, n, n > covs_
 
+ + + + + + + + +

+Additional Inherited Members

- Protected Attributes inherited from mapping::EKF< 3, 3, 3 >
+Eigen::Matrix< float, n, b > B_
 
+Eigen::Matrix< float, m, m > R_
 
+Eigen::Matrix< float, n, n > Q_
 
+
The documentation for this class was generated from the following files:
    +
  • navigation_layer/mapping/include/ekf.h
    • +
  • navigation_layer/mapping/include/slam_ekf.h
    • +
  • navigation_layer/mapping/src/ekf.cpp
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GetState() (defined in mapping::SlamFilter)mapping::SlamFilter
GetState(std::string id) (defined in mapping::SlamFilter)mapping::SlamFilter
GNUPlotOut() (defined in mapping::SlamFilter)mapping::SlamFilter
Landmark(std::string id, const vec3 &relpos, const mat3 &cov) (defined in mapping::SlamFilter)mapping::SlamFilter
operator<< (defined in mapping::SlamFilter)mapping::SlamFilterfriend
SlamFilter(int n) (defined in mapping::SlamFilter)mapping::SlamFilter
SlamFilter(int n, const vec3 &pos, const vec3 &ori) (defined in mapping::SlamFilter)mapping::SlamFilter
Update(const vec6 &u) (defined in mapping::SlamFilter)mapping::SlamFilter
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+Public Member Functions

+ SlamFilter (int n)
 
+ SlamFilter (int n, const vec3 &pos, const vec3 &ori)
 
+void Update (const vec6 &u)
 
+void Landmark (std::string id, const vec3 &relpos, const mat3 &cov)
 
+vec3 GetState ()
 
+vec6 GetState (std::string id)
 
+void GNUPlotOut ()
 
+ + + +

+Friends

+std::ostream & operator<< (std::ostream &os, const SlamFilter &sf)
 
+
The documentation for this class was generated from the following files:
    +
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AddLandmark(std::string id, const vec3 &relpos, const mat3 &conv) (defined in mapping::SlamParticle)mapping::SlamParticle
gaussian_ (defined in mapping::SlamParticle)mapping::SlamParticle
gen_ (defined in mapping::SlamParticle)mapping::SlamParticle
GetState() (defined in mapping::SlamParticle)mapping::SlamParticle
GetState(std::string id) (defined in mapping::SlamParticle)mapping::SlamParticle
landmark_filters_ (defined in mapping::SlamParticle)mapping::SlamParticle
orientation_ (defined in mapping::SlamParticle)mapping::SlamParticle
position_ (defined in mapping::SlamParticle)mapping::SlamParticle
ReinitRandom() (defined in mapping::SlamParticle)mapping::SlamParticle
SlamParticle(float weight, const vec3 &pos, const vec3 &ori) (defined in mapping::SlamParticle)mapping::SlamParticle
uniform_ (defined in mapping::SlamParticle)mapping::SlamParticle
UpdateLandmark(std::string id, const vec3 &relpos) (defined in mapping::SlamParticle)mapping::SlamParticle
UpdateParticle(const vec6 &u, float weight) (defined in mapping::SlamParticle)mapping::SlamParticle
UpdateWeight(std::string id, const vec3 &relpos, float certainty) (defined in mapping::SlamParticle)mapping::SlamParticle
weight_ (defined in mapping::SlamParticle)mapping::SlamParticle
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+ SlamParticle (float weight, const vec3 &pos, const vec3 &ori)
 
+void AddLandmark (std::string id, const vec3 &relpos, const mat3 &conv)
 
+void UpdateLandmark (std::string id, const vec3 &relpos)
 
+void UpdateParticle (const vec6 &u, float weight)
 
+float UpdateWeight (std::string id, const vec3 &relpos, float certainty)
 
+void ReinitRandom ()
 
+vec3 GetState ()
 
+vec6 GetState (std::string id)
 
+ + + + + + + + + + + + + + + +

+Public Attributes

+float weight_
 
+vec3 position_
 
+vec3 orientation_
 
+std::default_random_engine gen_
 
+std::normal_distribution< float > uniform_
 
+std::normal_distribution< float > gaussian_
 
+std::unordered_map< std::string, SlamEKF > landmark_filters_
 
+
The documentation for this class was generated from the following files:
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    • +
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Landmark_observe(const ros::NodeHandlePtr n_) (defined in mapping::SlamServer)mapping::SlamServer
Listen(const ros::NodeHandlePtr &n_) (defined in mapping::SlamServer)mapping::SlamServer
observe(mapping::slam_msg::Request &msg, mapping::slam_msg::Response &rep) (defined in mapping::SlamServer)mapping::SlamServer
slam_do(mapping::slam_srv::Request &req, mapping::slam_srv::Response &res) (defined in mapping::SlamServer)mapping::SlamServer
SlamServer(SlamFilter *filter) (defined in mapping::SlamServer)mapping::SlamServer
+ +
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+ SlamServer (SlamFilter *filter)
 
+bool observe (mapping::slam_msg::Request &msg, mapping::slam_msg::Response &rep)
 
+bool slam_do (mapping::slam_srv::Request &req, mapping::slam_srv::Response &res)
 
+void Listen (const ros::NodeHandlePtr &n_)
 
+void Landmark_observe (const ros::NodeHandlePtr n_)
 
+
The documentation for this class was generated from the following files:
    +
  • navigation_layer/mapping/include/slam_server.h
    • +
  • navigation_layer/mapping/src/slam_clsrv.cpp
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+ + diff --git a/docs/html/classmtdef_1_1Baudrates-members.html b/docs/html/classmtdef_1_1Baudrates-members.html new file mode 100644 index 0000000..17de959 --- /dev/null +++ b/docs/html/classmtdef_1_1Baudrates-members.html @@ -0,0 +1,86 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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Baudrates (defined in mtdef.Baudrates)mtdef.Baudratesstatic
get_BR(cls, baudrate_id)mtdef.Baudrates
get_BRID(cls, baudrate)mtdef.Baudrates
+ +
+Generated by   +doxygen + 1.8.18 +
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+Public Member Functions

def get_BRID (cls, baudrate)
 
def get_BR (cls, baudrate_id)
 
+

Detailed Description

+
Baudrate information and conversion.

Member Function Documentation

+ +

◆ get_BR()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdef.Baudrates.get_BR ( cls,
 baudrate_id 
)
+
+
Get baudrate for a given baudrate id.
+
+
+ +

◆ get_BRID()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdef.Baudrates.get_BRID ( cls,
 baudrate 
)
+
+
Get baudrate id for a given baudrate.
+
+
+

Member Data Documentation

+ +

◆ Baudrates

+ +
+
+ + + + + +
+ + + + +
list mtdef.Baudrates.Baudrates
+ 		+static
+
+Initial value:
= [
+
(0x80, 921600),
+
(0x0A, 921600),
+
(0x00, 460800),
+
(0x01, 230400),
+
(0x02, 115200),
+
(0x03, 76800),
+
(0x04, 57600),
+
(0x05, 38400),
+
(0x06, 28800),
+
(0x07, 19200),
+
(0x08, 14400),
+
(0x09, 9600),
+
(0x0B, 4800),
+
(0x80, 921600)]
+
+
+
+
The documentation for this class was generated from the following file:
    +
  • hardware_layer/xsens_driver/nodes/mtdef.py
    • +
+
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+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classmtdef_1_1Baudrates.png b/docs/html/classmtdef_1_1Baudrates.png new file mode 100644 index 0000000..1b453aa Binary files /dev/null and b/docs/html/classmtdef_1_1Baudrates.png differ diff --git a/docs/html/classmtdef_1_1DeprecatedMID-members.html b/docs/html/classmtdef_1_1DeprecatedMID-members.html new file mode 100644 index 0000000..ba256bc --- /dev/null +++ b/docs/html/classmtdef_1_1DeprecatedMID-members.html @@ -0,0 +1,97 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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DataLength (defined in mtdef.DeprecatedMID)mtdef.DeprecatedMIDstatic
GPSStatus (defined in mtdef.DeprecatedMID)mtdef.DeprecatedMIDstatic
InitMT (defined in mtdef.DeprecatedMID)mtdef.DeprecatedMIDstatic
InitMTResults (defined in mtdef.DeprecatedMID)mtdef.DeprecatedMIDstatic
ReqDataLength (defined in mtdef.DeprecatedMID)mtdef.DeprecatedMIDstatic
ReqGPSStatus (defined in mtdef.DeprecatedMID)mtdef.DeprecatedMIDstatic
SetHeading (defined in mtdef.DeprecatedMID)mtdef.DeprecatedMIDstatic
SetLeverArmGPS (defined in mtdef.DeprecatedMID)mtdef.DeprecatedMIDstatic
SetMagneticDeclination (defined in mtdef.DeprecatedMID)mtdef.DeprecatedMIDstatic
SetObjectAlignment (defined in mtdef.DeprecatedMID)mtdef.DeprecatedMIDstatic
SetOutputSkipFactor (defined in mtdef.DeprecatedMID)mtdef.DeprecatedMIDstatic
SetProcessingFlags (defined in mtdef.DeprecatedMID)mtdef.DeprecatedMIDstatic
SetSyncInSettings (defined in mtdef.DeprecatedMID)mtdef.DeprecatedMIDstatic
SetSyncOutSettings (defined in mtdef.DeprecatedMID)mtdef.DeprecatedMIDstatic
+ +
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+Static Public Attributes

+int InitMT = 0x02
 
+int InitMTResults = 0x03
 
+int ReqDataLength = 0x0A
 
+int DataLength = 0x0B
 
+int ReqGPSStatus = 0xA6
 
+int GPSStatus = 0xA7
 
+int SetSyncInSettings = 0xD6
 
+int SetSyncOutSettings = 0xD8
 
+int SetOutputSkipFactor = 0xD4
 
+int SetObjectAlignment = 0xE0
 
+int SetHeading = 0x82
 
+int SetLeverArmGPS = 0x68
 
+int SetMagneticDeclination = 0x6A
 
+int SetProcessingFlags = 0x20
 
+

Detailed Description

+
Deprecated message Ids.
The documentation for this class was generated from the following file:
    +
  • hardware_layer/xsens_driver/nodes/mtdef.py
    • +
+
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Measurement (defined in mtdef.DeviceState)mtdef.DeviceStatestatic
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+Static Public Attributes

+int Measurement = 0
 
+int Config = 1
 
+

Detailed Description

+
State of the device
The documentation for this class was generated from the following file:
    +
  • hardware_layer/xsens_driver/nodes/mtdef.py
    • +
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+Generated by   +doxygen + 1.8.18 +
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AdjustUTCTime (defined in mtdef.MID)mtdef.MIDstatic
AvailableScenarios (defined in mtdef.MID)mtdef.MIDstatic
Configuration (defined in mtdef.MID)mtdef.MIDstatic
DeviceID (defined in mtdef.MID)mtdef.MIDstatic
Error (defined in mtdef.MID)mtdef.MIDstatic
FirmwareRev (defined in mtdef.MID)mtdef.MIDstatic
GoToConfig (defined in mtdef.MID)mtdef.MIDstatic
GoToMeasurement (defined in mtdef.MID)mtdef.MIDstatic
MTData (defined in mtdef.MID)mtdef.MIDstatic
MTData2 (defined in mtdef.MID)mtdef.MIDstatic
ProductCode (defined in mtdef.MID)mtdef.MIDstatic
ReqAvailableScenarios (defined in mtdef.MID)mtdef.MIDstatic
ReqConfiguration (defined in mtdef.MID)mtdef.MIDstatic
ReqData (defined in mtdef.MID)mtdef.MIDstatic
ReqDID (defined in mtdef.MID)mtdef.MIDstatic
ReqFWRev (defined in mtdef.MID)mtdef.MIDstatic
ReqProductCode (defined in mtdef.MID)mtdef.MIDstatic
Reset (defined in mtdef.MID)mtdef.MIDstatic
ResetOrientation (defined in mtdef.MID)mtdef.MIDstatic
RestoreFactoryDef (defined in mtdef.MID)mtdef.MIDstatic
RunSelftest (defined in mtdef.MID)mtdef.MIDstatic
SelftestAck (defined in mtdef.MID)mtdef.MIDstatic
SetAlignmentRotation (defined in mtdef.MID)mtdef.MIDstatic
SetBaudrate (defined in mtdef.MID)mtdef.MIDstatic
SetCurrentScenario (defined in mtdef.MID)mtdef.MIDstatic
SetErrorMode (defined in mtdef.MID)mtdef.MIDstatic
SetExtOutputMode (defined in mtdef.MID)mtdef.MIDstatic
SetGravityMagnitude (defined in mtdef.MID)mtdef.MIDstatic
SetLatLonAlt (defined in mtdef.MID)mtdef.MIDstatic
SetLocationID (defined in mtdef.MID)mtdef.MIDstatic
SetNoRotation (defined in mtdef.MID)mtdef.MIDstatic
SetOptionFlags (defined in mtdef.MID)mtdef.MIDstatic
SetOutputConfiguration (defined in mtdef.MID)mtdef.MIDstatic
SetOutputMode (defined in mtdef.MID)mtdef.MIDstatic
SetOutputSettings (defined in mtdef.MID)mtdef.MIDstatic
SetPeriod (defined in mtdef.MID)mtdef.MIDstatic
SetStringOutputType (defined in mtdef.MID)mtdef.MIDstatic
SetSyncSettings (defined in mtdef.MID)mtdef.MIDstatic
SetTransmitDelay (defined in mtdef.MID)mtdef.MIDstatic
SetUTCTime (defined in mtdef.MID)mtdef.MIDstatic
UTCTime (defined in mtdef.MID)mtdef.MIDstatic
WakeUp (defined in mtdef.MID)mtdef.MIDstatic
WakeUpAck (defined in mtdef.MID)mtdef.MIDstatic
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+Static Public Attributes

+int Error = 0x42
 
+int WakeUp = 0x3E
 
+int WakeUpAck = 0x3F
 
+int GoToConfig = 0x30
 
+int GoToMeasurement = 0x10
 
+int Reset = 0x40
 
+int ReqDID = 0x00
 
+int DeviceID = 0x01
 
+int ReqProductCode = 0x1C
 
+int ProductCode = 0x1D
 
+int ReqFWRev = 0x12
 
+int FirmwareRev = 0x13
 
+int RestoreFactoryDef = 0x0E
 
+int SetBaudrate = 0x18
 
+int RunSelftest = 0x24
 
+int SelftestAck = 0x25
 
+int SetErrorMode = 0xDA
 
+int SetTransmitDelay = 0xDC
 
+int SetOptionFlags = 0x48
 
+int SetLocationID = 0x84
 
+int SetSyncSettings = 0x2C
 
+int ReqConfiguration = 0x0C
 
+int Configuration = 0x0D
 
+int SetPeriod = 0x04
 
+int SetExtOutputMode = 0x86
 
+int SetOutputConfiguration = 0xC0
 
+int SetStringOutputType = 0x8E
 
+int SetAlignmentRotation = 0xEC
 
+int SetOutputMode = 0xD0
 
+int SetOutputSettings = 0xD2
 
+int ReqData = 0x34
 
+int MTData = 0x32
 
+int MTData2 = 0x36
 
+int ResetOrientation = 0xA4
 
+int SetUTCTime = 0x60
 
+int AdjustUTCTime = 0xA8
 
+int UTCTime = 0x61
 
+int ReqAvailableScenarios = 0x62
 
+int AvailableScenarios = 0x63
 
+int SetCurrentScenario = 0x64
 
+int SetGravityMagnitude = 0x66
 
+int SetLatLonAlt = 0x6E
 
+int SetNoRotation = 0x22
 
+

Detailed Description

+
Values for the message id (MID)
The documentation for this class was generated from the following file:
    +
  • hardware_layer/xsens_driver/nodes/mtdef.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
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__init__(self, code) (defined in mtdef.MTErrorMessage)mtdef.MTErrorMessage
__str__(self) (defined in mtdef.MTErrorMessage)mtdef.MTErrorMessage
code (defined in mtdef.MTErrorMessage)mtdef.MTErrorMessage
ErrorCodes (defined in mtdef.MTErrorMessage)mtdef.MTErrorMessagestatic
message (defined in mtdef.MTErrorMessage)mtdef.MTErrorMessage
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+ + + + + + + + +

+Public Attributes

+ code
 
+ message
 
- Public Attributes inherited from mtdef.MTException
+ message
 
+ + + +

+Static Public Attributes

+dictionary ErrorCodes
 
+
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    +
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    • +
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__init__(self, message) (defined in mtdef.MTException)mtdef.MTException
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message (defined in mtdef.MTException)mtdef.MTException
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+ message
 
+
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    +
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    • +
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__init__(self, message) (defined in mtdef.MTTimeoutException)mtdef.MTTimeoutException
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+ + + + + + +

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+ message
 
- Public Attributes inherited from mtdef.MTException
+ message
 
+
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    +
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Auxiliary (defined in mtdef.OutputMode)mtdef.OutputModestatic
Calib (defined in mtdef.OutputMode)mtdef.OutputModestatic
Orient (defined in mtdef.OutputMode)mtdef.OutputModestatic
Position (defined in mtdef.OutputMode)mtdef.OutputModestatic
RAW (defined in mtdef.OutputMode)mtdef.OutputModestatic
RAWGPS (defined in mtdef.OutputMode)mtdef.OutputModestatic
Status (defined in mtdef.OutputMode)mtdef.OutputModestatic
Temp (defined in mtdef.OutputMode)mtdef.OutputModestatic
Velocity (defined in mtdef.OutputMode)mtdef.OutputModestatic
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+Static Public Attributes

+int Temp = 0x0001
 
+int Calib = 0x0002
 
+int Orient = 0x0004
 
+int Auxiliary = 0x0008
 
+int Position = 0x0010
 
+int Velocity = 0x0020
 
+int Status = 0x0800
 
+int RAWGPS = 0x1000
 
+int RAW = 0x4000
 
+

Detailed Description

+
Values for the output mode.
The documentation for this class was generated from the following file:
    +
  • hardware_layer/xsens_driver/nodes/mtdef.py
    • +
+
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+Generated by   +doxygen + 1.8.18 +
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AuxiliaryMode_NoAIN1 (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
AuxiliaryMode_NoAIN2 (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
CalibMode_Acc (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
CalibMode_AccGyr (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
CalibMode_AccGyrMag (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
CalibMode_AccMag (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
CalibMode_Gyr (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
CalibMode_GyrMag (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
CalibMode_Mag (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
CalibMode_Mask (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
Coordinates_NED (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
DataFormat_12_20 (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
DataFormat_16_32 (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
DataFormat_Double (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
DataFormat_Float (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
OrientMode_Euler (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
OrientMode_Matrix (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
OrientMode_Quaternion (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
PositionMode_LLA_WGS84 (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
Timestamp_None (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
Timestamp_SampleCnt (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
Timestamp_UTCTime (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
VelocityMode_MS_XYZ (defined in mtdef.OutputSettings)mtdef.OutputSettingsstatic
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+Static Public Attributes

+int Timestamp_None = 0x00000000
 
+int Timestamp_SampleCnt = 0x00000001
 
+int Timestamp_UTCTime = 0x00000002
 
+int OrientMode_Quaternion = 0x00000000
 
+int OrientMode_Euler = 0x00000004
 
+int OrientMode_Matrix = 0x00000008
 
+int CalibMode_AccGyrMag = 0x00000000
 
+int CalibMode_GyrMag = 0x00000010
 
+int CalibMode_AccMag = 0x00000020
 
+int CalibMode_Mag = 0x00000030
 
+int CalibMode_AccGyr = 0x00000040
 
+int CalibMode_Gyr = 0x00000050
 
+int CalibMode_Acc = 0x00000060
 
+int CalibMode_Mask = 0x00000070
 
+int DataFormat_Float = 0x00000000
 
+int DataFormat_12_20 = 0x00000100
 
+int DataFormat_16_32 = 0x00000200
 
+int DataFormat_Double = 0x00000300
 
+int AuxiliaryMode_NoAIN1 = 0x00000400
 
+int AuxiliaryMode_NoAIN2 = 0x00000800
 
+int PositionMode_LLA_WGS84 = 0x00000000
 
+int VelocityMode_MS_XYZ = 0x00000000
 
+int Coordinates_NED = 0x80000000
 
+

Detailed Description

+
Values for the output settings.
The documentation for this class was generated from the following file:
    +
  • hardware_layer/xsens_driver/nodes/mtdef.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classmtdef_1_1XDIGroup-members.html b/docs/html/classmtdef_1_1XDIGroup-members.html new file mode 100644 index 0000000..dc996c3 --- /dev/null +++ b/docs/html/classmtdef_1_1XDIGroup-members.html @@ -0,0 +1,97 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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Acceleration (defined in mtdef.XDIGroup)mtdef.XDIGroupstatic
AnalogIn (defined in mtdef.XDIGroup)mtdef.XDIGroupstatic
AngularVelocity (defined in mtdef.XDIGroup)mtdef.XDIGroupstatic
GNSS (defined in mtdef.XDIGroup)mtdef.XDIGroupstatic
GPS (defined in mtdef.XDIGroup)mtdef.XDIGroupstatic
Magnetic (defined in mtdef.XDIGroup)mtdef.XDIGroupstatic
OrientationData (defined in mtdef.XDIGroup)mtdef.XDIGroupstatic
Position (defined in mtdef.XDIGroup)mtdef.XDIGroupstatic
Pressure (defined in mtdef.XDIGroup)mtdef.XDIGroupstatic
SensorComponentReadout (defined in mtdef.XDIGroup)mtdef.XDIGroupstatic
Status (defined in mtdef.XDIGroup)mtdef.XDIGroupstatic
Temperature (defined in mtdef.XDIGroup)mtdef.XDIGroupstatic
Timestamp (defined in mtdef.XDIGroup)mtdef.XDIGroupstatic
Velocity (defined in mtdef.XDIGroup)mtdef.XDIGroupstatic
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+Static Public Attributes

+int Temperature = 0x0800
 
+int Timestamp = 0x1000
 
+int OrientationData = 0x2000
 
+int Pressure = 0x3000
 
+int Acceleration = 0x4000
 
+int Position = 0x5000
 
+int GNSS = 0x7000
 
+int AngularVelocity = 0x8000
 
+int GPS = 0x8800
 
+int SensorComponentReadout = 0xA000
 
+int AnalogIn = 0xB000
 
+int Magnetic = 0xC000
 
+int Velocity = 0xD000
 
+int Status = 0xE000
 
+

Detailed Description

+
Values for the XDI groups.
The documentation for this class was generated from the following file:
    +
  • hardware_layer/xsens_driver/nodes/mtdef.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classmtdevice_1_1MTDevice-members.html b/docs/html/classmtdevice_1_1MTDevice-members.html new file mode 100644 index 0000000..394e776 --- /dev/null +++ b/docs/html/classmtdevice_1_1MTDevice-members.html @@ -0,0 +1,152 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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__init__(self, port, baudrate=115200, timeout=0.002, autoconf=True, config_mode=False, verbose=False, initial_wait=0.1)mtdevice.MTDevice
AdjustUTCTime(self, ticks)mtdevice.MTDevice
auto_config_legacy(self)mtdevice.MTDevice
ChangeBaudrate(self, baudrate)mtdevice.MTDevice
configure_legacy(self, mode, settings, period=None, skipfactor=None)mtdevice.MTDevice
device (defined in mtdevice.MTDevice)mtdevice.MTDevice
GetAlignmentRotation(self, parameter)mtdevice.MTDevice
GetAvailableScenarios(self)mtdevice.MTDevice
GetBaudrate(self)mtdevice.MTDevice
GetConfiguration(self)mtdevice.MTDevice
GetCurrentScenario(self)mtdevice.MTDevice
GetDeviceID(self)mtdevice.MTDevice
GetErrorMode(self)mtdevice.MTDevice
GetExtOutputMode(self)mtdevice.MTDevice
GetFirmwareRev(self)mtdevice.MTDevice
GetLatLonAlt(self)mtdevice.MTDevice
GetLocationID(self)mtdevice.MTDevice
GetOptionFlags(self)mtdevice.MTDevice
GetOutputConfiguration(self)mtdevice.MTDevice
GetOutputMode(self)mtdevice.MTDevice
GetOutputSettings(self)mtdevice.MTDevice
GetPeriod(self)mtdevice.MTDevice
GetProductCode(self)mtdevice.MTDevice
GetStringOutputType(self)mtdevice.MTDevice
GetSyncSettings(self)mtdevice.MTDevice
GetTransmitDelay(self)mtdevice.MTDevice
GetUTCTime(self)mtdevice.MTDevice
GoToConfig(self)mtdevice.MTDevice
GoToMeasurement(self)mtdevice.MTDevice
header (defined in mtdevice.MTDevice)mtdevice.MTDevice
length (defined in mtdevice.MTDevice)mtdevice.MTDevice
mode (defined in mtdevice.MTDevice)mtdevice.MTDevice
parse_MTData(self, data, mode=None, settings=None)mtdevice.MTDevice
parse_MTData2(self, data) (defined in mtdevice.MTDevice)mtdevice.MTDevice
read_data_msg(self, buf=bytearray())mtdevice.MTDevice
read_measurement(self, mode=None, settings=None) (defined in mtdevice.MTDevice)mtdevice.MTDevice
read_msg(self)mtdevice.MTDevice
ReqDataLength(self)mtdevice.MTDevice
Reset(self, go_to_config=False)mtdevice.MTDevice
ResetOrientation(self, code)mtdevice.MTDevice
RestoreFactoryDefaults(self)mtdevice.MTDevice
RunSelfTest(self)mtdevice.MTDevice
scenario_id (defined in mtdevice.MTDevice)mtdevice.MTDevice
scenarios (defined in mtdevice.MTDevice)mtdevice.MTDevice
SetAlignmentRotation(self, parameter, quaternion)mtdevice.MTDevice
SetBaudrate(self, brid)mtdevice.MTDevice
SetCurrentScenario(self, scenario_id)mtdevice.MTDevice
SetErrorMode(self, error_mode)mtdevice.MTDevice
SetExtOutputMode(self, ext_mode)mtdevice.MTDevice
SetLatLonAlt(self, lat, lon, alt)mtdevice.MTDevice
SetLocationID(self, location_id)mtdevice.MTDevice
SetNoRotation(self, duration)mtdevice.MTDevice
SetOptionFlags(self, set_flags, clear_flags)mtdevice.MTDevice
SetOutputConfiguration(self, output_configuration)mtdevice.MTDevice
SetOutputMode(self, mode)mtdevice.MTDevice
SetOutputSettings(self, settings)mtdevice.MTDevice
SetOutputSkipFactor(self, skipfactor)mtdevice.MTDevice
SetPeriod(self, period)mtdevice.MTDevice
SetStringOutputType(self, string_output_type)mtdevice.MTDevice
SetSyncSettings(self, sync_settings)mtdevice.MTDevice
settings (defined in mtdevice.MTDevice)mtdevice.MTDevice
SetTransmitDelay(self, transmit_delay)mtdevice.MTDevice
SetUTCTime(self, ns, year, month, day, hour, minute, second, flag)mtdevice.MTDevice
state (defined in mtdevice.MTDevice)mtdevice.MTDevice
timeout (defined in mtdevice.MTDevice)mtdevice.MTDevice
verbose (defined in mtdevice.MTDevice)mtdevice.MTDevice
waitfor(self, size=1)mtdevice.MTDevice
write_ack(self, mid, data=b'', n_retries=500)mtdevice.MTDevice
write_msg(self, mid, data=b'')mtdevice.MTDevice
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+Public Member Functions | +Public Attributes | +List of all members
+
+
mtdevice.MTDevice Class Reference
+
+
+ +

MTDevice class. + More...

+
+Inheritance diagram for mtdevice.MTDevice:
+
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

def __init__ (self, port, baudrate=115200, timeout=0.002, autoconf=True, config_mode=False, verbose=False, initial_wait=0.1)
 
def write_msg (self, mid, data=b'')
 Low-level communication. More...
 
def waitfor (self, size=1)
 
def read_data_msg (self, buf=bytearray())
 
def read_msg (self)
 
def write_ack (self, mid, data=b'', n_retries=500)
 
def Reset (self, go_to_config=False)
 High-level functions. More...
 
def GoToConfig (self)
 
def GoToMeasurement (self)
 
def GetDeviceID (self)
 
def GetProductCode (self)
 
def GetFirmwareRev (self)
 
def RunSelfTest (self)
 
def GetBaudrate (self)
 
def SetBaudrate (self, brid)
 
def GetErrorMode (self)
 
def SetErrorMode (self, error_mode)
 
def GetOptionFlags (self)
 
def SetOptionFlags (self, set_flags, clear_flags)
 
def GetLocationID (self)
 
def SetLocationID (self, location_id)
 
def RestoreFactoryDefaults (self)
 
def GetTransmitDelay (self)
 
def SetTransmitDelay (self, transmit_delay)
 
def GetSyncSettings (self)
 
def SetSyncSettings (self, sync_settings)
 
def GetConfiguration (self)
 
def GetOutputConfiguration (self)
 
def SetOutputConfiguration (self, output_configuration)
 
def GetStringOutputType (self)
 
def SetStringOutputType (self, string_output_type)
 
def GetPeriod (self)
 
def SetPeriod (self, period)
 
def GetAlignmentRotation (self, parameter)
 
def SetAlignmentRotation (self, parameter, quaternion)
 
def GetOutputMode (self)
 
def SetOutputMode (self, mode)
 
def GetExtOutputMode (self)
 
def SetExtOutputMode (self, ext_mode)
 
def GetOutputSettings (self)
 
def SetOutputSettings (self, settings)
 
def SetOutputSkipFactor (self, skipfactor)
 
def ReqDataLength (self)
 
def GetLatLonAlt (self)
 
def SetLatLonAlt (self, lat, lon, alt)
 
def GetAvailableScenarios (self)
 
def GetCurrentScenario (self)
 
def SetCurrentScenario (self, scenario_id)
 
def ResetOrientation (self, code)
 
def SetNoRotation (self, duration)
 
def GetUTCTime (self)
 
def SetUTCTime (self, ns, year, month, day, hour, minute, second, flag)
 
def AdjustUTCTime (self, ticks)
 
def configure_legacy (self, mode, settings, period=None, skipfactor=None)
 High-level utility functions. More...
 
def auto_config_legacy (self)
 
+def read_measurement (self, mode=None, settings=None)
 
+def parse_MTData2 (self, data)
 
def parse_MTData (self, data, mode=None, settings=None)
 
def ChangeBaudrate (self, baudrate)
 
+ + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ verbose
 
+ device
 
+ timeout
 
+ state
 
+ mode
 
+ settings
 
+ length
 
+ header
 
+ scenarios
 
+ scenario_id
 
+

Detailed Description

+

MTDevice class.

+
XSens MT device communication object.

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.__init__ ( self,
 port,
 baudrate = 115200,
 timeout = 0.002,
 autoconf = True,
 config_mode = False,
 verbose = False,
 initial_wait = 0.1 
)
+
+
Open device.
+
+
+

Member Function Documentation

+ +

◆ AdjustUTCTime()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.AdjustUTCTime ( self,
 ticks 
)
+
+
Adjust UTC Time of device using correction ticks (0.1 ms).
+
+
+ +

◆ auto_config_legacy()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.auto_config_legacy ( self)
+
+
Read configuration from device in legacy mode.
+
+
+ +

◆ ChangeBaudrate()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.ChangeBaudrate ( self,
 baudrate 
)
+
+
Change the baudrate, reset the device and reopen communication.
+
+
+ +

◆ configure_legacy()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.configure_legacy ( self,
 mode,
 settings,
 period = None,
 skipfactor = None 
)
+
+ +

High-level utility functions.

+
Configure the mode and settings of the MT device in legacy mode.
+
+
+ +

◆ GetAlignmentRotation()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.GetAlignmentRotation ( self,
 parameter 
)
+
+
Get the object alignment.
+
+parameter indicates the desired alignment quaternion:
+    0 for sensor alignment (RotSensor),
+    1 for local alignment (RotLocal).
+
+
+
+ +

◆ GetAvailableScenarios()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetAvailableScenarios ( self)
+
+
Get the available XKF scenarios on the device.
+
+
+ +

◆ GetBaudrate()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetBaudrate ( self)
+
+
Get the current baudrate id of the device.
+
+
+ +

◆ GetConfiguration()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetConfiguration ( self)
+
+
Ask for the current configuration of the MT device.
+
+
+ +

◆ GetCurrentScenario()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetCurrentScenario ( self)
+
+
Get the ID of the currently used XKF scenario.
+
+
+ +

◆ GetDeviceID()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetDeviceID ( self)
+
+
Get the device identifier.
+
+
+ +

◆ GetErrorMode()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetErrorMode ( self)
+
+
Get the current error mode of the device.
+
+
+ +

◆ GetExtOutputMode()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetExtOutputMode ( self)
+
+
Get current extended output mode (for alternative UART).
+
+
+ +

◆ GetFirmwareRev()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetFirmwareRev ( self)
+
+
Get the firmware version.
+
+
+ +

◆ GetLatLonAlt()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetLatLonAlt ( self)
+
+
Get the stored position of the device.
+It is used internally for local magnetic declination and local gravity.
+
+
+
+ +

◆ GetLocationID()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetLocationID ( self)
+
+
Get the location ID of the device.
+
+
+ +

◆ GetOptionFlags()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetOptionFlags ( self)
+
+
Get the option flags (MTi-1 series).
+
+
+ +

◆ GetOutputConfiguration()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetOutputConfiguration ( self)
+
+
Get the output configuration of the device (mark IV).
+
+
+ +

◆ GetOutputMode()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetOutputMode ( self)
+
+
Get current output mode.
+
+
+ +

◆ GetOutputSettings()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetOutputSettings ( self)
+
+
Get current output mode.
+
+
+ +

◆ GetPeriod()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetPeriod ( self)
+
+
Get the sampling period.
+
+
+ +

◆ GetProductCode()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetProductCode ( self)
+
+
Get the product code.
+
+
+ +

◆ GetStringOutputType()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetStringOutputType ( self)
+
+
Get the NMEA data output configuration.
+
+
+ +

◆ GetSyncSettings()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetSyncSettings ( self)
+
+
Get the synchronisation settings.
+
+
+ +

◆ GetTransmitDelay()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetTransmitDelay ( self)
+
+
Get the transmission delay (only RS485).
+
+
+ +

◆ GetUTCTime()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GetUTCTime ( self)
+
+
Get UTC time from device.
+
+
+ +

◆ GoToConfig()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GoToConfig ( self)
+
+
Place MT device in configuration mode.
+
+
+ +

◆ GoToMeasurement()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.GoToMeasurement ( self)
+
+
Place MT device in measurement mode.
+
+
+ +

◆ parse_MTData()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.parse_MTData ( self,
 data,
 mode = None,
 settings = None 
)
+
+
Read and parse a legacy measurement packet.
+
+
+ +

◆ read_data_msg()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.read_data_msg ( self,
 buf = bytearray() 
)
+
+
Low-level MTData receiving function.
+Take advantage of known message length.
+
+
+
+ +

◆ read_msg()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.read_msg ( self)
+
+
Low-level message receiving function.
+
+
+ +

◆ ReqDataLength()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.ReqDataLength ( self)
+
+
Get data length for mark III devices.
+
+
+ +

◆ Reset()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.Reset ( self,
 go_to_config = False 
)
+
+ +

High-level functions.

+
Reset MT device.
+
+If go_to_config then send WakeUpAck in order to leave the device in
+config mode.
+
+
+
+ +

◆ ResetOrientation()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.ResetOrientation ( self,
 code 
)
+
+
Reset the orientation.
+
+Code can take several values:
+    0x0000: store current settings (only in config mode),
+    0x0001: heading reset (NOT supported by MTi-G),
+    0x0003: object reset.
+
+
+
+ +

◆ RestoreFactoryDefaults()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.RestoreFactoryDefaults ( self)
+
+
Restore MT device configuration to factory defaults (soft version).
+
+
+
+ +

◆ RunSelfTest()

+ +
+
+ + + + + + + + +
def mtdevice.MTDevice.RunSelfTest ( self)
+
+
Run the built-in self test.
+
+
+ +

◆ SetAlignmentRotation()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetAlignmentRotation ( self,
 parameter,
 quaternion 
)
+
+
Set the object alignment.
+
+parameter indicates the desired alignment quaternion:
+    0 for sensor alignment (RotSensor),
+    1 for local alignment (RotLocal).
+
+
+
+ +

◆ SetBaudrate()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetBaudrate ( self,
 brid 
)
+
+
Set the baudrate of the device using the baudrate id.
+
+
+ +

◆ SetCurrentScenario()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetCurrentScenario ( self,
 scenario_id 
)
+
+
Sets the XKF scenario to use.
+
+
+ +

◆ SetErrorMode()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetErrorMode ( self,
 error_mode 
)
+
+
Set the error mode of the device.
+
+The error mode defines the way the device deals with errors (expect
+message errors):
+    0x0000: ignore any errors except message handling errors,
+    0x0001: in case of missing sampling instance: increase sample
+counter and do not send error message,
+    0x0002: in case of missing sampling instance: increase sample
+counter and send error message,
+    0x0003: in case of non-message handling error, an error message is
+sent and the device will go into Config State.
+
+
+
+ +

◆ SetExtOutputMode()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetExtOutputMode ( self,
 ext_mode 
)
+
+
Set extended output mode (for alternative UART).
+
+
+ +

◆ SetLatLonAlt()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetLatLonAlt ( self,
 lat,
 lon,
 alt 
)
+
+
Set the position of the device.
+It is used internally for local magnetic declination and local gravity.
+
+
+
+ +

◆ SetLocationID()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetLocationID ( self,
 location_id 
)
+
+
Set the location ID of the device (arbitrary).
+
+
+ +

◆ SetNoRotation()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetNoRotation ( self,
 duration 
)
+
+
Initiate the "no rotation" procedure to estimate gyro biases.
+
+
+ +

◆ SetOptionFlags()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetOptionFlags ( self,
 set_flags,
 clear_flags 
)
+
+
Set the option flags (MTi-1 series).
+
+
+ +

◆ SetOutputConfiguration()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetOutputConfiguration ( self,
 output_configuration 
)
+
+
Set the output configuration of the device (mark IV).
+
+
+ +

◆ SetOutputMode()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetOutputMode ( self,
 mode 
)
+
+
Select which information to output.
+
+
+ +

◆ SetOutputSettings()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetOutputSettings ( self,
 settings 
)
+
+
Select how to output the information.
+
+
+ +

◆ SetOutputSkipFactor()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetOutputSkipFactor ( self,
 skipfactor 
)
+
+
Set the output skip factor.
+
+
+ +

◆ SetPeriod()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetPeriod ( self,
 period 
)
+
+
Set the sampling period.
+
+
+ +

◆ SetStringOutputType()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetStringOutputType ( self,
 string_output_type 
)
+
+
Set the configuration of the NMEA data output.
+
+
+ +

◆ SetSyncSettings()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetSyncSettings ( self,
 sync_settings 
)
+
+
Set the synchronisation settings (mark IV)
+
+
+ +

◆ SetTransmitDelay()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetTransmitDelay ( self,
 transmit_delay 
)
+
+
Set the transmission delay (only RS485).
+
+
+ +

◆ SetUTCTime()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.SetUTCTime ( self,
 ns,
 year,
 month,
 day,
 hour,
 minute,
 second,
 flag 
)
+
+
Set UTC time on the device.
+
+
+ +

◆ waitfor()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.waitfor ( self,
 size = 1 
)
+
+
Get a given amount of data.
+
+
+ +

◆ write_ack()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.write_ack ( self,
 mid,
 data = b'',
 n_retries = 500 
)
+
+
Send a message and read confirmation.
+
+
+ +

◆ write_msg()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def mtdevice.MTDevice.write_msg ( self,
 mid,
 data = b'' 
)
+
+ +

Low-level communication.

+
Low-level message sending function.
+
+
+
The documentation for this class was generated from the following file:
    +
  • hardware_layer/xsens_driver/nodes/mtdevice.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classmtdevice_1_1MTDevice.png b/docs/html/classmtdevice_1_1MTDevice.png new file mode 100644 index 0000000..2ae1ecd Binary files /dev/null and b/docs/html/classmtdevice_1_1MTDevice.png differ diff --git a/docs/html/classmtnode_1_1XSensDriver-members.html b/docs/html/classmtnode_1_1XSensDriver-members.html new file mode 100644 index 0000000..543d152 --- /dev/null +++ b/docs/html/classmtnode_1_1XSensDriver-members.html @@ -0,0 +1,143 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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__init__(self) (defined in mtnode.XSensDriver)mtnode.XSensDriver
analog_in1_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
analog_in2_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
angular_velocity_covariance (defined in mtnode.XSensDriver)mtnode.XSensDriver
anin1_msg (defined in mtnode.XSensDriver)mtnode.XSensDriver
anin2_msg (defined in mtnode.XSensDriver)mtnode.XSensDriver
delta_q_rate (defined in mtnode.XSensDriver)mtnode.XSensDriver
diag_msg (defined in mtnode.XSensDriver)mtnode.XSensDriver
diag_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
ecef_msg (defined in mtnode.XSensDriver)mtnode.XSensDriver
ecef_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
euler_pitch_msg (defined in mtnode.XSensDriver)mtnode.XSensDriver
euler_pitch_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
euler_roll_msg (defined in mtnode.XSensDriver)mtnode.XSensDriver
euler_roll_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
euler_yaw_msg (defined in mtnode.XSensDriver)mtnode.XSensDriver
euler_yaw_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
frame_id (defined in mtnode.XSensDriver)mtnode.XSensDriver
frame_local (defined in mtnode.XSensDriver)mtnode.XSensDriver
gps_stat (defined in mtnode.XSensDriver)mtnode.XSensDriver
h (defined in mtnode.XSensDriver)mtnode.XSensDriver
imu_msg (defined in mtnode.XSensDriver)mtnode.XSensDriver
imu_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
last_delta_q_time (defined in mtnode.XSensDriver)mtnode.XSensDriver
linear_acceleration_covariance (defined in mtnode.XSensDriver)mtnode.XSensDriver
mag_msg (defined in mtnode.XSensDriver)mtnode.XSensDriver
mag_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
mt (defined in mtnode.XSensDriver)mtnode.XSensDriver
old_bGPS (defined in mtnode.XSensDriver)mtnode.XSensDriver
orientation_covariance (defined in mtnode.XSensDriver)mtnode.XSensDriver
pos_gps_msg (defined in mtnode.XSensDriver)mtnode.XSensDriver
pos_gps_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
press_msg (defined in mtnode.XSensDriver)mtnode.XSensDriver
press_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
pub_anin1 (defined in mtnode.XSensDriver)mtnode.XSensDriver
pub_anin2 (defined in mtnode.XSensDriver)mtnode.XSensDriver
pub_diag (defined in mtnode.XSensDriver)mtnode.XSensDriver
pub_ecef (defined in mtnode.XSensDriver)mtnode.XSensDriver
pub_euler (defined in mtnode.XSensDriver)mtnode.XSensDriver
pub_imu (defined in mtnode.XSensDriver)mtnode.XSensDriver
pub_mag (defined in mtnode.XSensDriver)mtnode.XSensDriver
pub_pos_gps (defined in mtnode.XSensDriver)mtnode.XSensDriver
pub_press (defined in mtnode.XSensDriver)mtnode.XSensDriver
pub_raw_gps (defined in mtnode.XSensDriver)mtnode.XSensDriver
pub_temp (defined in mtnode.XSensDriver)mtnode.XSensDriver
pub_vel (defined in mtnode.XSensDriver)mtnode.XSensDriver
raw_gps_msg (defined in mtnode.XSensDriver)mtnode.XSensDriver
raw_gps_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
reset_imu_orient(self, req) (defined in mtnode.XSensDriver)mtnode.XSensDriver
reset_vars(self) (defined in mtnode.XSensDriver)mtnode.XSensDriver
spin(self) (defined in mtnode.XSensDriver)mtnode.XSensDriver
spin_once(self)mtnode.XSensDriver
stest_stat (defined in mtnode.XSensDriver)mtnode.XSensDriver
str_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
temp_msg (defined in mtnode.XSensDriver)mtnode.XSensDriver
temp_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
time_ref_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
vel_msg (defined in mtnode.XSensDriver)mtnode.XSensDriver
vel_pub (defined in mtnode.XSensDriver)mtnode.XSensDriver
xkf_stat (defined in mtnode.XSensDriver)mtnode.XSensDriver
+ +
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+ + diff --git a/docs/html/classmtnode_1_1XSensDriver.html b/docs/html/classmtnode_1_1XSensDriver.html new file mode 100644 index 0000000..b9bde77 --- /dev/null +++ b/docs/html/classmtnode_1_1XSensDriver.html @@ -0,0 +1,298 @@ + + + + + + + +Anahita: mtnode.XSensDriver Class Reference + + + + + + + + + +
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mtnode.XSensDriver Class Reference
+
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+Inheritance diagram for mtnode.XSensDriver:
+
+
+ +
+ + + + + + + + + + + + +

+Public Member Functions

+def __init__ (self)
 
+def reset_imu_orient (self, req)
 
+def reset_vars (self)
 
+def spin (self)
 
def spin_once (self)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ mt
 
+ frame_id
 
+ frame_local
 
+ angular_velocity_covariance
 
+ linear_acceleration_covariance
 
+ orientation_covariance
 
+ diag_msg
 
+ stest_stat
 
+ xkf_stat
 
+ gps_stat
 
+ diag_pub
 
+ imu_pub
 
+ euler_yaw_pub
 
+ euler_pitch_pub
 
+ euler_roll_pub
 
+ raw_gps_pub
 
+ vel_pub
 
+ mag_pub
 
+ pos_gps_pub
 
+ temp_pub
 
+ press_pub
 
+ analog_in1_pub
 
+ analog_in2_pub
 
+ ecef_pub
 
+ time_ref_pub
 
+ imu_msg
 
+ old_bGPS
 
+ str_pub
 
+ last_delta_q_time
 
+ delta_q_rate
 
+ pub_euler
 
+ euler_yaw_msg
 
+ euler_roll_msg
 
+ euler_pitch_msg
 
+ pub_imu
 
+ raw_gps_msg
 
+ pub_raw_gps
 
+ pos_gps_msg
 
+ pub_pos_gps
 
+ vel_msg
 
+ pub_vel
 
+ mag_msg
 
+ pub_mag
 
+ temp_msg
 
+ pub_temp
 
+ press_msg
 
+ pub_press
 
+ anin1_msg
 
+ pub_anin1
 
+ anin2_msg
 
+ pub_anin2
 
+ ecef_msg
 
+ pub_ecef
 
+ pub_diag
 
+ h
 
+

Member Function Documentation

+ +

◆ spin_once()

+ +
+
+ + + + + + + + +
def mtnode.XSensDriver.spin_once ( self)
+
+
Read data from device and publishes ROS messages.
+
+
+
The documentation for this class was generated from the following file:
    +
  • hardware_layer/xsens_driver/nodes/mtnode.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classmtnode_1_1XSensDriver.png b/docs/html/classmtnode_1_1XSensDriver.png new file mode 100644 index 0000000..96d282a Binary files /dev/null and b/docs/html/classmtnode_1_1XSensDriver.png differ diff --git a/docs/html/classname.html b/docs/html/classname.html new file mode 100644 index 0000000..6ac4d0e --- /dev/null +++ b/docs/html/classname.html @@ -0,0 +1,81 @@ + + + + + + + +Anahita: name Class Reference + + + + + + + + + +
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    +
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    • +
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This is the complete list of members for navigation::DvlData, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + +
BAR_TO_METER_OF_WATER (defined in navigation::DvlData)navigation::DvlData
DefaultMethod enum value (defined in navigation::DvlData)navigation::DvlData
DvlData(IntegrationMethodType integrationMethodType=RKMethod) (defined in navigation::DvlData)navigation::DvlData
DvlPressureCallback(std_msgs::Float32 msg) (defined in navigation::DvlData)navigation::DvlData
DvlTwistCallback(geometry_msgs::TwistWithCovarianceStamped msg) (defined in navigation::DvlData)navigation::DvlData
GetPositionXYZ() (defined in navigation::DvlData)navigation::DvlData
GetPositionZFromPressure() (defined in navigation::DvlData)navigation::DvlData
GetPressure() (defined in navigation::DvlData)navigation::DvlData
GetVelocityXYZ() (defined in navigation::DvlData)navigation::DvlData
IntegrationMethodType enum name (defined in navigation::DvlData)navigation::DvlData
IsNewDataReady() (defined in navigation::NavigationDevice)navigation::NavigationDeviceinline
NavigationDevice() (defined in navigation::NavigationDevice)navigation::NavigationDeviceinline
RKMethod enum value (defined in navigation::DvlData)navigation::DvlData
SetNewDataReady() (defined in navigation::NavigationDevice)navigation::NavigationDeviceinline
SetNewDataUsed() (defined in navigation::NavigationDevice)navigation::NavigationDeviceinline
StdMethod enum value (defined in navigation::DvlData)navigation::DvlData
vel_count (defined in navigation::DvlData)navigation::DvlData
x_count (defined in navigation::DvlData)navigation::DvlData
x_vel (defined in navigation::DvlData)navigation::DvlData
y_count (defined in navigation::DvlData)navigation::DvlData
y_vel (defined in navigation::DvlData)navigation::DvlData
z_count (defined in navigation::DvlData)navigation::DvlData
z_vel (defined in navigation::DvlData)navigation::DvlData
~DvlData() (defined in navigation::DvlData)navigation::DvlData
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navigation::DvlData Class Reference
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+Inheritance diagram for navigation::DvlData:
+
+
+ + +navigation::NavigationDevice + +
+ + + + +

+Public Types

enum  IntegrationMethodType { StdMethod = 0, +RKMethod, +DefaultMethod + }
 
+ + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ DvlData (IntegrationMethodType integrationMethodType=RKMethod)
 
+void DvlTwistCallback (geometry_msgs::TwistWithCovarianceStamped msg)
 
+void DvlPressureCallback (std_msgs::Float32 msg)
 
+Eigen::Vector3d GetPositionXYZ ()
 
+Eigen::Vector3d GetVelocityXYZ ()
 
+double GetPositionZFromPressure ()
 
+std_msgs::Float32 GetPressure ()
 
- Public Member Functions inherited from navigation::NavigationDevice
+void SetNewDataReady ()
 
+bool IsNewDataReady ()
 
+void SetNewDataUsed ()
 
+ + + + + + + + + + + + + + + + + +

+Public Attributes

+const double BAR_TO_METER_OF_WATER = 10.1972
 
+std::vector< double > x_vel
 
+std::vector< double > y_vel
 
+std::vector< double > z_vel
 
+int x_count = 0
 
+int y_count = 0
 
+int z_count = 0
 
+int vel_count = 0
 
+
The documentation for this class was generated from the following files:
    +
  • navigation_layer/odom_dvl_imu/include/dvl_data.h
    • +
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ExtendedKalmanFilter() (defined in navigation::ExtendedKalmanFilter)navigation::ExtendedKalmanFilter
Initialization(float pval, float qval, float rval) (defined in navigation::ExtendedKalmanFilter)navigation::ExtendedKalmanFilter
Update(Eigen::Vector3d &measurement, Eigen::Vector3d &estimation) (defined in navigation::ExtendedKalmanFilter)navigation::ExtendedKalmanFilter
~ExtendedKalmanFilter()=default (defined in navigation::ExtendedKalmanFilter)navigation::ExtendedKalmanFilter
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+void Update (Eigen::Vector3d &measurement, Eigen::Vector3d &estimation)
 
+void Initialization (float pval, float qval, float rval)
 
+
The documentation for this class was generated from the following files:
    +
  • navigation_layer/odom_dvl_imu/include/ekf.h
    • +
  • navigation_layer/odom_dvl_imu/src/ekf.cpp
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GetAngularVelocity() (defined in navigation::IMUData)navigation::IMUData
GetOrientation() (defined in navigation::IMUData)navigation::IMUData
GetQuaternion() (defined in navigation::IMUData)navigation::IMUData
IMUData() (defined in navigation::IMUData)navigation::IMUData
IMUMsgCallback(sensor_msgs::Imu msg) (defined in navigation::IMUData)navigation::IMUData
IsNewDataReady() (defined in navigation::NavigationDevice)navigation::NavigationDeviceinline
NavigationDevice() (defined in navigation::NavigationDevice)navigation::NavigationDeviceinline
RAD_TO_DEGREE (defined in navigation::IMUData)navigation::IMUData
SetNewDataReady() (defined in navigation::NavigationDevice)navigation::NavigationDeviceinline
SetNewDataUsed() (defined in navigation::NavigationDevice)navigation::NavigationDeviceinline
~IMUData() (defined in navigation::IMUData)navigation::IMUData
+ +
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+
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+Public Member Functions

+void IMUMsgCallback (sensor_msgs::Imu msg)
 
+Eigen::Quaterniond GetQuaternion ()
 
+Eigen::Vector3d GetOrientation ()
 
+Eigen::Vector3d GetAngularVelocity ()
 
- Public Member Functions inherited from navigation::NavigationDevice
+void SetNewDataReady ()
 
+bool IsNewDataReady ()
 
+void SetNewDataUsed ()
 
+ + + +

+Public Attributes

+const double RAD_TO_DEGREE = 180.0f / M_PI
 
+
The documentation for this class was generated from the following files:
    +
  • navigation_layer/odom_dvl_imu/include/imu_data.h
    • +
  • navigation_layer/odom_dvl_imu/src/imu_data.cpp
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IsNewDataReady() (defined in navigation::NavigationDevice)navigation::NavigationDeviceinline
NavigationDevice() (defined in navigation::NavigationDevice)navigation::NavigationDeviceinline
SetNewDataReady() (defined in navigation::NavigationDevice)navigation::NavigationDeviceinline
SetNewDataUsed() (defined in navigation::NavigationDevice)navigation::NavigationDeviceinline
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+Public Member Functions

+void SetNewDataReady ()
 
+bool IsNewDataReady ()
 
+void SetNewDataUsed ()
 
+
The documentation for this class was generated from the following file: +
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+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classnavigation_1_1NavigationDevice.png b/docs/html/classnavigation_1_1NavigationDevice.png new file mode 100644 index 0000000..a4d3782 Binary files /dev/null and b/docs/html/classnavigation_1_1NavigationDevice.png differ diff --git a/docs/html/classnavigation_1_1NavigationNode-members.html b/docs/html/classnavigation_1_1NavigationNode-members.html new file mode 100644 index 0000000..2a8aafc --- /dev/null +++ b/docs/html/classnavigation_1_1NavigationNode-members.html @@ -0,0 +1,93 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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BroadcastTransform(Eigen::Vector3d &position, Eigen::Quaterniond &quaternion, ros::Time &current_time) (defined in navigation::NavigationNode)navigation::NavigationNode
FillPoseMsg(Eigen::Vector3d &position, Eigen::Quaterniond &angle, nav_msgs::Odometry &msg) (defined in navigation::NavigationNode)navigation::NavigationNode
FillTwistMsg(Eigen::Vector3d &linear_velocity, Eigen::Vector3d &angular_velocity, nav_msgs::Odometry &msg) (defined in navigation::NavigationNode)navigation::NavigationNode
NavigationNode(const ros::NodeHandlePtr &nh) (defined in navigation::NavigationNode)navigation::NavigationNode
ProcessCartesianPose() (defined in navigation::NavigationNode)navigation::NavigationNode
PublishData(ros::Time &current_time) (defined in navigation::NavigationNode)navigation::NavigationNode
SetDepthOffsetCallback(odom_dvl_imu::SetDepthOffset::Request &rqst, odom_dvl_imu::SetDepthOffset::Response &response) (defined in navigation::NavigationNode)navigation::NavigationNode
SetWorldXYOffsetCallback(odom_dvl_imu::SetWorldXYOffset::Request &rqst, odom_dvl_imu::SetWorldXYOffset::Response &response) (defined in navigation::NavigationNode)navigation::NavigationNode
Spin() (defined in navigation::NavigationNode)navigation::NavigationNode
~NavigationNode() (defined in navigation::NavigationNode)navigation::NavigationNode
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+Public Member Functions

+ NavigationNode (const ros::NodeHandlePtr &nh)
 
+void Spin ()
 
+void ProcessCartesianPose ()
 
+void PublishData (ros::Time &current_time)
 
+void BroadcastTransform (Eigen::Vector3d &position, Eigen::Quaterniond &quaternion, ros::Time &current_time)
 
+bool SetDepthOffsetCallback (odom_dvl_imu::SetDepthOffset::Request &rqst, odom_dvl_imu::SetDepthOffset::Response &response)
 
+bool SetWorldXYOffsetCallback (odom_dvl_imu::SetWorldXYOffset::Request &rqst, odom_dvl_imu::SetWorldXYOffset::Response &response)
 
+void FillPoseMsg (Eigen::Vector3d &position, Eigen::Quaterniond &angle, nav_msgs::Odometry &msg)
 
+void FillTwistMsg (Eigen::Vector3d &linear_velocity, Eigen::Vector3d &angular_velocity, nav_msgs::Odometry &msg)
 
+
The documentation for this class was generated from the following files:
    +
  • navigation_layer/odom_dvl_imu/include/nav_main.h
    • +
  • navigation_layer/odom_dvl_imu/src/nav_main.cpp
    • +
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+ + diff --git a/docs/html/classteledyne__navigator_1_1driver_1_1TeledyneNavigator-members.html b/docs/html/classteledyne__navigator_1_1driver_1_1TeledyneNavigator-members.html new file mode 100644 index 0000000..c11cd3f --- /dev/null +++ b/docs/html/classteledyne__navigator_1_1driver_1_1TeledyneNavigator-members.html @@ -0,0 +1,96 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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__enter__(self)teledyne_navigator.driver.TeledyneNavigator
__exit__(self, *args, **kwargs)teledyne_navigator.driver.TeledyneNavigator
__init__(self, port, baudrate, frame_id, timeout)teledyne_navigator.driver.TeledyneNavigator
close(self)teledyne_navigator.driver.TeledyneNavigator
DATA_ID (defined in teledyne_navigator.driver.TeledyneNavigator)teledyne_navigator.driver.TeledyneNavigatorstatic
open(self)teledyne_navigator.driver.TeledyneNavigator
OUTPUT_DATA_SIZE (defined in teledyne_navigator.driver.TeledyneNavigator)teledyne_navigator.driver.TeledyneNavigatorstatic
preempt(self)teledyne_navigator.driver.TeledyneNavigator
read(self, size=1)teledyne_navigator.driver.TeledyneNavigator
read_all(self)teledyne_navigator.driver.TeledyneNavigator
scan(self, callback)teledyne_navigator.driver.TeledyneNavigator
set_rtc(self, date)teledyne_navigator.driver.TeledyneNavigator
write(self, message)teledyne_navigator.driver.TeledyneNavigator
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+Public Member Functions

def __init__ (self, port, baudrate, frame_id, timeout)
 
def __enter__ (self)
 
def __exit__ (self, *args, **kwargs)
 
def open (self)
 
def close (self)
 
def write (self, message)
 
def read (self, size=1)
 
def read_all (self)
 
def preempt (self)
 
def set_rtc (self, date)
 
def scan (self, callback)
 
+ + + + + +

+Static Public Attributes

+int DATA_ID = 0x7D
 
+int OUTPUT_DATA_SIZE = 88
 
+

Detailed Description

+
Teledyne Navigator driver.

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def teledyne_navigator.driver.TeledyneNavigator.__init__ ( self,
 port,
 baudrate,
 frame_id,
 timeout 
)
+
+
Constructs a TeledyneNavigator instance.
+
+Args:
+    port (str): Serial port path.
+    baudrate (int): Serial baudrate.
+    frame_id (str): Frame ID.
+    timeout (float): Serial read timeout in seconds.
+
+
+
+

Member Function Documentation

+ +

◆ __enter__()

+ +
+
+ + + + + + + + +
def teledyne_navigator.driver.TeledyneNavigator.__enter__ ( self)
+
+
Initializes the DVL for first use.
+
+
+ +

◆ __exit__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def teledyne_navigator.driver.TeledyneNavigator.__exit__ ( self,
* args,
** kwargs 
)
+
+
Cleans up.
+
+
+ +

◆ close()

+ +
+
+ + + + + + + + +
def teledyne_navigator.driver.TeledyneNavigator.close ( self)
+
+
Closes serial connection.
+
+
+ +

◆ open()

+ +
+
+ + + + + + + + +
def teledyne_navigator.driver.TeledyneNavigator.open ( self)
+
+
Opens serial connection.
+
+
+ +

◆ preempt()

+ +
+
+ + + + + + + + +
def teledyne_navigator.driver.TeledyneNavigator.preempt ( self)
+
+
Preempts a scan.
+
+
+ +

◆ read()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def teledyne_navigator.driver.TeledyneNavigator.read ( self,
 size = 1 
)
+
+
Reads serial data.
+
+Args:
+    size (int): Number of bytes to read, default: 1.
+
+Returns:
+    Bytes (str).
+
+
+
+ +

◆ read_all()

+ +
+
+ + + + + + + + +
def teledyne_navigator.driver.TeledyneNavigator.read_all ( self)
+
+
Reads all serial data in the buffer.
+
+Returns:
+    Bytes (str).
+
+
+
+ +

◆ scan()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def teledyne_navigator.driver.TeledyneNavigator.scan ( self,
 callback 
)
+
+
Starts the DVL data collection.
+
+This method is blocking, but calls callback at every ensemble.
+
+To stop a scan, simply call the preempt() method. Otherwise, the scan
+will run forever.
+
+Args:
+    callback: Callback for feedback.
+Called with args=(TeledyneNavigator, Ensemble).
+
+
+
+ +

◆ set_rtc()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def teledyne_navigator.driver.TeledyneNavigator.set_rtc ( self,
 date 
)
+
+
Sets the DVL's real-time clock (RTC).
+
+Args:
+    date (Datetime): Datetime to set.
+
+
+
+ +

◆ write()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def teledyne_navigator.driver.TeledyneNavigator.write ( self,
 message 
)
+
+
Writes to .
+
+Args:
+    message (str): Message.
+
+
+
+
The documentation for this class was generated from the following file:
    +
  • hardware_layer/teledyne_navigator/src/teledyne_navigator/driver.py
    • +
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test_init_pos_vector(self) (defined in test_trajectory_point.TestTrajectoryPoint)test_trajectory_point.TestTrajectoryPoint
test_init_quat_vector(self) (defined in test_trajectory_point.TestTrajectoryPoint)test_trajectory_point.TestTrajectoryPoint
test_set_pos_vector(self) (defined in test_trajectory_point.TestTrajectoryPoint)test_trajectory_point.TestTrajectoryPoint
test_to_dict(self) (defined in test_trajectory_point.TestTrajectoryPoint)test_trajectory_point.TestTrajectoryPoint
test_to_message(self) (defined in test_trajectory_point.TestTrajectoryPoint)test_trajectory_point.TestTrajectoryPoint
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+Public Member Functions

+def test_init_pos_vector (self)
 
+def test_set_pos_vector (self)
 
+def test_init_quat_vector (self)
 
+def test_to_message (self)
 
+def test_to_dict (self)
 
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/test/test_trajectory_point.py
    • +
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test_distance_calculation(self) (defined in test_waypoint.TestWaypoint)test_waypoint.TestWaypoint
test_equal_waypoints(self) (defined in test_waypoint.TestWaypoint)test_waypoint.TestWaypoint
test_to_message(self) (defined in test_waypoint.TestWaypoint)test_waypoint.TestWaypoint
test_unequal_waypoints(self) (defined in test_waypoint.TestWaypoint)test_waypoint.TestWaypoint
test_violate_constraint_flag(self) (defined in test_waypoint.TestWaypoint)test_waypoint.TestWaypoint
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+Public Member Functions

+def test_equal_waypoints (self)
 
+def test_unequal_waypoints (self)
 
+def test_violate_constraint_flag (self)
 
+def test_distance_calculation (self)
 
+def test_to_message (self)
 
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/test/test_waypoint.py
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test_add_repeated_waypoint(self) (defined in test_waypoint_set.TestWaypointSet)test_waypoint_set.TestWaypointSet
test_init(self) (defined in test_waypoint_set.TestWaypointSet)test_waypoint_set.TestWaypointSet
test_invalid_params_circle(self) (defined in test_waypoint_set.TestWaypointSet)test_waypoint_set.TestWaypointSet
test_invalid_params_helix(self) (defined in test_waypoint_set.TestWaypointSet)test_waypoint_set.TestWaypointSet
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+def test_init (self)
 
+def test_invalid_params_helix (self)
 
+def test_invalid_params_circle (self)
 
+def test_add_repeated_waypoint (self)
 
+
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__init__(self)thruster_allocator.ThrusterAllocatorNode
config (defined in thruster_allocator.ThrusterAllocatorNode)thruster_allocator.ThrusterAllocatorNode
curve_calc_service (defined in thruster_allocator.ThrusterAllocatorNode)thruster_allocator.ThrusterAllocatorNode
get_config(self, request) (defined in thruster_allocator.ThrusterAllocatorNode)thruster_allocator.ThrusterAllocatorNode
get_thruster_curve(self, request)thruster_allocator.ThrusterAllocatorNode
get_thruster_info(self, request)thruster_allocator.ThrusterAllocatorNode
get_thruster_manager_config_service (defined in thruster_allocator.ThrusterAllocatorNode)thruster_allocator.ThrusterAllocatorNode
input_callback(self, msg)thruster_allocator.ThrusterAllocatorNode
input_stamped_callback(self, msg)thruster_allocator.ThrusterAllocatorNode
input_stamped_sub (defined in thruster_allocator.ThrusterAllocatorNode)thruster_allocator.ThrusterAllocatorNode
input_sub (defined in thruster_allocator.ThrusterAllocatorNode)thruster_allocator.ThrusterAllocatorNode
last_update (defined in thruster_allocator.ThrusterAllocatorNode)thruster_allocator.ThrusterAllocatorNode
n_thrusters (defined in thruster_allocator.ThrusterAllocatorNode)thruster_allocator.ThrusterAllocatorNode
ready (defined in thruster_allocator.ThrusterAllocatorNode)thruster_allocator.ThrusterAllocatorNode
set_config(self, request) (defined in thruster_allocator.ThrusterAllocatorNode)thruster_allocator.ThrusterAllocatorNode
set_thruster_manager_config_service (defined in thruster_allocator.ThrusterAllocatorNode)thruster_allocator.ThrusterAllocatorNode
thruster_info_service (defined in thruster_allocator.ThrusterAllocatorNode)thruster_allocator.ThrusterAllocatorNode
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+Public Member Functions

def __init__ (self)
 
def get_thruster_info (self, request)
 
def get_thruster_curve (self, request)
 
+def set_config (self, request)
 
+def get_config (self, request)
 
def input_callback (self, msg)
 
def input_stamped_callback (self, msg)
 
+ + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ last_update
 
+ input_sub
 
+ input_stamped_sub
 
+ thruster_info_service
 
+ curve_calc_service
 
+ set_thruster_manager_config_service
 
+ get_thruster_manager_config_service
 
+ n_thrusters
 
+ ready
 
+ config
 
+

Detailed Description

+
The thruster allocator node allows a client node to command the thrusters.
+

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + +
def thruster_allocator.ThrusterAllocatorNode.__init__ ( self)
+
+
Class constructor.
+
+
+

Member Function Documentation

+ +

◆ get_thruster_curve()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def thruster_allocator.ThrusterAllocatorNode.get_thruster_curve ( self,
 request 
)
+
+
Return service callback for computation of thruster curve.
+
+
+ +

◆ get_thruster_info()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def thruster_allocator.ThrusterAllocatorNode.get_thruster_info ( self,
 request 
)
+
+
Return service callback with thruster information.
+
+
+ +

◆ input_callback()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def thruster_allocator.ThrusterAllocatorNode.input_callback ( self,
 msg 
)
+
+
Callback to the subscriber that receiver the wrench to be applied on
+UUV's BODY frame.
+@param msg Wrench message
+
+
+
+ +

◆ input_stamped_callback()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def thruster_allocator.ThrusterAllocatorNode.input_stamped_callback ( self,
 msg 
)
+
+
Callback to the subscriber that receiver the stamped wrench to be
+applied on UUV's BODY frame.
+@param msg Stamped wrench message
+
+
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_thruster_manager/scripts/thruster_allocator.py
    • +
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+def __init__ (self)
 
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    +
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__init__(self) (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
base_link (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
base_link_ned_to_enu (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
compute_control_force(self, thrust, delta, u) (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
fin_config (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
fin_lower_limit (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
fin_upper_limit (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
find_actuators(self)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
fins (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
listener (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
MAX_FINS (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManagerstatic
n_fins (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
namespace (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
publish_commands(self, command) (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
ready (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
tf_buffer (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
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thruster_config (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
thruster_topic (defined in uuv_auv_actuator_interface.actuator_manager.ActuatorManager)uuv_auv_actuator_interface.actuator_manager.ActuatorManager
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+
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+Public Member Functions

+def __init__ (self)
 
def find_actuators (self)
 
+def compute_control_force (self, thrust, delta, u)
 
+def publish_commands (self, command)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ namespace
 
+ tf_buffer
 
+ listener
 
+ base_link_ned_to_enu
 
+ base_link
 
+ thruster_config
 
+ thruster_topic
 
+ thruster
 
+ fin_config
 
+ fin_lower_limit
 
+ fin_upper_limit
 
+ fins
 
+ n_fins
 
+ ready
 
+ + + +

+Static Public Attributes

+int MAX_FINS = 4
 
+

Member Function Documentation

+ +

◆ find_actuators()

+ +
+
+ + + + + + + + +
def uuv_auv_actuator_interface.actuator_manager.ActuatorManager.find_actuators ( self)
+
+
Calculate the control allocation matrix, if one is not given.
+
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_auv_control_allocator/src/uuv_auv_actuator_interface/actuator_manager.py
    • +
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__init__(self, index, pos, quat, topic) (defined in uuv_auv_actuator_interface.fin_model.FinModel)uuv_auv_actuator_interface.fin_model.FinModel
drag_vector (defined in uuv_auv_actuator_interface.fin_model.FinModel)uuv_auv_actuator_interface.fin_model.FinModel
id (defined in uuv_auv_actuator_interface.fin_model.FinModel)uuv_auv_actuator_interface.fin_model.FinModel
lift_vector (defined in uuv_auv_actuator_interface.fin_model.FinModel)uuv_auv_actuator_interface.fin_model.FinModel
pos (defined in uuv_auv_actuator_interface.fin_model.FinModel)uuv_auv_actuator_interface.fin_model.FinModel
pub (defined in uuv_auv_actuator_interface.fin_model.FinModel)uuv_auv_actuator_interface.fin_model.FinModel
publish_command(self, delta) (defined in uuv_auv_actuator_interface.fin_model.FinModel)uuv_auv_actuator_interface.fin_model.FinModel
quat (defined in uuv_auv_actuator_interface.fin_model.FinModel)uuv_auv_actuator_interface.fin_model.FinModel
rot (defined in uuv_auv_actuator_interface.fin_model.FinModel)uuv_auv_actuator_interface.fin_model.FinModel
topic (defined in uuv_auv_actuator_interface.fin_model.FinModel)uuv_auv_actuator_interface.fin_model.FinModel
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+Public Member Functions

+def __init__ (self, index, pos, quat, topic)
 
+def publish_command (self, delta)
 
+ + + + + + + + + + + + + + + + + +

+Public Attributes

+ id
 
+ pos
 
+ quat
 
+ topic
 
+ rot
 
+ lift_vector
 
+ drag_vector
 
+ pub
 
+
The documentation for this class was generated from the following file:
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uuv_control_interfaces.dp_controller_base.DPControllerBase Member List
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This is the complete list of members for uuv_control_interfaces.dp_controller_base.DPControllerBase, including all inherited members.

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__del__(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
__init__(self, is_model_based=False, list_odometry_callbacks=[], planner_full_dof=False) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
__str__(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
error_orientation_quat(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
error_orientation_rpy(self)uuv_control_interfaces.dp_controller_base.DPControllerBase
error_pos_world(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
error_pose_euler(self)uuv_control_interfaces.dp_controller_base.DPControllerBase
error_vel_world(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
get_controller(name, *args)uuv_control_interfaces.dp_controller_base.DPControllerBasestatic
get_list_of_controllers()uuv_control_interfaces.dp_controller_base.DPControllerBasestatic
label(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
odom_is_init(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
publish_auv_command(self, surge_speed, wrench) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
publish_control_wrench(self, force) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
reset_controller_callback(self, request) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
thrusters_only (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
update_controller(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
update_errors(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
use_auv_control_allocator (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
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+ + diff --git a/docs/html/classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase.html b/docs/html/classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase.html new file mode 100644 index 0000000..2d355c4 --- /dev/null +++ b/docs/html/classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase.html @@ -0,0 +1,264 @@ + + + + + + + +Anahita: uuv_control_interfaces.dp_controller_base.DPControllerBase Class Reference + + + + + + + + + +
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+
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+
+Inheritance diagram for uuv_control_interfaces.dp_controller_base.DPControllerBase:
+
+
+ + +uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+def __init__ (self, is_model_based=False, list_odometry_callbacks=[], planner_full_dof=False)
 
+def __del__ (self)
 
+def label (self)
 
+def odom_is_init (self)
 
+def error_pos_world (self)
 
+def error_orientation_quat (self)
 
def error_orientation_rpy (self)
 
def error_pose_euler (self)
 
+def error_vel_world (self)
 
+def __str__ (self)
 
+def reset_controller_callback (self, request)
 
+def update_controller (self)
 
+def update_errors (self)
 
+def publish_control_wrench (self, force)
 
+def publish_auv_command (self, surge_speed, wrench)
 
+ + + + + +

+Static Public Member Functions

def get_controller (name, *args)
 
def get_list_of_controllers ()
 
+ + + + + +

+Public Attributes

+ thrusters_only
 
+ use_auv_control_allocator
 
+

Detailed Description

+
General abstract class for DP controllers for underwater vehicles.
+This is an abstract class, must be inherited by a controller module that
+overrides the update_controller method. If the controller is set to be
+model based (is_model_based=True), than the vehicle parameters are going
+to be read from the ROS parameter server.
+

Member Function Documentation

+ +

◆ error_orientation_rpy()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.dp_controller_base.DPControllerBase.error_orientation_rpy ( self)
+
+
Return orientation error in Euler angles.
+
+
+ +

◆ error_pose_euler()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.dp_controller_base.DPControllerBase.error_pose_euler ( self)
+
+
Pose error with orientation represented in Euler angles.
+
+
+ +

◆ get_controller()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.dp_controller_base.DPControllerBase.get_controller ( name,
* args 
)
+ 		+static
+
+
Create instance of a specific DP controller.
+
+
+ +

◆ get_list_of_controllers()

+ +
+
+ + + + + +
+ + + + + + + +
def uuv_control_interfaces.dp_controller_base.DPControllerBase.get_list_of_controllers ()
+ 		+static
+
+
Return list of DP controllers using this interface.
+
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_control_interfaces/dp_controller_base.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase.png b/docs/html/classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase.png new file mode 100644 index 0000000..ca0c94a Binary files /dev/null and b/docs/html/classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase.png differ diff --git a/docs/html/classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner-members.html b/docs/html/classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner-members.html new file mode 100644 index 0000000..28606a0 --- /dev/null +++ b/docs/html/classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner-members.html @@ -0,0 +1,117 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
__del__(self)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
__init__(self, full_dof=False, stamped_pose_only=False, thrusters_only=True) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
bottom_manoeuvre(self, request) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
calc_dist(self) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
cancel_request(self, request) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
front_manoeuvre(self, request) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
generate_reference(self, t) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
get_idle_circle_path(self, n_points, radius=30) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
get_vehicle_rot(self) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
go_to(self, request) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
go_to_incremental(self, request)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
go_to_pose(self, request)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
has_finished(self) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
has_reached_pose(self) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
has_started(self)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
hold_vehicle(self, request)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
inertial_frame_id (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
init_odom_event (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
init_waypoints_from_file(self, request) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
interpolate(self, t)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
is_automatic_on(self) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
is_station_keeping_on(self) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
is_trajectory_complete(self, request) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
q_ned_to_enu (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
set_automatic_mode(self, is_on=True)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
set_stall_vehicle(self, is_on=True) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
set_station_keeping(self, is_on=True)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
set_trajectory_running(self, is_on=True)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
start_circle(self, request) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
start_helix(self, request) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
start_station_keeping(self) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
start_waypoint_list(self, request)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
transform_ned_to_enu (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
update_vehicle_pose(self, pos, quat) (defined in uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner)uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner
+ +
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uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner Class Reference
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+Inheritance diagram for uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner:
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+def __init__ (self, full_dof=False, stamped_pose_only=False, thrusters_only=True)
 
def __del__ (self)
 
+def is_station_keeping_on (self)
 
+def set_stall_vehicle (self, is_on=True)
 
+def is_automatic_on (self)
 
def set_station_keeping (self, is_on=True)
 
def set_automatic_mode (self, is_on=True)
 
def set_trajectory_running (self, is_on=True)
 
def has_started (self)
 
+def calc_dist (self)
 
+def has_finished (self)
 
+def update_vehicle_pose (self, pos, quat)
 
+def get_vehicle_rot (self)
 
+def start_station_keeping (self)
 
def hold_vehicle (self, request)
 
+def cancel_request (self, request)
 
+def bottom_manoeuvre (self, request)
 
+def front_manoeuvre (self, request)
 
def go_to_pose (self, request)
 
+def has_reached_pose (self)
 
+def is_trajectory_complete (self, request)
 
def start_waypoint_list (self, request)
 
+def start_circle (self, request)
 
+def start_helix (self, request)
 
+def init_waypoints_from_file (self, request)
 
+def go_to (self, request)
 
def go_to_incremental (self, request)
 
+def generate_reference (self, t)
 
+def get_idle_circle_path (self, n_points, radius=30)
 
def interpolate (self, t)
 
+ + + + + + + + + +

+Public Attributes

+ inertial_frame_id
 
+ transform_ned_to_enu
 
+ q_ned_to_enu
 
+ init_odom_event
 
+

Detailed Description

+
Local planner for the dynamic positioning controllers to interpolate
+trajectories and generate trajectories from interpolated waypoint paths.
+

Constructor & Destructor Documentation

+ +

◆ __del__()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.__del__ ( self)
+
+
Remove logging message handlers
+
+
+

Member Function Documentation

+ +

◆ go_to_incremental()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.go_to_incremental ( self,
 request 
)
+
+
Service callback to set the command to the vehicle to move to a
+relative position in the world.
+
+
+
+ +

◆ go_to_pose()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.go_to_pose ( self,
 request 
)
+
+
Service callback function to achieve a certain pose
+
+
+
+ +

◆ has_started()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.has_started ( self)
+
+
Return if the trajectory interpolator has started generating reference
+points.
+
+
+
+ +

◆ hold_vehicle()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.hold_vehicle ( self,
 request 
)
+
+
Service callback function to hold the vehicle's current position.
+
+
+
+ +

◆ interpolate()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.interpolate ( self,
 t 
)
+
+
Function interface to the controller. Calls the interpolator to
+calculate the current trajectory sample or returns a fixed position
+based on the past odometry measurements for station keeping.
+
+
+
+ +

◆ set_automatic_mode()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.set_automatic_mode ( self,
 is_on = True 
)
+
+
Set automatic mode flag.
+
+
+ +

◆ set_station_keeping()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.set_station_keeping ( self,
 is_on = True 
)
+
+
Set station keeping mode flag.
+
+
+ +

◆ set_trajectory_running()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.set_trajectory_running ( self,
 is_on = True 
)
+
+
Set trajectory tracking flag.
+
+
+ +

◆ start_waypoint_list()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.start_waypoint_list ( self,
 request 
)
+
+
Service callback function to follow a set of waypoints
+Args:
+    request (InitWaypointSet)
+
+
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_control_interfaces/dp_controller_local_planner.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner.png b/docs/html/classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner.png new file mode 100644 index 0000000..b3e42f3 Binary files /dev/null and b/docs/html/classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner.png differ diff --git a/docs/html/classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase-members.html b/docs/html/classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase-members.html new file mode 100644 index 0000000..a959959 --- /dev/null +++ b/docs/html/classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase-members.html @@ -0,0 +1,106 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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This is the complete list of members for uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + +
__del__(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
__init__(self, *args) (defined in uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase)uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase
__init__(self, is_model_based=False, list_odometry_callbacks=[], planner_full_dof=False) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
__str__(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
error_orientation_quat(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
error_orientation_rpy(self)uuv_control_interfaces.dp_controller_base.DPControllerBase
error_pos_world(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
error_pose_euler(self)uuv_control_interfaces.dp_controller_base.DPControllerBase
error_vel_world(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
get_controller(name, *args)uuv_control_interfaces.dp_controller_base.DPControllerBasestatic
get_list_of_controllers()uuv_control_interfaces.dp_controller_base.DPControllerBasestatic
get_pid_params_callback(self, request) (defined in uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase)uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase
label(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
odom_is_init(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
publish_auv_command(self, surge_speed, wrench) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
publish_control_wrench(self, force) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
reset_controller_callback(self, request) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
set_pid_params_callback(self, request) (defined in uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase)uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase
thrusters_only (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
update_controller(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
update_errors(self) (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
update_pid(self) (defined in uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase)uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase
use_auv_control_allocator (defined in uuv_control_interfaces.dp_controller_base.DPControllerBase)uuv_control_interfaces.dp_controller_base.DPControllerBase
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase.html b/docs/html/classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase.html new file mode 100644 index 0000000..c67d257 --- /dev/null +++ b/docs/html/classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase.html @@ -0,0 +1,173 @@ + + + + + + + +Anahita: uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase Class Reference + + + + + + + + + +
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uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase Class Reference
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+Inheritance diagram for uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase:
+
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+ + +uuv_control_interfaces.dp_controller_base.DPControllerBase + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+def __init__ (self, *args)
 
+def set_pid_params_callback (self, request)
 
+def get_pid_params_callback (self, request)
 
+def update_pid (self)
 
- Public Member Functions inherited from uuv_control_interfaces.dp_controller_base.DPControllerBase
+def __init__ (self, is_model_based=False, list_odometry_callbacks=[], planner_full_dof=False)
 
+def __del__ (self)
 
+def label (self)
 
+def odom_is_init (self)
 
+def error_pos_world (self)
 
+def error_orientation_quat (self)
 
def error_orientation_rpy (self)
 
def error_pose_euler (self)
 
+def error_vel_world (self)
 
+def __str__ (self)
 
+def reset_controller_callback (self, request)
 
+def update_controller (self)
 
+def update_errors (self)
 
+def publish_control_wrench (self, force)
 
+def publish_auv_command (self, surge_speed, wrench)
 
+ + + + + + + + + + + +

+Additional Inherited Members

- Static Public Member Functions inherited from uuv_control_interfaces.dp_controller_base.DPControllerBase
def get_controller (name, *args)
 
def get_list_of_controllers ()
 
- Public Attributes inherited from uuv_control_interfaces.dp_controller_base.DPControllerBase
+ thrusters_only
 
+ use_auv_control_allocator
 
+

Detailed Description

+
This is an abstract class for PID-based controllers. The base class method
+update_controller must be overridden in other for a controller to work.
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_control_interfaces/dp_pid_controller_base.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase.png b/docs/html/classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase.png new file mode 100644 index 0000000..d81c897 Binary files /dev/null and b/docs/html/classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase.png differ diff --git a/docs/html/classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle-members.html b/docs/html/classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle-members.html new file mode 100644 index 0000000..b5ec136 --- /dev/null +++ b/docs/html/classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle-members.html @@ -0,0 +1,137 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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uuv_control_interfaces.sym_vehicle.SymVehicle Member List
+
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+ +

This is the complete list of members for uuv_control_interfaces.sym_vehicle.SymVehicle, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
__init__(self, inertial_frame_id='world')uuv_control_interfaces.sym_vehicle.SymVehicle
acc(self)uuv_control_interfaces.vehicle.Vehicle
body_frame_id(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
CMatrix (defined in uuv_control_interfaces.sym_vehicle.SymVehicle)uuv_control_interfaces.sym_vehicle.SymVehicle
compute_acc(self, gen_forces=None, use_sname=True)uuv_control_interfaces.vehicle.Vehicle
compute_force(self, acc=None, vel=None, with_restoring=True, use_sname=True)uuv_control_interfaces.vehicle.Vehicle
Ctotal(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
density(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
depth(self)uuv_control_interfaces.vehicle.Vehicle
DMatrix (defined in uuv_control_interfaces.sym_vehicle.SymVehicle)uuv_control_interfaces.sym_vehicle.SymVehicle
Dtotal(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
etauuv_control_interfaces.sym_vehicle.SymVehicle
eta_dot (defined in uuv_control_interfaces.sym_vehicle.SymVehicle)uuv_control_interfaces.sym_vehicle.SymVehicle
euler(self)uuv_control_interfaces.vehicle.Vehicle
euler_dot(self)uuv_control_interfaces.vehicle.Vehicle
from_SNAME(self, x) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
get_jacobian(self)uuv_control_interfaces.vehicle.Vehicle
gravity(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
gVec (defined in uuv_control_interfaces.sym_vehicle.SymVehicle)uuv_control_interfaces.sym_vehicle.SymVehicle
heading(self)uuv_control_interfaces.vehicle.Vehicle
height(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
inertial_frame_id(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
INSTANCE (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehiclestatic
length(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
mass(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
Mtotal(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
namespace(self)uuv_control_interfaces.vehicle.Vehicle
nuuuv_control_interfaces.sym_vehicle.SymVehicle
nu_dot (defined in uuv_control_interfaces.sym_vehicle.SymVehicle)uuv_control_interfaces.sym_vehicle.SymVehicle
pos(self)uuv_control_interfaces.vehicle.Vehicle
pos(self, position) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
pose_euler(self)uuv_control_interfaces.vehicle.Vehicle
pose_quat(self)uuv_control_interfaces.vehicle.Vehicle
print_info(self)uuv_control_interfaces.vehicle.Vehicle
q_to_matrix(q) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehiclestatic
quat(self)uuv_control_interfaces.vehicle.Vehicle
quat(self, q) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
quat_dot(self)uuv_control_interfaces.vehicle.Vehicle
restoring_forces(self)uuv_control_interfaces.vehicle.Vehicle
rotBtoI(self)uuv_control_interfaces.vehicle.Vehicle
rotItoB(self)uuv_control_interfaces.vehicle.Vehicle
set_added_mass(self, Ma)uuv_control_interfaces.vehicle.Vehicle
set_damping_coef(self, linear_damping, quad_damping)uuv_control_interfaces.vehicle.Vehicle
TBtoIeuler(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
TBtoIquat(self)uuv_control_interfaces.vehicle.Vehicle
TItoBeuler(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
to_SNAME(self, x) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
transform_ned_to_enu (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
u (defined in uuv_control_interfaces.sym_vehicle.SymVehicle)uuv_control_interfaces.sym_vehicle.SymVehicle
update_odometry(self, msg)uuv_control_interfaces.vehicle.Vehicle
vel(self)uuv_control_interfaces.vehicle.Vehicle
vel(self, velocity)uuv_control_interfaces.vehicle.Vehicle
volume(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
width(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
+ +
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+ + diff --git a/docs/html/classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle.html b/docs/html/classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle.html new file mode 100644 index 0000000..590c9de --- /dev/null +++ b/docs/html/classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle.html @@ -0,0 +1,280 @@ + + + + + + + +Anahita: uuv_control_interfaces.sym_vehicle.SymVehicle Class Reference + + + + + + + + + +
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+Public Member Functions | +Public Attributes | +List of all members
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uuv_control_interfaces.sym_vehicle.SymVehicle Class Reference
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+Inheritance diagram for uuv_control_interfaces.sym_vehicle.SymVehicle:
+
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+ + +uuv_control_interfaces.vehicle.Vehicle + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

def __init__ (self, inertial_frame_id='world')
 
- Public Member Functions inherited from uuv_control_interfaces.vehicle.Vehicle
def namespace (self)
 
+def body_frame_id (self)
 
+def inertial_frame_id (self)
 
+def mass (self)
 
+def volume (self)
 
+def gravity (self)
 
+def density (self)
 
+def height (self)
 
+def width (self)
 
+def length (self)
 
def pos (self)
 
+def pos (self, position)
 
def depth (self)
 
def heading (self)
 
def quat (self)
 
+def quat (self, q)
 
def quat_dot (self)
 
def vel (self)
 
def vel (self, velocity)
 
def acc (self)
 
def euler (self)
 
def euler_dot (self)
 
def restoring_forces (self)
 
+def Mtotal (self)
 
+def Ctotal (self)
 
+def Dtotal (self)
 
def pose_euler (self)
 
def pose_quat (self)
 
def rotItoB (self)
 
def rotBtoI (self)
 
+def TItoBeuler (self)
 
+def TBtoIeuler (self)
 
def TBtoIquat (self)
 
+def to_SNAME (self, x)
 
+def from_SNAME (self, x)
 
def print_info (self)
 
def set_added_mass (self, Ma)
 
def set_damping_coef (self, linear_damping, quad_damping)
 
def compute_force (self, acc=None, vel=None, with_restoring=True, use_sname=True)
 
def compute_acc (self, gen_forces=None, use_sname=True)
 
def get_jacobian (self)
 
def update_odometry (self, msg)
 
+ + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ eta
 Generalized position vector.
 
+ nu
 Generalized velocity vector.
 
+ CMatrix
 
+ DMatrix
 
+ gVec
 
+ eta_dot
 
+ u
 
+ nu_dot
 
- Public Attributes inherited from uuv_control_interfaces.vehicle.Vehicle
+ transform_ned_to_enu
 
+ + + + + + + +

+Additional Inherited Members

- Static Public Member Functions inherited from uuv_control_interfaces.vehicle.Vehicle
+def q_to_matrix (q)
 
- Static Public Attributes inherited from uuv_control_interfaces.vehicle.Vehicle
+ INSTANCE = None
 
+

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.sym_vehicle.SymVehicle.__init__ ( self,
 inertial_frame_id = 'world' 
)
+
+
Class constructor.
+

Reimplemented from uuv_control_interfaces.vehicle.Vehicle.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_control_interfaces/sym_vehicle.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle.png b/docs/html/classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle.png new file mode 100644 index 0000000..ef03195 Binary files /dev/null and b/docs/html/classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle.png differ diff --git a/docs/html/classuuv__control__interfaces_1_1vehicle_1_1Vehicle-members.html b/docs/html/classuuv__control__interfaces_1_1vehicle_1_1Vehicle-members.html new file mode 100644 index 0000000..e02c209 --- /dev/null +++ b/docs/html/classuuv__control__interfaces_1_1vehicle_1_1Vehicle-members.html @@ -0,0 +1,129 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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+ +

This is the complete list of members for uuv_control_interfaces.vehicle.Vehicle, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
__init__(self, inertial_frame_id='world')uuv_control_interfaces.vehicle.Vehicle
acc(self)uuv_control_interfaces.vehicle.Vehicle
body_frame_id(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
compute_acc(self, gen_forces=None, use_sname=True)uuv_control_interfaces.vehicle.Vehicle
compute_force(self, acc=None, vel=None, with_restoring=True, use_sname=True)uuv_control_interfaces.vehicle.Vehicle
Ctotal(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
density(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
depth(self)uuv_control_interfaces.vehicle.Vehicle
Dtotal(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
euler(self)uuv_control_interfaces.vehicle.Vehicle
euler_dot(self)uuv_control_interfaces.vehicle.Vehicle
from_SNAME(self, x) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
get_jacobian(self)uuv_control_interfaces.vehicle.Vehicle
gravity(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
heading(self)uuv_control_interfaces.vehicle.Vehicle
height(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
inertial_frame_id(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
INSTANCE (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehiclestatic
length(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
mass(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
Mtotal(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
namespace(self)uuv_control_interfaces.vehicle.Vehicle
pos(self)uuv_control_interfaces.vehicle.Vehicle
pos(self, position) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
pose_euler(self)uuv_control_interfaces.vehicle.Vehicle
pose_quat(self)uuv_control_interfaces.vehicle.Vehicle
print_info(self)uuv_control_interfaces.vehicle.Vehicle
q_to_matrix(q) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehiclestatic
quat(self)uuv_control_interfaces.vehicle.Vehicle
quat(self, q) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
quat_dot(self)uuv_control_interfaces.vehicle.Vehicle
restoring_forces(self)uuv_control_interfaces.vehicle.Vehicle
rotBtoI(self)uuv_control_interfaces.vehicle.Vehicle
rotItoB(self)uuv_control_interfaces.vehicle.Vehicle
set_added_mass(self, Ma)uuv_control_interfaces.vehicle.Vehicle
set_damping_coef(self, linear_damping, quad_damping)uuv_control_interfaces.vehicle.Vehicle
TBtoIeuler(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
TBtoIquat(self)uuv_control_interfaces.vehicle.Vehicle
TItoBeuler(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
to_SNAME(self, x) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
transform_ned_to_enu (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
update_odometry(self, msg)uuv_control_interfaces.vehicle.Vehicle
vel(self)uuv_control_interfaces.vehicle.Vehicle
vel(self, velocity)uuv_control_interfaces.vehicle.Vehicle
volume(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
width(self) (defined in uuv_control_interfaces.vehicle.Vehicle)uuv_control_interfaces.vehicle.Vehicle
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classuuv__control__interfaces_1_1vehicle_1_1Vehicle.html b/docs/html/classuuv__control__interfaces_1_1vehicle_1_1Vehicle.html new file mode 100644 index 0000000..9bf8708 --- /dev/null +++ b/docs/html/classuuv__control__interfaces_1_1vehicle_1_1Vehicle.html @@ -0,0 +1,792 @@ + + + + + + + +Anahita: uuv_control_interfaces.vehicle.Vehicle Class Reference + + + + + + + + + +
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uuv_control_interfaces.vehicle.Vehicle Class Reference
+
+
+
+Inheritance diagram for uuv_control_interfaces.vehicle.Vehicle:
+
+
+ + +uuv_control_interfaces.sym_vehicle.SymVehicle + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

def __init__ (self, inertial_frame_id='world')
 
def namespace (self)
 
+def body_frame_id (self)
 
+def inertial_frame_id (self)
 
+def mass (self)
 
+def volume (self)
 
+def gravity (self)
 
+def density (self)
 
+def height (self)
 
+def width (self)
 
+def length (self)
 
def pos (self)
 
+def pos (self, position)
 
def depth (self)
 
def heading (self)
 
def quat (self)
 
+def quat (self, q)
 
def quat_dot (self)
 
def vel (self)
 
def vel (self, velocity)
 
def acc (self)
 
def euler (self)
 
def euler_dot (self)
 
def restoring_forces (self)
 
+def Mtotal (self)
 
+def Ctotal (self)
 
+def Dtotal (self)
 
def pose_euler (self)
 
def pose_quat (self)
 
def rotItoB (self)
 
def rotBtoI (self)
 
+def TItoBeuler (self)
 
+def TBtoIeuler (self)
 
def TBtoIquat (self)
 
+def to_SNAME (self, x)
 
+def from_SNAME (self, x)
 
def print_info (self)
 
def set_added_mass (self, Ma)
 
def set_damping_coef (self, linear_damping, quad_damping)
 
def compute_force (self, acc=None, vel=None, with_restoring=True, use_sname=True)
 
def compute_acc (self, gen_forces=None, use_sname=True)
 
def get_jacobian (self)
 
def update_odometry (self, msg)
 
+ + + +

+Static Public Member Functions

+def q_to_matrix (q)
 
+ + + +

+Public Attributes

+ transform_ned_to_enu
 
+ + + +

+Static Public Attributes

+ INSTANCE = None
 
+

Detailed Description

+
Vehicle interface to be used by model-based controllers. It receives the
+parameters necessary to compute the vehicle's motion according to Fossen's.
+

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.__init__ ( self,
 inertial_frame_id = 'world' 
)
+
+
Class constructor.
+

Reimplemented in uuv_control_interfaces.sym_vehicle.SymVehicle.

+ +
+
+

Member Function Documentation

+ +

◆ acc()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.acc ( self)
+
+
Return linear and angular acceleration vector.
+
+
+ +

◆ compute_acc()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.compute_acc ( self,
 gen_forces = None,
 use_sname = True 
)
+
+
Calculate inverse dynamics to obtain the acceleration vector.
+
+
+ +

◆ compute_force()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.compute_force ( self,
 acc = None,
 vel = None,
 with_restoring = True,
 use_sname = True 
)
+
+
Return the sum of forces acting on the vehicle.
+
+Given acceleration and velocity vectors, this function returns the
+sum of forces given the rigid-body and hydrodynamic models for the
+marine vessel.
+
+
+
+ +

◆ depth()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.depth ( self)
+
+
Return depth of the vehicle.
+
+
+ +

◆ euler()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.euler ( self)
+
+
Return orientation in Euler angles as described in Fossen, 2011.
+
+
+ +

◆ euler_dot()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.euler_dot ( self)
+
+
Return time derivative of the Euler angles.
+
+
+ +

◆ get_jacobian()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.get_jacobian ( self)
+
+
Return the Jacobian for the current orientation using transformations
+from BODY to INERTIAL frame.
+
+
+
+ +

◆ heading()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.heading ( self)
+
+
Return the heading of the vehicle.
+
+
+ +

◆ namespace()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.namespace ( self)
+
+
Return robot namespace.
+
+
+ +

◆ pos()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.pos ( self)
+
+
Return the position of the vehicle.
+
+
+ +

◆ pose_euler()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.pose_euler ( self)
+
+
Return pose as a vector, orientation in Euler angles.
+
+
+ +

◆ pose_quat()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.pose_quat ( self)
+
+
Return pose as a vector, orientation as quaternion.
+
+
+ +

◆ print_info()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.print_info ( self)
+
+
Print the vehicle's parameters.
+
+
+ +

◆ quat()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.quat ( self)
+
+
Return orientation quaternion.
+
+
+ +

◆ quat_dot()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.quat_dot ( self)
+
+
Return the time derivative of the quaternion vector.
+
+
+ +

◆ restoring_forces()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.restoring_forces ( self)
+
+
Return the restoring force vector.
+
+
+ +

◆ rotBtoI()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.rotBtoI ( self)
+
+
Return rotation from BODY to INERTIAL frame using the zyx convention
+   to retrieve Euler angles from the quaternion vector (Fossen, 2011).
+
+
+
+ +

◆ rotItoB()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.rotItoB ( self)
+
+
Return rotation from INERTIAL to BODY frame
+
+
+ +

◆ set_added_mass()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.set_added_mass ( self,
 Ma 
)
+
+
Set added-mass matrix coefficients.
+
+
+ +

◆ set_damping_coef()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.set_damping_coef ( self,
 linear_damping,
 quad_damping 
)
+
+
Set linear and quadratic damping coefficients.
+
+
+ +

◆ TBtoIquat()

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.TBtoIquat ( self)
+
+
Return matrix for transformation of BODY-fixed angular velocities in the
+BODY frame in relation to the INERTIAL frame into quaternion rate.
+
+
+
+ +

◆ update_odometry()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.update_odometry ( self,
 msg 
)
+
+
Odometry topic subscriber callback function.
+
+
+ +

◆ vel() [1/2]

+ +
+
+ + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.vel ( self)
+
+
Return linear and angular velocity vector.
+
+
+ +

◆ vel() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_control_interfaces.vehicle.Vehicle.vel ( self,
 velocity 
)
+
+
Set the velocity vector in the BODY frame.
+
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_control_interfaces/vehicle.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classuuv__control__interfaces_1_1vehicle_1_1Vehicle.png b/docs/html/classuuv__control__interfaces_1_1vehicle_1_1Vehicle.png new file mode 100644 index 0000000..bf29ae2 Binary files /dev/null and b/docs/html/classuuv__control__interfaces_1_1vehicle_1_1Vehicle.png differ diff --git a/docs/html/classuuv__thrusters_1_1models_1_1thruster_1_1Thruster-members.html b/docs/html/classuuv__thrusters_1_1models_1_1thruster_1_1Thruster-members.html new file mode 100644 index 0000000..bde6423 --- /dev/null +++ b/docs/html/classuuv__thrusters_1_1models_1_1thruster_1_1Thruster-members.html @@ -0,0 +1,92 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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This is the complete list of members for uuv_thrusters.models.thruster.Thruster, including all inherited members.

+ + + + + + + + + + +
__init__(self, index, topic, pos, orientation, axis=DEFAULT_AXIS)uuv_thrusters.models.thruster.Thruster
create_thruster(model_name, *args, **kwargs) (defined in uuv_thrusters.models.thruster.Thruster)uuv_thrusters.models.thruster.Thrusterstatic
DEFAULT_AXIS (defined in uuv_thrusters.models.thruster.Thruster)uuv_thrusters.models.thruster.Thrusterstatic
get_command_value(self, thrust)uuv_thrusters.models.thruster.Thruster
get_curve(self, min_value, max_value, n_points)uuv_thrusters.models.thruster.Thruster
get_thrust_value(self, command)uuv_thrusters.models.thruster.Thruster
LABEL (defined in uuv_thrusters.models.thruster.Thruster)uuv_thrusters.models.thruster.Thrusterstatic
publish_command(self, thrust) (defined in uuv_thrusters.models.thruster.Thruster)uuv_thrusters.models.thruster.Thruster
tam_column(self) (defined in uuv_thrusters.models.thruster.Thruster)uuv_thrusters.models.thruster.Thruster
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+Public Member Functions | +Static Public Member Functions | +Static Public Attributes | +List of all members
+
+
uuv_thrusters.models.thruster.Thruster Class Reference
+
+
+
+Inheritance diagram for uuv_thrusters.models.thruster.Thruster:
+
+
+ + +uuv_thrusters.models.thruster_custom.ThrusterCustom +uuv_thrusters.models.thruster_proportional.ThrusterProportional + +
+ + + + + + + + + + + + + + +

+Public Member Functions

def __init__ (self, index, topic, pos, orientation, axis=DEFAULT_AXIS)
 
+def tam_column (self)
 
def get_command_value (self, thrust)
 
def get_thrust_value (self, command)
 
def get_curve (self, min_value, max_value, n_points)
 
+def publish_command (self, thrust)
 
+ + + +

+Static Public Member Functions

+def create_thruster (model_name, *args, **kwargs)
 
+ + + + + +

+Static Public Attributes

+string LABEL = ''
 
+ DEFAULT_AXIS = numpy.array([1, 0, 0, 0])
 
+

Detailed Description

+
Abstract function to all the thruster models avaialble. The instance
+of a thruster model must use the factory method.

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def uuv_thrusters.models.thruster.Thruster.__init__ ( self,
 index,
 topic,
 pos,
 orientation,
 axis = DEFAULT_AXIS 
)
+
+
Thruster class constructor.
+
+Parameters
+----------
+index: int
+    Thruster's index.
+topic: str
+    Name of the thruster's command topic.
+pos: numpy.array
+    3D position of the thruster with relation to the reference frame.
+orientation: numpy.array
+    Quaternion with the orientation of the thruster with relation to
+    the reference frame.
+
+
+
+

Member Function Documentation

+ +

◆ get_command_value()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_thrusters.models.thruster.Thruster.get_command_value ( self,
 thrust 
)
+
+
Convert desired thrust force to input command according to this
+function. Overwrite this method to implement custom models.
+

Reimplemented in uuv_thrusters.models.thruster_custom.ThrusterCustom, and uuv_thrusters.models.thruster_proportional.ThrusterProportional.

+ +
+
+ +

◆ get_curve()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def uuv_thrusters.models.thruster.Thruster.get_curve ( self,
 min_value,
 max_value,
 n_points 
)
+
+
Sample the conversion curve and return the values.
+
+
+ +

◆ get_thrust_value()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_thrusters.models.thruster.Thruster.get_thrust_value ( self,
 command 
)
+
+
Computes the thrust force for the given command.
+

Reimplemented in uuv_thrusters.models.thruster_custom.ThrusterCustom, and uuv_thrusters.models.thruster_proportional.ThrusterProportional.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_thruster_manager/src/uuv_thrusters/models/thruster.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
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+ + + + + + + + + + + +
__init__(self, *args, **kwargs)uuv_thrusters.models.thruster_custom.ThrusterCustom
uuv_thrusters::models::thruster::Thruster.__init__(self, index, topic, pos, orientation, axis=DEFAULT_AXIS)uuv_thrusters.models.thruster.Thruster
create_thruster(model_name, *args, **kwargs) (defined in uuv_thrusters.models.thruster.Thruster)uuv_thrusters.models.thruster.Thrusterstatic
DEFAULT_AXIS (defined in uuv_thrusters.models.thruster.Thruster)uuv_thrusters.models.thruster.Thrusterstatic
get_command_value(self, thrust)uuv_thrusters.models.thruster_custom.ThrusterCustom
get_curve(self, min_value, max_value, n_points)uuv_thrusters.models.thruster.Thruster
get_thrust_value(self, command)uuv_thrusters.models.thruster_custom.ThrusterCustom
LABEL (defined in uuv_thrusters.models.thruster_custom.ThrusterCustom)uuv_thrusters.models.thruster_custom.ThrusterCustomstatic
publish_command(self, thrust) (defined in uuv_thrusters.models.thruster.Thruster)uuv_thrusters.models.thruster.Thruster
tam_column(self) (defined in uuv_thrusters.models.thruster.Thruster)uuv_thrusters.models.thruster.Thruster
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+
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+ + +uuv_thrusters.models.thruster.Thruster + +
+ + + + + + + + + + + + + + + + + +

+Public Member Functions

def __init__ (self, *args, **kwargs)
 
def get_command_value (self, thrust)
 
def get_thrust_value (self, command)
 
- Public Member Functions inherited from uuv_thrusters.models.thruster.Thruster
def __init__ (self, index, topic, pos, orientation, axis=DEFAULT_AXIS)
 
+def tam_column (self)
 
def get_curve (self, min_value, max_value, n_points)
 
+def publish_command (self, thrust)
 
+ + + + + + + + +

+Static Public Attributes

+string LABEL = 'custom'
 
- Static Public Attributes inherited from uuv_thrusters.models.thruster.Thruster
+string LABEL = ''
 
+ DEFAULT_AXIS = numpy.array([1, 0, 0, 0])
 
+ + + + +

+Additional Inherited Members

- Static Public Member Functions inherited from uuv_thrusters.models.thruster.Thruster
+def create_thruster (model_name, *args, **kwargs)
 
+

Detailed Description

+
Class describing a custom conversion curve between the command input,
+usually the angular velocity, and the correspondent output thrust force.
+Here the inverse of the conversion function can be computed so that the
+command for the desired thrust force is retrieved.
+The input vector corresponds to sampled values for the command input, and
+the output vector corresponds to the sampled values for the correspondent
+thrust forces.
+This information is usually available in the datasheet of the thruster's
+manufacturer.
+

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def uuv_thrusters.models.thruster_custom.ThrusterCustom.__init__ ( self,
* args,
** kwargs 
)
+
+
Class constructor.
+
+
+

Member Function Documentation

+ +

◆ get_command_value()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_thrusters.models.thruster_custom.ThrusterCustom.get_command_value ( self,
 thrust 
)
+
+
Convert desired thrust force to input command according to this
+function. Overwrite this method to implement custom models.
+

Reimplemented from uuv_thrusters.models.thruster.Thruster.

+ +
+
+ +

◆ get_thrust_value()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_thrusters.models.thruster_custom.ThrusterCustom.get_thrust_value ( self,
 command 
)
+
+
Computes the thrust force for the given command.
+

Reimplemented from uuv_thrusters.models.thruster.Thruster.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_thruster_manager/src/uuv_thrusters/models/thruster_custom.py
    • +
+
+ +
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+ + + + + + + + + + + +
__init__(self, *args, **kwargs) (defined in uuv_thrusters.models.thruster_proportional.ThrusterProportional)uuv_thrusters.models.thruster_proportional.ThrusterProportional
uuv_thrusters::models::thruster::Thruster.__init__(self, index, topic, pos, orientation, axis=DEFAULT_AXIS)uuv_thrusters.models.thruster.Thruster
create_thruster(model_name, *args, **kwargs) (defined in uuv_thrusters.models.thruster.Thruster)uuv_thrusters.models.thruster.Thrusterstatic
DEFAULT_AXIS (defined in uuv_thrusters.models.thruster.Thruster)uuv_thrusters.models.thruster.Thrusterstatic
get_command_value(self, thrust)uuv_thrusters.models.thruster_proportional.ThrusterProportional
get_curve(self, min_value, max_value, n_points)uuv_thrusters.models.thruster.Thruster
get_thrust_value(self, command)uuv_thrusters.models.thruster_proportional.ThrusterProportional
LABEL (defined in uuv_thrusters.models.thruster_proportional.ThrusterProportional)uuv_thrusters.models.thruster_proportional.ThrusterProportionalstatic
publish_command(self, thrust) (defined in uuv_thrusters.models.thruster.Thruster)uuv_thrusters.models.thruster.Thruster
tam_column(self) (defined in uuv_thrusters.models.thruster.Thruster)uuv_thrusters.models.thruster.Thruster
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+
+
+Inheritance diagram for uuv_thrusters.models.thruster_proportional.ThrusterProportional:
+
+
+ + +uuv_thrusters.models.thruster.Thruster + +
+ + + + + + + + + + + + + + + + + +

+Public Member Functions

+def __init__ (self, *args, **kwargs)
 
def get_command_value (self, thrust)
 
def get_thrust_value (self, command)
 
- Public Member Functions inherited from uuv_thrusters.models.thruster.Thruster
def __init__ (self, index, topic, pos, orientation, axis=DEFAULT_AXIS)
 
+def tam_column (self)
 
def get_curve (self, min_value, max_value, n_points)
 
+def publish_command (self, thrust)
 
+ + + + + + + + +

+Static Public Attributes

+string LABEL = 'proportional'
 
- Static Public Attributes inherited from uuv_thrusters.models.thruster.Thruster
+string LABEL = ''
 
+ DEFAULT_AXIS = numpy.array([1, 0, 0, 0])
 
+ + + + +

+Additional Inherited Members

- Static Public Member Functions inherited from uuv_thrusters.models.thruster.Thruster
+def create_thruster (model_name, *args, **kwargs)
 
+

Detailed Description

+
This model corresponds to the linear relation between a function
+abs(command)*command of the command input (usually the command angular
+velocity) to the thrust force. A constant gain has to be provided.
+

Member Function Documentation

+ +

◆ get_command_value()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_thrusters.models.thruster_proportional.ThrusterProportional.get_command_value ( self,
 thrust 
)
+
+
Convert desired thrust force to input command according to this
+function. Overwrite this method to implement custom models.
+

Reimplemented from uuv_thrusters.models.thruster.Thruster.

+ +
+
+ +

◆ get_thrust_value()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_thrusters.models.thruster_proportional.ThrusterProportional.get_thrust_value ( self,
 command 
)
+
+
Computes the thrust force for the given command.
+

Reimplemented from uuv_thrusters.models.thruster.Thruster.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_thruster_manager/src/uuv_thrusters/models/thruster_proportional.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional.png b/docs/html/classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional.png new file mode 100644 index 0000000..c4d1687 Binary files /dev/null and b/docs/html/classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional.png differ diff --git a/docs/html/classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager-members.html b/docs/html/classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager-members.html new file mode 100644 index 0000000..41c6a7b --- /dev/null +++ b/docs/html/classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager-members.html @@ -0,0 +1,102 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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This is the complete list of members for uuv_thrusters.thruster_manager.ThrusterManager, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + +
__init__(self)uuv_thrusters.thruster_manager.ThrusterManager
axes (defined in uuv_thrusters.thruster_manager.ThrusterManager)uuv_thrusters.thruster_manager.ThrusterManager
base_link_ned_to_enu (defined in uuv_thrusters.thruster_manager.ThrusterManager)uuv_thrusters.thruster_manager.ThrusterManager
command_thrusters(self)uuv_thrusters.thruster_manager.ThrusterManager
compute_thruster_forces(self, gen_forces)uuv_thrusters.thruster_manager.ThrusterManager
config (defined in uuv_thrusters.thruster_manager.ThrusterManager)uuv_thrusters.thruster_manager.ThrusterManager
configuration_matrix (defined in uuv_thrusters.thruster_manager.ThrusterManager)uuv_thrusters.thruster_manager.ThrusterManager
inverse_configuration_matrix (defined in uuv_thrusters.thruster_manager.ThrusterManager)uuv_thrusters.thruster_manager.ThrusterManager
MAX_THRUSTERS (defined in uuv_thrusters.thruster_manager.ThrusterManager)uuv_thrusters.thruster_manager.ThrusterManagerstatic
n_thrusters (defined in uuv_thrusters.thruster_manager.ThrusterManager)uuv_thrusters.thruster_manager.ThrusterManager
namespace (defined in uuv_thrusters.thruster_manager.ThrusterManager)uuv_thrusters.thruster_manager.ThrusterManager
output_dir (defined in uuv_thrusters.thruster_manager.ThrusterManager)uuv_thrusters.thruster_manager.ThrusterManager
parse_urdf(self, urdf_str) (defined in uuv_thrusters.thruster_manager.ThrusterManager)uuv_thrusters.thruster_manager.ThrusterManager
publish_thrust_forces(self, control_forces, control_torques, frame_id=None) (defined in uuv_thrusters.thruster_manager.ThrusterManager)uuv_thrusters.thruster_manager.ThrusterManager
ready (defined in uuv_thrusters.thruster_manager.ThrusterManager)uuv_thrusters.thruster_manager.ThrusterManager
thrust (defined in uuv_thrusters.thruster_manager.ThrusterManager)uuv_thrusters.thruster_manager.ThrusterManager
thrusters (defined in uuv_thrusters.thruster_manager.ThrusterManager)uuv_thrusters.thruster_manager.ThrusterManager
update_tam(self, recalculate=False)uuv_thrusters.thruster_manager.ThrusterManager
use_robot_descr (defined in uuv_thrusters.thruster_manager.ThrusterManager)uuv_thrusters.thruster_manager.ThrusterManager
+ +
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uuv_thrusters.thruster_manager.ThrusterManager Class Reference
+
+
+ + + + + + + + + + + + + + +

+Public Member Functions

def __init__ (self)
 
+def parse_urdf (self, urdf_str)
 
def update_tam (self, recalculate=False)
 
def command_thrusters (self)
 
+def publish_thrust_forces (self, control_forces, control_torques, frame_id=None)
 
def compute_thruster_forces (self, gen_forces)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+ namespace
 
+ config
 
+ use_robot_descr
 
+ axes
 
+ base_link_ned_to_enu
 
+ output_dir
 
+ n_thrusters
 
+ thrusters
 
+ thrust
 
+ configuration_matrix
 
+ inverse_configuration_matrix
 
+ ready
 
+ + + +

+Static Public Attributes

+int MAX_THRUSTERS = 16
 
+

Detailed Description

+
The thruster manager generates the thruster allocation matrix using the
+TF information and publishes the thruster forces assuming the the thruster
+topics are named in the following pattern
+
+<thruster_topic_prefix>/<index>/<thruster_topic_suffix>
+
+Thruster frames should also be named as follows
+
+<thruster_frame_base>_<index>
+

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + +
def uuv_thrusters.thruster_manager.ThrusterManager.__init__ ( self)
+
+
Class constructor.
+
+
+

Member Function Documentation

+ +

◆ command_thrusters()

+ +
+
+ + + + + + + + +
def uuv_thrusters.thruster_manager.ThrusterManager.command_thrusters ( self)
+
+
Publish the thruster input into their specific topic.
+
+
+ +

◆ compute_thruster_forces()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_thrusters.thruster_manager.ThrusterManager.compute_thruster_forces ( self,
 gen_forces 
)
+
+
Compute desired thruster forces using the inverse configuration
+matrix.
+
+
+
+ +

◆ update_tam()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_thrusters.thruster_manager.ThrusterManager.update_tam ( self,
 recalculate = False 
)
+
+
Calculate the thruster allocation matrix, if one is not given.
+
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_thruster_manager/src/uuv_thrusters/thruster_manager.py
    • +
+
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+ + + + + + + + + + +
__init__(self, pnts, order, tangents=None, normals=None) (defined in uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve)uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve
compute_polynomial(self, n, i, u) (defined in uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve)uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve
control_pnts(self) (defined in uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve)uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve
distance(p1, p2) (defined in uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve)uuv_trajectory_generator.path_generator.bezier_curve.BezierCurvestatic
generate_cubic_curve(pnts) (defined in uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve)uuv_trajectory_generator.path_generator.bezier_curve.BezierCurvestatic
generate_quintic_curve(pnts) (defined in uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve)uuv_trajectory_generator.path_generator.bezier_curve.BezierCurvestatic
get_derivative(self, u, order=1) (defined in uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve)uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve
get_length(self) (defined in uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve)uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve
interpolate(self, u) (defined in uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve)uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve
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uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve Class Reference
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+
+Inheritance diagram for uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve:
+
+
+ +
+ + + + + + + + + + + + + + +

+Public Member Functions

+def __init__ (self, pnts, order, tangents=None, normals=None)
 
+def control_pnts (self)
 
+def interpolate (self, u)
 
+def get_derivative (self, u, order=1)
 
+def get_length (self)
 
+def compute_polynomial (self, n, i, u)
 
+ + + + + + + +

+Static Public Member Functions

+def distance (p1, p2)
 
+def generate_cubic_curve (pnts)
 
+def generate_quintic_curve (pnts)
 
+

Detailed Description

+
Implementation of Bezier curves of orders 3, 4 and 5 based on [1].
+
+[1] Biagiotti, Luigi, and Claudio Melchiorri. Trajectory planning for 
+    automatic machines and robots. Springer Science & Business Media, 2008.
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_trajectory_generator/path_generator/bezier_curve.py
    • +
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+Generated by   +doxygen + 1.8.18 +
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__init__(self) (defined in uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator)uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator
__init__(self, full_dof=False) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
add_waypoint(self, waypoint, add_to_beginning=False)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
closest_waypoint(self)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
closest_waypoint_idx(self)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
duration(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
duration(self, t) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
generate_pnt(self, s, t, *args) (defined in uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator)uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator
generate_pnt(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
generate_pos(self, s) (defined in uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator)uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator
generate_quat(self, s) (defined in uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator)uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator
get_all_generators() (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGeneratorstatic
get_generator(name, *args, **kwargs) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGeneratorstatic
get_label(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_remaining_waypoints_idx(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_samples(self, max_time, step=0.001) (defined in uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator)uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator
get_segment_idx(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_visual_markers(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
has_started(self, t) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
init_interpolator(self) (defined in uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator)uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator
init_waypoints(self, waypoints=None, init_rot=np.array([0, 0, 0, 1])) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
interpolate(self, tag, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
is_finished(self, t) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
is_full_dof(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
LABEL (defined in uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator)uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolatorstatic
max_time(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
reset(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
s_step(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
s_step(self, step) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
set_full_dof(self, flag) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
set_parameters(self, params)uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator
start_time(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
start_time(self, time) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
termination_by_time(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
waypoints(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
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+
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+Public Member Functions

+def __init__ (self)
 
+def init_interpolator (self)
 
def set_parameters (self, params)
 
+def get_samples (self, max_time, step=0.001)
 
+def generate_pos (self, s)
 
+def generate_pnt (self, s, t, *args)
 
+def generate_quat (self, s)
 
- Public Member Functions inherited from uuv_trajectory_generator.path_generator.path_generator.PathGenerator
+def __init__ (self, full_dof=False)
 
+def waypoints (self)
 
+def max_time (self)
 
+def duration (self)
 
+def duration (self, t)
 
+def start_time (self)
 
+def start_time (self, time)
 
def closest_waypoint (self)
 
def closest_waypoint_idx (self)
 
+def s_step (self)
 
+def s_step (self, step)
 
+def termination_by_time (self)
 
+def reset (self)
 
+def get_segment_idx (self, s)
 
+def get_remaining_waypoints_idx (self, s)
 
+def is_full_dof (self)
 
+def set_full_dof (self, flag)
 
+def get_label (self)
 
+def get_visual_markers (self)
 
def add_waypoint (self, waypoint, add_to_beginning=False)
 
+def init_waypoints (self, waypoints=None, init_rot=np.array([0, 0, 0, 1]))
 
+def interpolate (self, tag, s)
 
+def is_finished (self, t)
 
+def has_started (self, t)
 
+def generate_pnt (self, s)
 
+ + + + + + +

+Static Public Attributes

+string LABEL = 'cubic'
 
- Static Public Attributes inherited from uuv_trajectory_generator.path_generator.path_generator.PathGenerator
+string LABEL = ''
 
+ + + + + + +

+Additional Inherited Members

- Static Public Member Functions inherited from uuv_trajectory_generator.path_generator.path_generator.PathGenerator
+def get_generator (name, *args, **kwargs)
 
+def get_all_generators ()
 
+

Detailed Description

+
Interpolator that will generate cubic Bezier curve segments for a set of waypoints.
+

Member Function Documentation

+ +

◆ set_parameters()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator.set_parameters ( self,
 params 
)
+
+
Not implemented for this interpolator.
+

Reimplemented from uuv_trajectory_generator.path_generator.path_generator.PathGenerator.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_trajectory_generator/path_generator/cs_interpolator.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator.png b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator.png new file mode 100644 index 0000000..c8dbf36 Binary files /dev/null and b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator.png differ diff --git a/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator-members.html b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator-members.html new file mode 100644 index 0000000..9001551 --- /dev/null +++ b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator-members.html @@ -0,0 +1,118 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator Member List
+
+
+ +

This is the complete list of members for uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
__init__(self) (defined in uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator)uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator
__init__(self, full_dof=False) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
add_waypoint(self, waypoint, add_to_beginning=False)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
closest_waypoint(self)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
closest_waypoint_idx(self)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
duration(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
duration(self, t) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
generate_pnt(self, s, t, *args) (defined in uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator)uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator
generate_pnt(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
generate_pos(self, s) (defined in uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator)uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator
generate_quat(self, s) (defined in uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator)uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator
get_all_generators() (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGeneratorstatic
get_generator(name, *args, **kwargs) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGeneratorstatic
get_label(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_remaining_waypoints_idx(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_samples(self, max_time, step=0.001) (defined in uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator)uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator
get_segment_idx(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_visual_markers(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
has_started(self, t) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
init_interpolator(self) (defined in uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator)uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator
init_waypoints(self, waypoints=None, init_rot=np.array([0, 0, 0, 1])) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
interpolate(self, tag, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
is_finished(self, t) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
is_full_dof(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
LABEL (defined in uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator)uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolatorstatic
max_time(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
reset(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
s_step(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
s_step(self, step) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
set_full_dof(self, flag) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
set_parameters(self, params) (defined in uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator)uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator
start_time(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
start_time(self, time) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
termination_by_time(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
waypoints(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
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Anahita +
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uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator Class Reference
+
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+
+Inheritance diagram for uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator:
+
+
+ + +uuv_trajectory_generator.path_generator.path_generator.PathGenerator + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+def __init__ (self)
 
+def init_interpolator (self)
 
+def set_parameters (self, params)
 
+def get_samples (self, max_time, step=0.001)
 
+def generate_pos (self, s)
 
+def generate_pnt (self, s, t, *args)
 
+def generate_quat (self, s)
 
- Public Member Functions inherited from uuv_trajectory_generator.path_generator.path_generator.PathGenerator
+def __init__ (self, full_dof=False)
 
+def waypoints (self)
 
+def max_time (self)
 
+def duration (self)
 
+def duration (self, t)
 
+def start_time (self)
 
+def start_time (self, time)
 
def closest_waypoint (self)
 
def closest_waypoint_idx (self)
 
+def s_step (self)
 
+def s_step (self, step)
 
+def termination_by_time (self)
 
+def reset (self)
 
+def get_segment_idx (self, s)
 
+def get_remaining_waypoints_idx (self, s)
 
+def is_full_dof (self)
 
+def set_full_dof (self, flag)
 
+def get_label (self)
 
+def get_visual_markers (self)
 
def add_waypoint (self, waypoint, add_to_beginning=False)
 
+def init_waypoints (self, waypoints=None, init_rot=np.array([0, 0, 0, 1]))
 
+def interpolate (self, tag, s)
 
+def is_finished (self, t)
 
+def has_started (self, t)
 
+def generate_pnt (self, s)
 
+ + + + + + +

+Static Public Attributes

+string LABEL = 'dubins'
 
- Static Public Attributes inherited from uuv_trajectory_generator.path_generator.path_generator.PathGenerator
+string LABEL = ''
 
+ + + + + + +

+Additional Inherited Members

- Static Public Member Functions inherited from uuv_trajectory_generator.path_generator.path_generator.PathGenerator
+def get_generator (name, *args, **kwargs)
 
+def get_all_generators ()
 
+

Detailed Description

+
3D Dubins path interpolator
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_trajectory_generator/path_generator/dubins_interpolator.py
    • +
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+Generated by   +doxygen + 1.8.18 +
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uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment Member List
+
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+ +

This is the complete list of members for uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment, including all inherited members.

+ + + + + +
__init__(self, center, radius, n_turns, delta_z, angle_offset, is_clockwise=True) (defined in uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment)uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment
get_length(self) (defined in uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment)uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment
get_pitch(self) (defined in uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment)uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment
interpolate(self, u) (defined in uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment)uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment
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+Public Member Functions

+def __init__ (self, center, radius, n_turns, delta_z, angle_offset, is_clockwise=True)
 
+def get_length (self)
 
+def get_pitch (self)
 
+def interpolate (self, u)
 
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_trajectory_generator/path_generator/helical_segment.py
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uuv_trajectory_generator.path_generator.line_segment.LineSegment Member List
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__init__(self, p_init, p_target) (defined in uuv_trajectory_generator.path_generator.line_segment.LineSegment)uuv_trajectory_generator.path_generator.line_segment.LineSegment
get_derivative(self, *args) (defined in uuv_trajectory_generator.path_generator.line_segment.LineSegment)uuv_trajectory_generator.path_generator.line_segment.LineSegment
get_length(self) (defined in uuv_trajectory_generator.path_generator.line_segment.LineSegment)uuv_trajectory_generator.path_generator.line_segment.LineSegment
get_tangent(self) (defined in uuv_trajectory_generator.path_generator.line_segment.LineSegment)uuv_trajectory_generator.path_generator.line_segment.LineSegment
interpolate(self, u) (defined in uuv_trajectory_generator.path_generator.line_segment.LineSegment)uuv_trajectory_generator.path_generator.line_segment.LineSegment
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+
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+ +
+ + + + + + + + + + + + +

+Public Member Functions

+def __init__ (self, p_init, p_target)
 
+def interpolate (self, u)
 
+def get_derivative (self, *args)
 
+def get_length (self)
 
+def get_tangent (self)
 
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_trajectory_generator/path_generator/line_segment.py
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uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator Member List
+
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This is the complete list of members for uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator, including all inherited members.

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__init__(self) (defined in uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator)uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator
__init__(self, full_dof=False) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
add_waypoint(self, waypoint, add_to_beginning=False)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
closest_waypoint(self)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
closest_waypoint_idx(self)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
duration(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
duration(self, t) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
generate_pnt(self, s, t, *args) (defined in uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator)uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator
generate_pnt(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
generate_pos(self, s) (defined in uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator)uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator
generate_quat(self, s) (defined in uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator)uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator
get_all_generators() (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGeneratorstatic
get_generator(name, *args, **kwargs) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGeneratorstatic
get_label(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_remaining_waypoints_idx(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_samples(self, max_time, step=0.001) (defined in uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator)uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator
get_segment_idx(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_visual_markers(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
has_started(self, t) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
init_interpolator(self) (defined in uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator)uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator
init_waypoints(self, waypoints=None, init_rot=np.array([0, 0, 0, 1])) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
interpolate(self, tag, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
is_finished(self, t) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
is_full_dof(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
LABEL (defined in uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator)uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolatorstatic
max_time(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
reset(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
s_step(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
s_step(self, step) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
set_full_dof(self, flag) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
set_parameters(self, params)uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator
start_time(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
start_time(self, time) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
termination_by_time(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
waypoints(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator.html b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator.html new file mode 100644 index 0000000..04e23f1 --- /dev/null +++ b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator.html @@ -0,0 +1,246 @@ + + + + + + + +Anahita: uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator Class Reference + + + + + + + + + +
+
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+
Anahita +
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+Public Member Functions | +Static Public Attributes | +List of all members
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uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator Class Reference
+
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+
+Inheritance diagram for uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator:
+
+
+ + +uuv_trajectory_generator.path_generator.path_generator.PathGenerator + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+def __init__ (self)
 
+def init_interpolator (self)
 
def set_parameters (self, params)
 
+def get_samples (self, max_time, step=0.001)
 
+def generate_pos (self, s)
 
+def generate_pnt (self, s, t, *args)
 
+def generate_quat (self, s)
 
- Public Member Functions inherited from uuv_trajectory_generator.path_generator.path_generator.PathGenerator
+def __init__ (self, full_dof=False)
 
+def waypoints (self)
 
+def max_time (self)
 
+def duration (self)
 
+def duration (self, t)
 
+def start_time (self)
 
+def start_time (self, time)
 
def closest_waypoint (self)
 
def closest_waypoint_idx (self)
 
+def s_step (self)
 
+def s_step (self, step)
 
+def termination_by_time (self)
 
+def reset (self)
 
+def get_segment_idx (self, s)
 
+def get_remaining_waypoints_idx (self, s)
 
+def is_full_dof (self)
 
+def set_full_dof (self, flag)
 
+def get_label (self)
 
+def get_visual_markers (self)
 
def add_waypoint (self, waypoint, add_to_beginning=False)
 
+def init_waypoints (self, waypoints=None, init_rot=np.array([0, 0, 0, 1]))
 
+def interpolate (self, tag, s)
 
+def is_finished (self, t)
 
+def has_started (self, t)
 
+def generate_pnt (self, s)
 
+ + + + + + +

+Static Public Attributes

+string LABEL = 'linear'
 
- Static Public Attributes inherited from uuv_trajectory_generator.path_generator.path_generator.PathGenerator
+string LABEL = ''
 
+ + + + + + +

+Additional Inherited Members

- Static Public Member Functions inherited from uuv_trajectory_generator.path_generator.path_generator.PathGenerator
+def get_generator (name, *args, **kwargs)
 
+def get_all_generators ()
 
+

Detailed Description

+
Simple linear interpolator
+

Member Function Documentation

+ +

◆ set_parameters()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator.set_parameters ( self,
 params 
)
+
+
Not implemented for this interpolator.
+

Reimplemented from uuv_trajectory_generator.path_generator.path_generator.PathGenerator.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_trajectory_generator/path_generator/linear_interpolator.py
    • +
+
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+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator.png b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator.png new file mode 100644 index 0000000..92bde3e Binary files /dev/null and b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator.png differ diff --git a/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator-members.html b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator-members.html new file mode 100644 index 0000000..c9f8859 --- /dev/null +++ b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator-members.html @@ -0,0 +1,119 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator Member List
+
+
+ +

This is the complete list of members for uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
__init__(self) (defined in uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator)uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator
__init__(self, full_dof=False) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
add_waypoint(self, waypoint, add_to_beginning=False)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
closest_waypoint(self)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
closest_waypoint_idx(self)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
duration(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
duration(self, t) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
generate_pnt(self, s, t=0.0, *args) (defined in uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator)uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator
generate_pnt(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
generate_pos(self, s, *args) (defined in uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator)uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator
generate_pos(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
generate_quat(self, s) (defined in uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator)uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator
get_all_generators() (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGeneratorstatic
get_generator(name, *args, **kwargs) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGeneratorstatic
get_label(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_remaining_waypoints_idx(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_samples(self, max_time, step=0.001) (defined in uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator)uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator
get_segment_idx(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_visual_markers(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
has_started(self, t) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
init_interpolator(self) (defined in uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator)uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator
init_waypoints(self, waypoints=None, init_rot=np.array([0, 0, 0, 1])) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
interpolate(self, tag, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
is_finished(self, t) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
is_full_dof(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
LABEL (defined in uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator)uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolatorstatic
max_time(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
reset(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
s_step(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
s_step(self, step) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
set_full_dof(self, flag) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
set_parameters(self, params) (defined in uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator)uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator
start_time(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
start_time(self, time) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
termination_by_time(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
waypoints(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator.html b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator.html new file mode 100644 index 0000000..0ac4778 --- /dev/null +++ b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator.html @@ -0,0 +1,222 @@ + + + + + + + +Anahita: uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator Class Reference + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
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+Public Member Functions | +Static Public Attributes | +List of all members
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+
uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator Class Reference
+
+
+
+Inheritance diagram for uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator:
+
+
+ + +uuv_trajectory_generator.path_generator.path_generator.PathGenerator + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+def __init__ (self)
 
+def init_interpolator (self)
 
+def set_parameters (self, params)
 
+def get_samples (self, max_time, step=0.001)
 
+def generate_pos (self, s, *args)
 
+def generate_pnt (self, s, t=0.0, *args)
 
+def generate_quat (self, s)
 
- Public Member Functions inherited from uuv_trajectory_generator.path_generator.path_generator.PathGenerator
+def __init__ (self, full_dof=False)
 
+def waypoints (self)
 
+def max_time (self)
 
+def duration (self)
 
+def duration (self, t)
 
+def start_time (self)
 
+def start_time (self, time)
 
def closest_waypoint (self)
 
def closest_waypoint_idx (self)
 
+def s_step (self)
 
+def s_step (self, step)
 
+def termination_by_time (self)
 
+def reset (self)
 
+def get_segment_idx (self, s)
 
+def get_remaining_waypoints_idx (self, s)
 
+def is_full_dof (self)
 
+def set_full_dof (self, flag)
 
+def get_label (self)
 
+def get_visual_markers (self)
 
def add_waypoint (self, waypoint, add_to_beginning=False)
 
+def init_waypoints (self, waypoints=None, init_rot=np.array([0, 0, 0, 1]))
 
+def interpolate (self, tag, s)
 
+def is_finished (self, t)
 
+def has_started (self, t)
 
+def generate_pnt (self, s)
 
+def generate_pos (self, s)
 
+ + + + + + +

+Static Public Attributes

+string LABEL = 'lipb'
 
- Static Public Attributes inherited from uuv_trajectory_generator.path_generator.path_generator.PathGenerator
+string LABEL = ''
 
+ + + + + + +

+Additional Inherited Members

- Static Public Member Functions inherited from uuv_trajectory_generator.path_generator.path_generator.PathGenerator
+def get_generator (name, *args, **kwargs)
 
+def get_all_generators ()
 
+

Detailed Description

+
Linear interpolator with polynomial blends.
+
+[1] Biagiotti, Luigi, and Claudio Melchiorri. Trajectory planning for
+    automatic machines and robots. Springer Science & Business Media, 2008.
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_trajectory_generator/path_generator/lipb_interpolator.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator.png b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator.png new file mode 100644 index 0000000..0f94d6a Binary files /dev/null and b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator.png differ diff --git a/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator-members.html b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator-members.html new file mode 100644 index 0000000..01b4d40 --- /dev/null +++ b/docs/html/classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator-members.html @@ -0,0 +1,116 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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uuv_trajectory_generator.path_generator.path_generator.PathGenerator Member List
+
+
+ +

This is the complete list of members for uuv_trajectory_generator.path_generator.path_generator.PathGenerator, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
__init__(self, full_dof=False) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
add_waypoint(self, waypoint, add_to_beginning=False)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
closest_waypoint(self)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
closest_waypoint_idx(self)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
duration(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
duration(self, t) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
generate_pnt(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
generate_pos(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
generate_quat(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_all_generators() (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGeneratorstatic
get_generator(name, *args, **kwargs) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGeneratorstatic
get_label(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_remaining_waypoints_idx(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_samples(self, max_time, step=0.005) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_segment_idx(self, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
get_visual_markers(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
has_started(self, t) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
init_interpolator(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
init_waypoints(self, waypoints=None, init_rot=np.array([0, 0, 0, 1])) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
interpolate(self, tag, s) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
is_finished(self, t) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
is_full_dof(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
LABEL (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGeneratorstatic
max_time(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
reset(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
s_step(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
s_step(self, step) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
set_full_dof(self, flag) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
set_parameters(self, params) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
start_time(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
start_time(self, time) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
termination_by_time(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
waypoints(self) (defined in uuv_trajectory_generator.path_generator.path_generator.PathGenerator)uuv_trajectory_generator.path_generator.path_generator.PathGenerator
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uuv_trajectory_generator.path_generator.path_generator.PathGenerator Class Reference
+
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+Inheritance diagram for uuv_trajectory_generator.path_generator.path_generator.PathGenerator:
+
+
+ + +uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator +uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator +uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator +uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+def __init__ (self, full_dof=False)
 
+def waypoints (self)
 
+def max_time (self)
 
+def duration (self)
 
+def duration (self, t)
 
+def start_time (self)
 
+def start_time (self, time)
 
def closest_waypoint (self)
 
def closest_waypoint_idx (self)
 
+def s_step (self)
 
+def s_step (self, step)
 
+def termination_by_time (self)
 
+def reset (self)
 
+def get_segment_idx (self, s)
 
+def get_remaining_waypoints_idx (self, s)
 
+def is_full_dof (self)
 
+def set_full_dof (self, flag)
 
+def get_label (self)
 
+def init_interpolator (self)
 
+def get_samples (self, max_time, step=0.005)
 
+def get_visual_markers (self)
 
def add_waypoint (self, waypoint, add_to_beginning=False)
 
+def init_waypoints (self, waypoints=None, init_rot=np.array([0, 0, 0, 1]))
 
+def interpolate (self, tag, s)
 
+def is_finished (self, t)
 
+def has_started (self, t)
 
+def generate_pnt (self, s)
 
+def generate_pos (self, s)
 
+def generate_quat (self, s)
 
+def set_parameters (self, params)
 
+ + + + + +

+Static Public Member Functions

+def get_generator (name, *args, **kwargs)
 
+def get_all_generators ()
 
+ + + +

+Static Public Attributes

+string LABEL = ''
 
+

Detailed Description

+
Abstract class to be inherited by custom path generator to interpolate
+waypoints
+

Member Function Documentation

+ +

◆ add_waypoint()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.add_waypoint ( self,
 waypoint,
 add_to_beginning = False 
)
+
+
Add waypoint to the existing waypoint set. If no waypoint set has
+been initialized, create new waypoint set structure and add the given
+waypoint.
+
+
+ +

◆ closest_waypoint()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.closest_waypoint ( self)
+
+
Return the closest waypoint to the current position on the path.
+
+
+ +

◆ closest_waypoint_idx()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.closest_waypoint_idx ( self)
+
+
Return the index of the closest waypoint to the current position on the
+path.
+
+
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_trajectory_generator/path_generator/path_generator.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
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This is the complete list of members for uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
__init__(self, full_dof=False, stamped_pose_only=False) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
add_trajectory_point(self, pnt)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
add_trajectory_point_from_msg(self, msg) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
add_waypoint(self, waypoint, add_to_beginning=False)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
gen_trajectory_message(self) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
generate_reference(self, t, *args) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
get_interp_method(self) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
get_interpolator_tags(self) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
get_max_time(self) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
get_path_message(self) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
get_trajectory_as_message(self)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
get_visual_markers(self) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
get_waypoints(self)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
has_finished(self) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
has_started(self) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
init_from_trajectory_message(self, msg) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
init_from_waypoint_file(self, filename) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
init_from_waypoint_message(self, msg) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
interpolate(self, t, *args) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
is_running(self) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
is_using_finite_diff(self) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
is_using_stamped_pose_only(self) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
is_using_waypoints(self)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
points(self) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
set_duration(self, t) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
set_interp_method(self, method) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
set_interpolator_parameters(self, method, params) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
set_stamped_pose_only(self, flag) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
set_start_time(self, t) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
set_waypoints(self, waypoints, init_rot=(0, 0, 0, 1))uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
time(self) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
use_finite_diff(self, flag) (defined in uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator)uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator
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+Public Member Functions

+def __init__ (self, full_dof=False, stamped_pose_only=False)
 
+def points (self)
 
+def time (self)
 
+def use_finite_diff (self, flag)
 
+def is_using_finite_diff (self)
 
+def set_stamped_pose_only (self, flag)
 
+def is_using_stamped_pose_only (self)
 
+def set_interp_method (self, method)
 
+def get_interp_method (self)
 
+def get_interpolator_tags (self)
 
+def set_interpolator_parameters (self, method, params)
 
+def get_visual_markers (self)
 
def get_trajectory_as_message (self)
 
def is_using_waypoints (self)
 
def set_waypoints (self, waypoints, init_rot=(0, 0, 0, 1))
 
def get_waypoints (self)
 
def add_waypoint (self, waypoint, add_to_beginning=False)
 
def add_trajectory_point (self, pnt)
 
+def add_trajectory_point_from_msg (self, msg)
 
+def set_duration (self, t)
 
+def get_max_time (self)
 
+def is_running (self)
 
+def has_started (self)
 
+def has_finished (self)
 
+def init_from_trajectory_message (self, msg)
 
+def init_from_waypoint_message (self, msg)
 
+def init_from_waypoint_file (self, filename)
 
+def gen_trajectory_message (self)
 
+def get_path_message (self)
 
+def set_start_time (self, t)
 
+def generate_reference (self, t, *args)
 
+def interpolate (self, t, *args)
 
+

Member Function Documentation

+ +

◆ add_trajectory_point()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.add_trajectory_point ( self,
 pnt 
)
+
+
If a trajectory set is currently being used in the interpolation
+process, add a trajectory point to the set.
+
+
+
+ +

◆ add_waypoint()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.add_waypoint ( self,
 waypoint,
 add_to_beginning = False 
)
+
+
Add waypoint to the current waypoint set, if one has been initialized.
+
+
+
+ +

◆ get_trajectory_as_message()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.get_trajectory_as_message ( self)
+
+
Return the trajectory points as a Trajectory type message. If waypoints
+are currently in use, then sample the interpolated path and return the
+poses only.
+
+
+
+ +

◆ get_waypoints()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.get_waypoints ( self)
+
+
Return the waypoints used by the waypoint interpolator,
+if any exist.
+
+
+
+ +

◆ is_using_waypoints()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.is_using_waypoints ( self)
+
+
Return true if the waypoint interpolation is being used.
+
+
+ +

◆ set_waypoints()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.set_waypoints ( self,
 waypoints,
 init_rot = (0, 0, 0, 1) 
)
+
+
Initializes the waypoint interpolator with a set of waypoints.
+
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_trajectory_generator/trajectory_generator.py
    • +
+
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+Generated by   +doxygen + 1.8.18 +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
__eq__(self, pnt) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
__init__(self, t=0.0, pos=[0, 0, 0], quat=[0, 0, 0, 1], lin_vel=[0, 0, 0], ang_vel=[0, 0, 0], lin_acc=[0, 0, 0], ang_acc=[0, 0, 0]) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
__str__(self) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
a(self)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
acc(self) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
acc(self, new_acc) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
alpha(self)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
from_dict(self, data) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
from_message(self, msg)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
p(self)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
pos(self) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
pos(self, new_pos) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
q(self)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
rot(self) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
rot(self, new_rot) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
rot_matrix(self) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
rotq(self) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
rotq(self, quat) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
t(self)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
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to_dict(self) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
to_message(self)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
v(self)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
vel(self) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
vel(self, new_vel) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
w(self)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
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x(self, x) (defined in uuv_trajectory_generator.trajectory_point.TrajectoryPoint)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
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z(self)uuv_trajectory_generator.trajectory_point.TrajectoryPoint
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+def __init__ (self, t=0.0, pos=[0, 0, 0], quat=[0, 0, 0, 1], lin_vel=[0, 0, 0], ang_vel=[0, 0, 0], lin_acc=[0, 0, 0], ang_acc=[0, 0, 0])
 
+def __str__ (self)
 
+def __eq__ (self, pnt)
 
def p (self)
 
def q (self)
 
def v (self)
 
def w (self)
 
def a (self)
 
def alpha (self)
 
def x (self)
 
+def x (self, x)
 
def y (self)
 
+def y (self, y)
 
def z (self)
 
+def z (self, z)
 
def t (self)
 
def t (self, new_t)
 
+def pos (self)
 
+def pos (self, new_pos)
 
+def rot (self)
 
+def rot (self, new_rot)
 
+def rot_matrix (self)
 
+def rotq (self)
 
+def rotq (self, quat)
 
+def vel (self)
 
+def vel (self, new_vel)
 
+def acc (self)
 
+def acc (self, new_acc)
 
def to_message (self)
 
def from_message (self, msg)
 
+def from_dict (self, data)
 
+def to_dict (self)
 
+

Member Function Documentation

+ +

◆ a()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.a ( self)
+
+
Return linear acceleration vector.
+
+
+ +

◆ alpha()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.alpha ( self)
+
+
Return angular acceleration vector.
+
+
+ +

◆ from_message()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.from_message ( self,
 msg 
)
+
+
Read trajectory point message and initialize internal attributes.
+
+
+ +

◆ p()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.p ( self)
+
+
Return position vector.
+
+
+ +

◆ q()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.q ( self)
+
+
Return rotation quaterinon.
+
+
+ +

◆ t() [1/2]

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.t ( self)
+
+
Return time stamp in seconds.
+
+
+ +

◆ t() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.t ( self,
 new_t 
)
+
+
Set time stamp in seconds.
+
+
+ +

◆ to_message()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.to_message ( self)
+
+
Convert current data to a trajectory point message.
+
+
+ +

◆ v()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.v ( self)
+
+
Return linear velocity vector.
+
+
+ +

◆ w()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.w ( self)
+
+
Return angular velocity vector.
+
+
+ +

◆ x()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.x ( self)
+
+
Return X coordinate from the position vector.
+
+
+ +

◆ y()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.y ( self)
+
+
Return Y coordinate from the position vector.
+
+
+ +

◆ z()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.z ( self)
+
+
Return Z coordinate from the position vector.
+
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_trajectory_generator/trajectory_point.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint.png b/docs/html/classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint.png new file mode 100644 index 0000000..e15714c Binary files /dev/null and b/docs/html/classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint.png differ diff --git a/docs/html/classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator-members.html b/docs/html/classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator-members.html new file mode 100644 index 0000000..ba5c9a4 --- /dev/null +++ b/docs/html/classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator-members.html @@ -0,0 +1,112 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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+
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+ + +
+
+
+
uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator Member List
+
+
+ +

This is the complete list of members for uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
__del__(self) (defined in uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
__init__(self, full_dof=False, use_finite_diff=True, interpolation_method='cubic', stamped_pose_only=False)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
add_waypoint(self, waypoint, add_to_beginning=False)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
closest_waypoint(self)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
closest_waypoint_idx(self)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
generate_pnt(self, t, *args)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
generate_reference(self, t, *args) (defined in uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
get_interpolation_method(self) (defined in uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
get_max_time(self)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
get_samples(self, step=0.005)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
get_visual_markers(self) (defined in uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
get_waypoints(self)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
init_waypoints(self, waypoint_set, init_rot=(0, 0, 0, 1))uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
interpolate(self, t, *args) (defined in uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
interpolator(self) (defined in uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
interpolator_tags(self) (defined in uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
is_finished(self)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
is_full_dof(self)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
reset(self)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
set_duration(self, t)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
set_interpolation_method(self, method) (defined in uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
set_interpolator_parameters(self, method, params) (defined in uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
set_start_time(self, t)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
stamped_pose_only(self) (defined in uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
stamped_pose_only(self, flag) (defined in uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
started(self)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
update_dt(self, t)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
use_finite_diff(self) (defined in uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
use_finite_diff(self, flag) (defined in uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator)uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator
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+Public Member Functions | +List of all members
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uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator Class Reference
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+
+
+Inheritance diagram for uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator:
+
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

def __init__ (self, full_dof=False, use_finite_diff=True, interpolation_method='cubic', stamped_pose_only=False)
 
+def __del__ (self)
 
def started (self)
 
def closest_waypoint (self)
 
def closest_waypoint_idx (self)
 
+def interpolator (self)
 
+def interpolator_tags (self)
 
+def use_finite_diff (self)
 
+def use_finite_diff (self, flag)
 
+def stamped_pose_only (self)
 
+def stamped_pose_only (self, flag)
 
+def get_interpolation_method (self)
 
+def get_visual_markers (self)
 
+def set_interpolation_method (self, method)
 
+def set_interpolator_parameters (self, method, params)
 
def is_full_dof (self)
 
def get_max_time (self)
 
def set_duration (self, t)
 
def is_finished (self)
 
def reset (self)
 
def init_waypoints (self, waypoint_set, init_rot=(0, 0, 0, 1))
 
def add_waypoint (self, waypoint, add_to_beginning=False)
 
def get_waypoints (self)
 
def update_dt (self, t)
 
def get_samples (self, step=0.005)
 
def set_start_time (self, t)
 
def generate_pnt (self, t, *args)
 
+def generate_reference (self, t, *args)
 
+def interpolate (self, t, *args)
 
+

Detailed Description

+
Class that generates a trajectory from the interpolated path generated
+from a set of waypoints. It uses the information given for the waypoint's
+maximum forward speed to estimate the velocity between waypoint and
+parametrize the interpolated curve.
+The velocity and acceleration profiles are the generated through finite
+discretization. These profiles are not optimized, this class is a
+simple solution for quick trajectory generation for waypoint navigation.
+

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.__init__ ( self,
 full_dof = False,
 use_finite_diff = True,
 interpolation_method = 'cubic',
 stamped_pose_only = False 
)
+
+
Class constructor.
+
+
+

Member Function Documentation

+ +

◆ add_waypoint()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.add_waypoint ( self,
 waypoint,
 add_to_beginning = False 
)
+
+
Add waypoint to the existing waypoint set. If no waypoint set has
+been initialized, create new waypoint set structure and add the given
+waypoint.
+
+
+ +

◆ closest_waypoint()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.closest_waypoint ( self)
+
+
Return the closest waypoint to the current position on the path.
+
+
+ +

◆ closest_waypoint_idx()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.closest_waypoint_idx ( self)
+
+
Return the index of the closest waypoint to the current position on the
+path.
+
+
+
+ +

◆ generate_pnt()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.generate_pnt ( self,
 t,
* args 
)
+
+
Return trajectory sample for the current parameter s.
+
+
+ +

◆ get_max_time()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.get_max_time ( self)
+
+
Return maximum trajectory time.
+
+
+ +

◆ get_samples()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.get_samples ( self,
 step = 0.005 
)
+
+
Return pose samples from the interpolated path.
+
+
+ +

◆ get_waypoints()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.get_waypoints ( self)
+
+
Return waypoint set.
+
+
+ +

◆ init_waypoints()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.init_waypoints ( self,
 waypoint_set,
 init_rot = (0, 0, 0, 1) 
)
+
+
Initialize the waypoint set.
+
+
+ +

◆ is_finished()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.is_finished ( self)
+
+
Return true if the trajectory has finished.
+
+
+ +

◆ is_full_dof()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.is_full_dof ( self)
+
+
Return true if the trajectory is generated for all 6 degrees of
+freedom.
+
+
+
+ +

◆ reset()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.reset ( self)
+
+
Reset all class attributes to allow a new trajectory to be
+computed.
+
+
+
+ +

◆ set_duration()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.set_duration ( self,
 t 
)
+
+
Set a new maximum trajectory time.
+
+
+ +

◆ set_start_time()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.set_start_time ( self,
 t 
)
+
+
Set a custom starting time to the interpolated trajectory.
+
+
+ +

◆ started()

+ +
+
+ + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.started ( self)
+
+
Return true if the interpolation has started.
+
+
+ +

◆ update_dt()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.update_dt ( self,
 t 
)
+
+
Update the time stamp.
+
+
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_trajectory_generator/wp_trajectory_generator.py
    • +
+
+ +
+Generated by   +doxygen + 1.8.18 +
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uuv_waypoints.waypoint.Waypoint Member List
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+ +

This is the complete list of members for uuv_waypoints.waypoint.Waypoint, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
__eq__(self, other) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
__init__(self, x=0, y=0, z=0, max_forward_speed=0, heading_offset=0, use_fixed_heading=False, inertial_frame_id='world', radius_acceptance=0.0) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
__ne__(self, other) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
__str__(self) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
calculate_heading(self, target) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
dist(self, pos) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
FAILED_WAYPOINT (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypointstatic
FINAL_WAYPOINT_COLOR (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypointstatic
from_message(self, msg) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
get_color(self) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
get_final_color(self) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
heading(self) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
heading(self, angle) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
heading_offset(self) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
inertial_frame_id(self) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
inertial_frame_id(self, frame_id) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
max_forward_speed(self) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
max_forward_speed(self, vel) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
OK_WAYPOINT (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypointstatic
pos(self) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
pos(self, new_pos) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
radius_of_acceptance(self) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
radius_of_acceptance(self, radius) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
to_message(self) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
using_heading_offset(self) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
violates_constraint(self) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
violates_constraint(self, flag) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
x(self) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
y(self) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
z(self) (defined in uuv_waypoints.waypoint.Waypoint)uuv_waypoints.waypoint.Waypoint
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uuv_waypoints.waypoint.Waypoint Class Reference
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+Inheritance diagram for uuv_waypoints.waypoint.Waypoint:
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+Public Member Functions

+def __init__ (self, x=0, y=0, z=0, max_forward_speed=0, heading_offset=0, use_fixed_heading=False, inertial_frame_id='world', radius_acceptance=0.0)
 
+def __eq__ (self, other)
 
+def __ne__ (self, other)
 
+def __str__ (self)
 
+def inertial_frame_id (self)
 
+def inertial_frame_id (self, frame_id)
 
+def x (self)
 
+def y (self)
 
+def z (self)
 
+def pos (self)
 
+def pos (self, new_pos)
 
+def violates_constraint (self)
 
+def violates_constraint (self, flag)
 
+def max_forward_speed (self)
 
+def max_forward_speed (self, vel)
 
+def heading_offset (self)
 
+def heading (self)
 
+def heading (self, angle)
 
+def radius_of_acceptance (self)
 
+def radius_of_acceptance (self, radius)
 
+def using_heading_offset (self)
 
+def get_color (self)
 
+def get_final_color (self)
 
+def from_message (self, msg)
 
+def to_message (self)
 
+def dist (self, pos)
 
+def calculate_heading (self, target)
 
+ + + + + + + +

+Static Public Attributes

+list FINAL_WAYPOINT_COLOR = [1.0, 131.0 / 255, 0.0]
 
+list OK_WAYPOINT = [31. / 255, 106. / 255, 226. / 255]
 
+list FAILED_WAYPOINT = [1.0, 0.0, 0.0]
 
+
The documentation for this class was generated from the following file:
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  • control_layer/uuv_trajectory_control/src/uuv_waypoints/waypoint.py
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uuv_waypoints.waypoint_set.WaypointSet Member List
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This is the complete list of members for uuv_waypoints.waypoint_set.WaypointSet, including all inherited members.

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__init__(self, scale=0.1, inertial_frame_id='world', max_surge_speed=None) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
__str__(self) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
add_waypoint(self, waypoint, add_to_beginning=False) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
add_waypoint_from_msg(self, msg) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
clear_waypoints(self) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
dist_to_waypoint(self, pos, index=0) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
export_to_file(self, path, filename) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
FAILED_WAYPOINT (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSetstatic
FINAL_WAYPOINT_COLOR (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSetstatic
from_message(self, msg) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
generate_circle(self, radius, center, num_points, max_forward_speed, theta_offset=0.0, heading_offset=0.0, append=False) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
generate_helix(self, radius, center, num_points, max_forward_speed, delta_z, num_turns, theta_offset=0.0, heading_offset=0.0, append=False) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
get_last_waypoint(self) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
get_radius_of_acceptance(self, index) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
get_start_waypoint(self) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
get_waypoint(self, index) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
inertial_frame_id (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
inertial_frame_id(self) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
inertial_frame_id(self, frame_id) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
is_empty(self) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
num_waypoints (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
num_waypoints(self) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
OK_WAYPOINT (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSetstatic
read_from_file(self, filename) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
remove_waypoint(self, waypoint) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
set_constraint_status(self, index, flag) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
set_radius_of_acceptance(self, index, radius) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
to_marker_list(self, clear=False) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
to_message(self) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
to_path_marker(self, clear=False) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
x(self) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
y(self) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
z(self) (defined in uuv_waypoints.waypoint_set.WaypointSet)uuv_waypoints.waypoint_set.WaypointSet
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uuv_waypoints.waypoint_set.WaypointSet Class Reference
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+Public Member Functions

+def __init__ (self, scale=0.1, inertial_frame_id='world', max_surge_speed=None)
 
+def __str__ (self)
 
+def num_waypoints (self)
 
+def x (self)
 
+def y (self)
 
+def z (self)
 
+def is_empty (self)
 
+def inertial_frame_id (self)
 
+def inertial_frame_id (self, frame_id)
 
+def clear_waypoints (self)
 
+def set_constraint_status (self, index, flag)
 
+def get_waypoint (self, index)
 
+def add_waypoint (self, waypoint, add_to_beginning=False)
 
+def add_waypoint_from_msg (self, msg)
 
+def get_start_waypoint (self)
 
+def get_last_waypoint (self)
 
+def remove_waypoint (self, waypoint)
 
+def read_from_file (self, filename)
 
+def export_to_file (self, path, filename)
 
+def to_message (self)
 
+def from_message (self, msg)
 
+def dist_to_waypoint (self, pos, index=0)
 
+def set_radius_of_acceptance (self, index, radius)
 
+def get_radius_of_acceptance (self, index)
 
+def to_path_marker (self, clear=False)
 
+def to_marker_list (self, clear=False)
 
+def generate_circle (self, radius, center, num_points, max_forward_speed, theta_offset=0.0, heading_offset=0.0, append=False)
 
+def generate_helix (self, radius, center, num_points, max_forward_speed, delta_z, num_turns, theta_offset=0.0, heading_offset=0.0, append=False)
 
+ + + + + +

+Public Attributes

+ inertial_frame_id
 
+ num_waypoints
 
+ + + + + + + +

+Static Public Attributes

+list FINAL_WAYPOINT_COLOR = [1.0, 131.0 / 255, 0.0]
 
+list OK_WAYPOINT = [31. / 255, 106. / 255, 226. / 255]
 
+list FAILED_WAYPOINT = [1.0, 0.0, 0.0]
 
+
The documentation for this class was generated from the following file:
    +
  • control_layer/uuv_trajectory_control/src/uuv_waypoints/waypoint_set.py
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filterContours(const std::vector< std::vector< cv::Point > > &contours, std::vector< int > &idx, double threshold) (defined in vision_commons::Contour)vision_commons::Contourstatic
filterContours(const std::vector< std::vector< cv::Point > > &contours, double threshold) (defined in vision_commons::Contour)vision_commons::Contourstatic
getBestX(cv::Mat &raw, int x) (defined in vision_commons::Contour)vision_commons::Contourstatic
getBestXConvexHulled(cv::Mat &raw, int x) (defined in vision_commons::Contour)vision_commons::Contourstatic
getLargestContour(cv::Mat &raw) (defined in vision_commons::Contour)vision_commons::Contourstatic
sortFromBigToSmall(std::vector< std::vector< cv::Point > > &contours) (defined in vision_commons::Contour)vision_commons::Contourstatic
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+static std::vector< std::vector< cv::Point > > getBestX (cv::Mat &raw, int x)
 
+static std::vector< std::vector< cv::Point > > getBestXConvexHulled (cv::Mat &raw, int x)
 
+static std::vector< cv::Point > getLargestContour (cv::Mat &raw)
 
+static void filterContours (const std::vector< std::vector< cv::Point > > &contours, std::vector< int > &idx, double threshold)
 
+static std::vector< std::vector< cv::Point > > filterContours (const std::vector< std::vector< cv::Point > > &contours, double threshold)
 
+static void sortFromBigToSmall (std::vector< std::vector< cv::Point > > &contours)
 
+
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balance_white(cv::Mat &image) (defined in vision_commons::Filter)vision_commons::Filterstatic
bilateral(cv::Mat &src, int iterations) (defined in vision_commons::Filter)vision_commons::Filterstatic
blue_filter(cv::Mat &image, double clahe_clip, int clahe_grid_size, int clahe_bilateral_iter, int balanced_bilateral_iter, double denoise_h) (defined in vision_commons::Filter)vision_commons::Filterstatic
clahe(cv::Mat &image, double clahe_clip, int clahe_grid_size) (defined in vision_commons::Filter)vision_commons::Filterstatic
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+static cv::Mat clahe (cv::Mat &image, double clahe_clip, int clahe_grid_size)
 
+static cv::Mat balance_white (cv::Mat &image)
 
+static cv::Mat blue_filter (cv::Mat &image, double clahe_clip, int clahe_grid_size, int clahe_bilateral_iter, int balanced_bilateral_iter, double denoise_h)
 
+static void bilateral (cv::Mat &src, int iterations)
 
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angleWrtY(cv::Point &p1, cv::Point &p2) (defined in vision_commons::Geometry)vision_commons::Geometrystatic
distance(cv::Point &p1, cv::Point &p2) (defined in vision_commons::Geometry)vision_commons::Geometrystatic
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+static double distance (cv::Point &p1, cv::Point &p2)
 
+static double angleWrtY (cv::Point &p1, cv::Point &p2)
 
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close(cv::Mat &raw, int element_size, int element_centerX, int element_centerY, int iterations) (defined in vision_commons::Morph)vision_commons::Morphstatic
open(cv::Mat &raw, int element_size, int element_centerX, int element_centerY, int iterations) (defined in vision_commons::Morph)vision_commons::Morphstatic
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+static void open (cv::Mat &raw, int element_size, int element_centerX, int element_centerY, int iterations)
 
+static void close (cv::Mat &raw, int element_size, int element_centerX, int element_centerY, int iterations)
 
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threshold(cv::Mat &raw, int low_a, int high_a, int low_b, int high_b, int low_c, int high_c) (defined in vision_commons::Threshold)vision_commons::Thresholdstatic
threshold(const cv::Mat &raw, const cv::Scalar &bgr_min, const cv::Scalar &bgr_max) (defined in vision_commons::Threshold)vision_commons::Thresholdstatic
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+static cv::Mat threshold (cv::Mat &raw, int low_a, int high_a, int low_b, int high_b, int low_c, int high_c)
 
+static cv::Mat threshold (const cv::Mat &raw, const cv::Scalar &bgr_min, const cv::Scalar &bgr_max)
 
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+
+
color_constancy.hpp
+
+
+
1 #ifndef COLOR_CONSTANCY_HPP
+
2 #define COLOR_CONSTANCY_HPP
+
3 
+
4 #include "opencv2/highgui/highgui.hpp"
+
5 #include "opencv2/imgproc/imgproc.hpp"
+
6 #include <iostream>
+
7 #include <stdio.h>
+
8 using namespace std;
+
9 using namespace cv;
+
10 
+
20 class color_correction
+
21 {
+
22 
+
23 public:
+
25  class contrast_stretching
+
26  {
+
27 
+
28  private:
+
29 
+
35  void cstretch(Mat src,Mat dst,int min,int max,int index);
+
36 
+
37  public:
+
40  Mat run(Mat);
+
41  Mat run1(Mat src);
+
42  };
+
43 
+
45  class gray_world
+
46  {
+
47 
+
48  public:
+
50  void process(Mat src1, int p, float *ml, float *ma, float *mb);
+
51 
+
55  void process(Mat src1, float *ml, float *ma, float *mb, int p, int m);
+
56 
+
58  Mat run2(Mat,int p,int m);
+
59 
+
61  Mat run1(Mat,int p);
+
62 
+
63  };
+
64 
+
65  /*
+
66  class to perform color correction using gray edge algorithm */
+
67  class gray_edge
+
68  {
+
70  enum ConvolutionType {
+
71  /* Return the full convolution, including border */
+
72  CONVOLUTION_FULL,
+
73 
+
74  /* Return only the part that corresponds to the original image */
+
75  CONVOLUTION_SAME,
+
76 
+
77  /* Return only the submatrix containing elements that were not influenced by the border */
+
78  CONVOLUTION_VALID
+
79  };
+
80 
+
82  void conv2(const Mat &img, const Mat& kernel, ConvolutionType type, Mat& dest);
+
83 
+
86  void process(Mat src1, float *ml, float *ma, float *mb, int p, int m);
+
87 
+
88  public:
+
90  Mat run(Mat, int p, int m);
+
91  };
+
92 
+
93  class maxRGB
+
94  {
+
95 
+
96  public:
+
97 
+
99  Mat run(Mat,int p,int m);
+
100 
+
105  void process(Mat src1,float *ml,float *ma,float *mb,int p,int m);
+
106 
+
107  };
+
108 
+
109  class max_edge
+
110  {
+
111  public:
+
113  Mat run(Mat,int p,int m);
+
114 
+
116  enum ConvolutionType {
+
117  /* Return the full convolution, including border */
+
118  CONVOLUTION_FULL,
+
119 
+
120  /* Return only the part that corresponds to the original image */
+
121  CONVOLUTION_SAME,
+
122 
+
123  /* Return only the submatrix containing elements that were not influenced by the border */
+
124  CONVOLUTION_VALID
+
125  };
+
126 
+
128  void conv2(const Mat &img, const Mat& kernel, ConvolutionType type, Mat& dest);
+
129 
+
131  void process(Mat src1,float *ml,float *ma,float *mb,int p,int m);
+
132  };
+
133 
+
134 };
+
135 
+
136 #endif // COLOR_CONSTANCY_HPP
+
+
color_correction::maxRGB
Definition: color_constancy.hpp:93
+
color_correction::max_edge
Definition: color_constancy.hpp:109
+
color_correction
class defining generic interfaces and methods common for color correction methods
Definition: color_constancy.hpp:20
+
color_correction::gray_edge
Definition: color_constancy.hpp:67
+
color_correction::gray_world
Definition: color_constancy.hpp:45
+
color_correction::contrast_stretching
class defining methods to perform color correction using modified contrast stretching
Definition: color_constancy.hpp:25
+
color_correction::max_edge::ConvolutionType
ConvolutionType
Definition: color_constancy.hpp:116
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/conf_8h_source.html b/docs/html/conf_8h_source.html new file mode 100644 index 0000000..9cad8ec --- /dev/null +++ b/docs/html/conf_8h_source.html @@ -0,0 +1,95 @@ + + + + + + + +Anahita: navigation_layer/mapping/include/conf.h Source File + + + + + + + + + +
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+
conf.h
+
+
+
1 #ifndef CONF_H
+
2 #define CONF_H
+
3 
+
4 #define DT .2
+
5 #define NUM_PARTICLES 20
+
6 
+
7 #define PROCESS_ACCURACY .9
+
8 #define PROCESS_NOISE .1
+
9 #define PARTICLE_NOISE 0.5
+
10 #define LANDMARK_SIGNIFICANCE 4
+
11 
+
12 #define VERBOSE
+
13 // #define PLOT
+
14 
+
15 #endif
+
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/contour_8h_source.html b/docs/html/contour_8h_source.html new file mode 100644 index 0000000..741f941 --- /dev/null +++ b/docs/html/contour_8h_source.html @@ -0,0 +1,101 @@ + + + + + + + +Anahita: vision_layer/vision_commons/include/contour.h Source File + + + + + + + + + +
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+
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+
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+ + +
+
+
+
contour.h
+
+
+
1 #ifndef contour_H
+
2 #define contour_H
+
3 
+
4 #include "opencv2/core/core.hpp"
+
5 
+
6 namespace vision_commons
+
7 {
+
8 class Contour
+
9 {
+
10 public:
+
11  static std::vector<std::vector<cv::Point> > getBestX(cv::Mat &raw, int x);
+
12  static std::vector<std::vector<cv::Point> > getBestXConvexHulled(cv::Mat &raw, int x);
+
13  static std::vector<cv::Point> getLargestContour(cv::Mat &raw);
+
14  static void filterContours (const std::vector<std::vector<cv::Point> >& contours, std::vector<int>& idx, double threshold);
+
15  static std::vector<std::vector<cv::Point> > filterContours (const std::vector<std::vector<cv::Point> >& contours, double threshold);
+
16  static void sortFromBigToSmall (std::vector<std::vector<cv::Point> >& contours);
+
17 };
+
18 } // namespace vision_commons
+
19 
+
20 #endif
+
+
vision_commons::Contour
Definition: contour.h:8
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/crucifix_8h_source.html b/docs/html/crucifix_8h_source.html new file mode 100644 index 0000000..ce738fd --- /dev/null +++ b/docs/html/crucifix_8h_source.html @@ -0,0 +1,101 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/crucifix.h Source File + + + + + + + + + +
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+
crucifix.h
+
+
+
1 #ifndef CRUCIFIX_H
+
2 #define CRUCIFIX_H
+
3 
+
4 #include "base_class.h"
+
5 
+
6 class Crucifix : public Base_class
+
7 {
+
8 public:
+
9  Crucifix();
+
10  ~Crucifix();
+
11  virtual void loadParams () override;
+
12  virtual void spinThreadFront () override;
+
13  virtual void spinThreadBottom () override;
+
14 
+
15 private:
+
16  image_transport::Publisher front_roi_pub;
+
17 };
+
18 
+
19 #endif // CRUCIFIX_H
+
+
Base_class
Definition: base_class.h:34
+
Crucifix
Definition: crucifix.h:6
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/depth_8h_source.html b/docs/html/depth_8h_source.html new file mode 100644 index 0000000..7a08995 --- /dev/null +++ b/docs/html/depth_8h_source.html @@ -0,0 +1,220 @@ + + + + + + + +Anahita: vision_layer/image_undistort/include/image_undistort/depth.h Source File + + + + + + + + + +
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+
depth.h
+
+
+
1 #ifndef IMAGE_UNDISTORT_DISPARITY_H
+
2 #define IMAGE_UNDISTORT_DISPARITY_H
+
3 
+
4 #include <image_transport/image_transport.h>
+
5 #include <image_transport/subscriber_filter.h>
+
6 
+
7 #include <ros/callback_queue.h>
+
8 #include <ros/ros.h>
+
9 
+
10 #include <pcl_conversions/pcl_conversions.h>
+
11 #include <sensor_msgs/PointCloud2.h>
+
12 
+
13 #include <message_filters/subscriber.h>
+
14 #include <message_filters/sync_policies/approximate_time.h>
+
15 #include <message_filters/time_synchronizer.h>
+
16 
+
17 #include <cv_bridge/cv_bridge.h>
+
18 #include <opencv2/core/core.hpp>
+
19 #include <opencv2/opencv.hpp>
+
20 
+
21 namespace image_undistort {
+
22 
+
23 // Default values
+
24 
+
25 // queue size
+
26 constexpr int kDepthQueueSize = 10;
+
27 // small number used to check things are approximately equal
+
28 constexpr double kDelta = 0.000000001;
+
29 // stereo parameters
+
30 constexpr int kPreFilterCap = 31;
+
31 constexpr int kSADWindowSize = 11;
+
32 constexpr int kMinDisparity = 0;
+
33 constexpr int kNumDisparities = 64;
+
34 constexpr int kUniquenessRatio = 0;
+
35 constexpr int kSpeckleRange = 3;
+
36 constexpr int kSpeckleWindowSize = 500;
+
37 // bm parameters
+
38 constexpr int kTextureThreshold = 0;
+
39 const std::string kPreFilterType = "xsobel";
+
40 constexpr int kPreFilterSize = 9;
+
41 // sgbm parameters
+
42 constexpr bool kUseSGBM = false;
+
43 constexpr int kP1 = 120;
+
44 constexpr int kP2 = 240;
+
45 constexpr int kDisp12MaxDiff = -1;
+
46 constexpr bool kUseHHMode = false;
+
47 
+
48 constexpr bool kDoMedianBlur = true;
+
49 
+
50 class Depth {
+
51  public:
+
52  Depth(const ros::NodeHandle& nh, const ros::NodeHandle& nh_private);
+
53 
+
54  void camerasCallback(
+
55  const sensor_msgs::ImageConstPtr& first_image_msg_in,
+
56  const sensor_msgs::ImageConstPtr& second_image_msg_in,
+
57  const sensor_msgs::CameraInfoConstPtr& first_camera_info_msg_in,
+
58  const sensor_msgs::CameraInfoConstPtr& second_camera_info_msg_in);
+
59 
+
60  private:
+
61  int getQueueSize() const;
+
62 
+
63  static bool ApproxEq(double A, double B);
+
64 
+
65  bool processCameraInfo(
+
66  const sensor_msgs::CameraInfoConstPtr& first_camera_info,
+
67  const sensor_msgs::CameraInfoConstPtr& second_camera_info,
+
68  double* baseline, double* focal_length, bool* first_is_left, int* cx,
+
69  int* cy);
+
70 
+
71  static void fillDisparityFromSide(const cv::Mat& input_disparity,
+
72  const cv::Mat& valid, const bool& from_left,
+
73  cv::Mat* filled_disparity);
+
74 
+
75  void bulidFilledDisparityImage(const cv::Mat& input_disparity,
+
76  cv::Mat* disparity_filled,
+
77  cv::Mat* input_valid) const;
+
78 
+
79  void calcDisparityImage(const sensor_msgs::ImageConstPtr& first_image_msg_in,
+
80  const sensor_msgs::ImageConstPtr& second_image_msg_in,
+
81  cv_bridge::CvImagePtr disparity_ptr) const;
+
82 
+
83  void calcPointCloud(const cv::Mat& input_disparity, const cv::Mat& left_image,
+
84  const double baseline, const double focal_length,
+
85  const int cx, const int cy,
+
86  pcl::PointCloud<pcl::PointXYZRGB>* pointcloud,
+
87  pcl::PointCloud<pcl::PointXYZRGB>* freespace_pointcloud);
+
88 
+
89  // nodes
+
90  ros::NodeHandle nh_;
+
91  ros::NodeHandle nh_private_;
+
92  image_transport::ImageTransport it_;
+
93 
+
94  int queue_size_;
+
95 
+
96  // subscribers
+
97  image_transport::SubscriberFilter first_image_sub_;
+
98  image_transport::SubscriberFilter second_image_sub_;
+
99  message_filters::Subscriber<sensor_msgs::CameraInfo> first_camera_info_sub_;
+
100  message_filters::Subscriber<sensor_msgs::CameraInfo> second_camera_info_sub_;
+
101 
+
102  // publishers
+
103  image_transport::Publisher disparity_pub_;
+
104  ros::Publisher pointcloud_pub_;
+
105  ros::Publisher freespace_pointcloud_pub_;
+
106 
+
107  // filters
+
108  typedef message_filters::sync_policies::ApproximateTime<
+
109  sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo,
+
110  sensor_msgs::CameraInfo>
+
111  CameraSyncPolicy;
+
112  message_filters::Synchronizer<CameraSyncPolicy> camera_sync_;
+
113 
+
114  // stereo parameters
+
115  int pre_filter_cap_;
+
116  int sad_window_size_;
+
117  int min_disparity_;
+
118  int num_disparities_;
+
119  int uniqueness_ratio_;
+
120  int speckle_range_;
+
121  int speckle_window_size_;
+
122 
+
123  // bm parameters
+
124  int texture_threshold_;
+
125  int pre_filter_type_;
+
126  int pre_filter_size_;
+
127 
+
128  // sgbm parameters
+
129  bool use_sgbm_;
+
130  int p1_;
+
131  int p2_;
+
132  int disp_12_max_diff_;
+
133  bool use_mode_HH_;
+
134 
+
135  bool do_median_blur_;
+
136 };
+
137 }
+
138 
+
139 #endif
+
+
image_undistort::Depth
Definition: depth.h:50
+ +
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directory  hardware_arduino
 
directory  hardware_bringup
 
directory  hardware_camera
 
directory  hardware_dvl_ethernet
 
directory  hardware_imu
 
directory  hardware_pressure
 
directory  xsens_driver
 
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dvl_connection.h
+
+
+
1 #ifndef DVL_CONNECTION_H
+
2 #define DVL_CONNECTION_H
+
3 
+
4 #include <string>
+
5 #include <ros/node_handle.h>
+
6 #include <geometry_msgs/TwistStamped.h>
+
7 #include <sensor_msgs/FluidPressure.h>
+
8 #include "dvl_ethernet.h"
+
9 #include "dvl_data.h"
+
10 
+
11 namespace hardware_dvl {
+
12 
+
13  class DVLNode {
+
14  public:
+
15 
+
16  DVLNode(const ros::NodeHandlePtr &nh);
+
17  ~DVLNode();
+
18  void Spin();
+
19 
+
20  private:
+
21 
+
22  void FillTwistMessage(ros::Time timestamp);
+
23  void FillFluidPressureMessage(ros::Time timestamp);
+
24 
+
25  ros::NodeHandlePtr nh_;
+
26  DVLEthernet socket_;
+
27 
+
28  DVLformat21_t dvl_data_;
+
29 
+
30  ros::Time timestamp_;
+
31  ros::Publisher dvl_twist_publisher_;
+
32  ros::Publisher dvl_fluid_pressure_publisher_;
+
33  };
+
34 
+
35 }
+
36 
+
37 #endif //DVL_NODE_H
+
+
DVLEthernet
Definition: dvl_ethernet.h:9
+
DVLformat21_t
Definition: dvl_data.h:94
+
hardware_dvl::DVLNode
Definition: dvl_connection.h:13
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/dvl__ethernet_8h_source.html b/docs/html/dvl__ethernet_8h_source.html new file mode 100644 index 0000000..5cfa964 --- /dev/null +++ b/docs/html/dvl__ethernet_8h_source.html @@ -0,0 +1,107 @@ + + + + + + + +Anahita: hardware_layer/hardware_dvl_ethernet/include/dvl_ethernet.h Source File + + + + + + + + + +
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+
dvl_ethernet.h
+
+
+
1 #ifndef DVL_ETHERNET_H
+
2 #define DVL_ETHERNET_H
+
3 
+
4 #include <string>
+
5 #include <ros/ros.h>
+
6 #include <sys/socket.h>
+
7 #include <arpa/inet.h> // definitions for internet operations
+
8 
+
9 class DVLEthernet {
+
10  public:
+
11 
+
12  DVLEthernet();
+
13  ~DVLEthernet();
+
14 
+
15  void Connect(std::string address, int port);
+
16  void Receive();
+
17  char* GetRawData();
+
18 
+
19  private:
+
20 
+
21  int socket_;
+
22  char data_[2048];
+
23 
+
24 };
+
25 
+
26 #endif //DVL_ETHERNET_H
+
+
DVLEthernet
Definition: dvl_ethernet.h:9
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/errorToPWM_8h_source.html b/docs/html/errorToPWM_8h_source.html new file mode 100644 index 0000000..5843cc4 --- /dev/null +++ b/docs/html/errorToPWM_8h_source.html @@ -0,0 +1,123 @@ + + + + + + + +Anahita: debug_layer/pid_calibration/include/pid_calibration/errorToPWM.h Source File + + + + + + + + + +
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errorToPWM.h
+
+
+
1 // Copyright 2018 AUV-IITK
+
2 #ifndef ERRORDESCRIPTOR_H
+
3 #define ERRORDESCRIPTOR_H
+
4 
+
5 #include <ros/ros.h>
+
6 #include <std_msgs/Float32.h>
+
7 #include <std_msgs/Float64.h>
+
8 #include <std_msgs/Int32.h>
+
9 #include <string>
+
10 
+
11 class ErrorDescriptor {
+
12  private: std::string name_;
+
13  private: int pwm_;
+
14 
+
15  private: double p_;
+
16  private: double i_;
+
17  private: double d_;
+
18  private: double band_;
+
19 
+
20  private: double current_value_;
+
21  private: double previous_value_;
+
22  private: double error_;
+
23  private: double error_value_;
+
24  private: double reference_value_;
+
25 
+
26  private: double seed_;
+
27  private: double previous_time_stamp_ = 0;
+
28  private: double current_time_stamp_ = 0;
+
29 
+
30  public: ErrorDescriptor(std::string _name);
+
31  public: ~ErrorDescriptor();
+
32 
+
33  public: void setPID(float new_p, float new_i, float new_d, float new_band);
+
34  public: void setType(std::string _name);
+
35  public: void setReference(double _value);
+
36 
+
37  public: void errorToPWM(double _current_value);
+
38  private: void turningOutputPWMMapping(float output);
+
39  public: int getPWM();
+
40  public: double getCurrentValue();
+
41 };
+
42 #endif // !ERRORDESCRIPTOR_H
+
+
ErrorDescriptor
Definition: errorToPWM.h:11
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/files.html b/docs/html/files.html new file mode 100644 index 0000000..877a015 --- /dev/null +++ b/docs/html/files.html @@ -0,0 +1,153 @@ + + + + + + + +Anahita: File List + + + + + + + + + +
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Here is a list of all documented files with brief descriptions:
+
[detail level 12345]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
 ▼ debug_layer
 ▼ pid_calibration
 ▼ include
 ▼ pid_calibration
 errorToPWM.h
 ▼ hardware_layer
 ▼ hardware_arduino
 ▼ include
 MS5837.h
 ▼ hardware_dvl_ethernet
 ▼ include
 dvl_connection.h
 dvl_data.h
 dvl_ethernet.h
 ▼ navigation_layer
 ▼ mapping
 ▼ include
 conf.h
 ekf.h
 mapping_main.h
 slam_ekf.h
 slam_filter.h
 slam_server.h
 util.h
 ▼ odom_dvl_imu
 ▼ include
 dvl_data.h
 ekf.h
 imu_data.h
 nav_main.h
 navigation_device.h
 ▼ vision_layer
 ▼ image_undistort
 ▼ include
 ▼ image_undistort
 camera_parameters.h
 depth.h
 image_undistort.h
 point_to_bearing.h
 stereo_info.h
 stereo_undistort.h
 undistorter.h
 ▼ vision_commons
 ▼ include
 contour.h
 filter.h
 geometry.h
 morph.h
 threshold.h
 ▼ vision_fusion
 ▼ include
 ▼ fusion
 color_constancy.hpp
 laplacianBlend.hpp
 ▼ vision_tasks
 ▼ include
 base_class.h
 buoy.h
 crucifix.h
 gate.h
 grabber.h
 line.h
 marker.h
 marker_dropper.h
 markerDropper.h
 markerDropper_niot.h
 octagon.h
 path_marker.h
 pinger.h
 start_gate.h
 testgate.h
 torpedo.h
 triangular_buoy.h
+
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+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/filter_8h_source.html b/docs/html/filter_8h_source.html new file mode 100644 index 0000000..3fc8d0c --- /dev/null +++ b/docs/html/filter_8h_source.html @@ -0,0 +1,102 @@ + + + + + + + +Anahita: vision_layer/vision_commons/include/filter.h Source File + + + + + + + + + +
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+
filter.h
+
+
+
1 #ifndef blue_filter_H
+
2 #define blue_filter_H
+
3 
+
4 #include "opencv2/core/core.hpp"
+
5 
+
6 namespace vision_commons
+
7 {
+
8 class Filter
+
9 {
+
10 public:
+
11  static cv::Mat clahe(cv::Mat& image, double clahe_clip,
+
12  int clahe_grid_size);
+
13  static cv::Mat balance_white(cv::Mat& image);
+
14  static cv::Mat blue_filter(cv::Mat& image, double clahe_clip,
+
15  int clahe_grid_size, int clahe_bilateral_iter,
+
16  int balanced_bilateral_iter, double denoise_h);
+
17  static void bilateral(cv::Mat& src, int iterations);
+
18 };
+
19 } // namespace vision_commons
+
20 
+
21 #endif
+
+
vision_commons::Filter
Definition: filter.h:8
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/functions.html b/docs/html/functions.html index 6074856..8166ea6 100644 --- a/docs/html/functions.html +++ b/docs/html/functions.html @@ -61,12 +61,28 @@
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Here is a list of all documented class members with links to the class documentation for each member:
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Here is a list of all documented class members with links to the class documentation for each member:
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+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
gate.h
+
+
+
1 #ifndef GATE_TASK_H
+
2 #define GATE_TASK_H
+
3 
+
4 #include "base_class.h"
+
5 
+
6 class Gate : public Base_class
+
7 {
+
8 public:
+
9  Gate();
+
10  void loadParams() override;
+
11  void spinThreadFront() override;
+
12 
+
13 private:
+
14  image_transport::Publisher front_roi_pub;
+
15 };
+
16 
+
17 #endif // GATE_TASK_H
+
+
Base_class
Definition: base_class.h:34
+
Gate
Definition: gate.h:6
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/geometry_8h_source.html b/docs/html/geometry_8h_source.html new file mode 100644 index 0000000..6733886 --- /dev/null +++ b/docs/html/geometry_8h_source.html @@ -0,0 +1,101 @@ + + + + + + + +Anahita: vision_layer/vision_commons/include/geometry.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
geometry.h
+
+
+
1 #ifndef geometry_H
+
2 #define geometry_H
+
3 
+
4 #include "opencv2/core/core.hpp"
+
5 
+
6 namespace vision_commons
+
7 {
+
8 class Geometry
+
9 {
+
10 public:
+
11  static double distance(
+
12  cv::Point& p1,
+
13  cv::Point& p2);
+
14  static double angleWrtY(
+
15  cv::Point& p1,
+
16  cv::Point& p2);
+
17 };
+
18 } // namespace vision_commons
+
19 
+
20 #endif
+
+
vision_commons::Geometry
Definition: geometry.h:8
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/grabber_8h_source.html b/docs/html/grabber_8h_source.html new file mode 100644 index 0000000..2db400a --- /dev/null +++ b/docs/html/grabber_8h_source.html @@ -0,0 +1,101 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/grabber.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
grabber.h
+
+
+
1 #ifndef GRABBER_H
+
2 #define GRABBER_H
+
3 
+
4 #include "base_class.h"
+
5 
+
6 class Grabber: public Base_class
+
7 {
+
8 public:
+
9  Grabber();
+
10  ~Grabber();
+
11  virtual void loadParams () override;
+
12  virtual void spinThreadFront () override;
+
13  virtual void spinThreadBottom () override;
+
14 
+
15 private:
+
16  image_transport::Publisher front_roi_pub;
+
17 };
+
18 
+
19 #endif // GRABBER_H
+
+
Grabber
Definition: grabber.h:6
+
Base_class
Definition: base_class.h:34
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/hardware__layer_2hardware__dvl__ethernet_2include_2dvl__data_8h_source.html b/docs/html/hardware__layer_2hardware__dvl__ethernet_2include_2dvl__data_8h_source.html new file mode 100644 index 0000000..65fca80 --- /dev/null +++ b/docs/html/hardware__layer_2hardware__dvl__ethernet_2include_2dvl__data_8h_source.html @@ -0,0 +1,203 @@ + + + + + + + +Anahita: hardware_layer/hardware_dvl_ethernet/include/dvl_data.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
dvl_data.h
+
+
+
1 #ifndef DVL_DATA_H
+
2 #define DVL_DATA_H
+
3 
+
4 #pragma pack(push, 1)
+
5 
+
6 typedef struct
+
7 {
+
8  unsigned char sync;
+
9  unsigned char hdrSize;
+
10  unsigned char ID;
+
11  unsigned char family;
+
12  unsigned short dataSize;
+
13  unsigned short dataChecksum;
+
14  unsigned short hdrChecksum;
+
15 } DVLHeader;
+
16 
+
17 typedef struct
+
18 {
+
19  unsigned long beam1VelValid : 1;
+
20  unsigned long beam2VelValid : 1;
+
21  unsigned long beam3VelValid : 1;
+
22  unsigned long beam4VelValid : 1;
+
23  unsigned long beam1DistValid : 1;
+
24  unsigned long beam2DistValid : 1;
+
25  unsigned long beam3DistValid : 1;
+
26  unsigned long beam4DistValid : 1;
+
27  unsigned long beam1FOMValid : 1;
+
28  unsigned long beam2FOMValid : 1;
+
29  unsigned long beam3FOMValid : 1;
+
30  unsigned long beam4FOMValid : 1;
+
31  unsigned long xVelValid : 1;
+
32  unsigned long yVelValid : 1;
+
33  unsigned long z1VelValid : 1;
+
34  unsigned long z2VelValid : 1;
+
35  unsigned long xFOMValid : 1;
+
36  unsigned long yFOMValid : 1;
+
37  unsigned long z1FOMValid : 1;
+
38  unsigned long z2FOMValid : 1;
+
39  unsigned long procIdle3 : 1;
+
40  unsigned long procIdle6 : 1;
+
41  unsigned long procIdle12 : 1;
+
42  unsigned long _empty1 : 5;
+
43  unsigned long wakeupstate : 4;
+
44 } DVLstatus;
+
45 
+
46 typedef struct
+
47 {
+
48  unsigned char version;
+
49  unsigned char offsetOfData;
+
50  unsigned long serialNumber;
+
51  unsigned char year;
+
52  unsigned char month;
+
53  unsigned char day;
+
54  unsigned char hour;
+
55  unsigned char minute;
+
56  unsigned char seconds;
+
57  unsigned short microSeconds100;
+
58  unsigned short nBeams;
+
59  unsigned long error;
+
60  DVLstatus status;
+
61  float soundSpeed;
+
62  float temperature;
+
63  float pressure;
+
64 /* Beam data */
+
65  float velBeam[4];
+
66  float distBeam[4];
+
67  float fomBeam[4];
+
68  float timeDiff1Beam[4];
+
69  float timeDiff2Beam[4];
+
70  float timeVelEstBeam[4];
+
71 /* XYZ data */
+
72  float velX;
+
73  float velY;
+
74  float velZ1;
+
75  float velZ2;
+
76  float fomX;
+
77  float fomY;
+
78  float fomZ1;
+
79  float fomZ2;
+
80  float timeDiff1X;
+
81  float timeDiff1Y;
+
82  float timeDiff1Z1;
+
83  float timeDiff1Z2;
+
84  float timeDiff2X;
+
85  float timeDiff2Y;
+
86  float timeDiff2Z1;
+
87  float timeDiff2Z2;
+
88  float timeVelEstX;
+
89  float timeVelEstY;
+
90  float timeVelEstZ1;
+
91  float timeVelEstZ2;
+
92 } DVLData;
+
93 
+
94 typedef struct {
+
95  DVLHeader header;
+
96  DVLData data;
+
97 } DVLformat21_t;
+
98 
+
99 #pragma pack(pop)
+
100 
+
101 inline unsigned short calculateChecksum(unsigned short *pData, unsigned short size)
+
102 {
+
103  unsigned short checksum = 0xB58C;
+
104  unsigned short nbshorts = (size >> 1);
+
105  int i;
+
106  for (i = 0; i < nbshorts; i++)
+
107  {
+
108  checksum += *pData;
+
109  size -= 2;
+
110  pData++;
+
111  }
+
112  if (size > 0)
+
113  {
+
114  checksum += ((unsigned short)(*pData)) << 8;
+
115  }
+
116  return checksum;
+
117 }
+
118 
+
119 #endif //DVL_DVL_DATA_H
+
+
DVLstatus
Definition: dvl_data.h:17
+
DVLHeader
Definition: dvl_data.h:6
+
DVLformat21_t
Definition: dvl_data.h:94
+
DVLData
Definition: dvl_data.h:46
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/hierarchy.html b/docs/html/hierarchy.html index bf28f2c..17069df 100644 --- a/docs/html/hierarchy.html +++ b/docs/html/hierarchy.html @@ -67,39 +67,163 @@
This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 123]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
 ▼Cobject
 Cmaster_layer.anahita_thruster_manager.AnahitaThrusterManager
 ▼CState
 Cmaster_layer.state_mach.FindBottomTarget
 Cmaster_layer.state_mach.FindFrontTarget
 Cmaster_layer.state_mach.IdentifyTarget
 Cmaster_layer.state_mach.RescueMode
 Cmaster_layer.state_mach.StationKeeping
 ▼Cmaster_layer.state_mach.TaskBaseClass
 Cmaster_layer.state_mach.BouyTask
 Cmaster_layer.state_mach.GateTask
 Cmaster_layer.state_mach.LineTask
 Cmaster_layer.state_mach.MarkerDropperTask
 Cmaster_layer.state_mach.MoveToXYZ
 Cmaster_layer.state_mach.OctagonTask
 Cmaster_layer.state_mach.TorpedoTask
 Cmaster_layer.state_mach.TooFar
 Cmaster_layer.state_mach.Transition
 Cmaster_layer.state_mach_gate_torpedo.FindBottomTarget
 Cmaster_layer.state_mach_gate_torpedo.FindFrontTarget
 Cmaster_layer.state_mach_gate_torpedo.IdentifyTarget
 Cmaster_layer.state_mach_gate_torpedo.RescueMode
 Cmaster_layer.state_mach_gate_torpedo.StationKeeping
 ▼Cmaster_layer.state_mach_gate_torpedo.TaskBaseClass
 Cmaster_layer.state_mach_gate_torpedo.BouyTask
 Cmaster_layer.state_mach_gate_torpedo.GateTask
 Cmaster_layer.state_mach_gate_torpedo.LineTask
 Cmaster_layer.state_mach_gate_torpedo.MarkerDropperTask
 Cmaster_layer.state_mach_gate_torpedo.MoveToXYZ
 Cmaster_layer.state_mach_gate_torpedo.OctagonTask
 Cmaster_layer.state_mach_gate_torpedo.TorpedoTask
 Cmaster_layer.state_mach_gate_torpedo.TooFar
 Cmaster_layer.state_mach_gate_torpedo.Transition
 CAccelerationControl.AccelerationControllerNode
 ►CBase_class
 ►Cimage_undistort::BaseCameraParameters
 Cimage_undistort::CameraParametersPair
 Ccolor_correctionClass defining generic interfaces and methods common for color correction methods
 Cvision_commons::Contour
 Ccolor_correction::contrast_stretchingClass defining methods to perform color correction using modified contrast stretching
 Cmtdef.DeprecatedMID
 Cimage_undistort::Depth
 Cmtdef.DeviceState
 Cdisturbance_manager.DisturbanceManager
 CDVLData
 CDVLEthernet
 CDVLformat21_t
 CDVLHeader
 Chardware_dvl::DVLNode
 CDVLstatus
 Cmapping::EKF< n, m, b >
 ►Cmapping::EKF< 3, 3, 3 >
 CErrorDescriptor
 ►CException
 Cnavigation::ExtendedKalmanFilter
 Cvision_commons::Filter
 Cvision_commons::Geometry
 Ccolor_correction::gray_edge
 Ccolor_correction::gray_world
 Cimage_undistort::ImageUndistort
 CLaplacianBlending
 Cmapping::MappingNode
 Ccolor_correction::max_edge
 Ccolor_correction::maxRGB
 Cmtdef.MID
 Cvision_commons::Morph
 CMS5837
 Cname
 ►Cnavigation::NavigationDevice
 Cnavigation::NavigationNode
 ►CNodelet
 ►Cobject
 CObservation
 Cmtdef.OutputMode
 Cmtdef.OutputSettings
 CPID.PIDRegulator.PIDRegulator
 Cimage_undistort::PointToBearing
 CPositionControlUnderactuated.PositionControllerNode
 CPositionControl.PositionControllerNode
 Cmapping::SlamClient
 Cmapping::SlamFilter
 Cmapping::SlamParticle
 Cmapping::SlamServer
 ►CState
 Cimage_undistort::StereoCameraParameters
 Cimage_undistort::StereoInfo
 Cimage_undistort::StereoUndistort
 CTestThis is a test class.

    +
  • +
+
 ►CTestCase
 Cvision_commons::Threshold
 Cuuv_thrusters.thruster_manager.ThrusterManager
 Ctrajectory_marker_publisher.TrajectoryMarkerPublisher
 Cimage_undistort::Undistorter
 CVelocityControl.VelocityControllerNode
 Cmtdef.XDIGroup
 ►CDPControllerBase
 ►CThrusterManager
diff --git a/docs/html/image__undistort_8h_source.html b/docs/html/image__undistort_8h_source.html new file mode 100644 index 0000000..44a453b --- /dev/null +++ b/docs/html/image__undistort_8h_source.html @@ -0,0 +1,223 @@ + + + + + + + +Anahita: vision_layer/image_undistort/include/image_undistort/image_undistort.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
image_undistort.h
+
+
+
1 #ifndef IMAGE_UNDISTORT_IMAGE_UNDISTORT_NODELET_H
+
2 #define IMAGE_UNDISTORT_IMAGE_UNDISTORT_NODELET_H
+
3 
+
4 #include <stdio.h>
+
5 #include <Eigen/Dense>
+
6 
+
7 #include <image_transport/image_transport.h>
+
8 #include <nodelet/nodelet.h>
+
9 #include <ros/callback_queue.h>
+
10 #include <ros/ros.h>
+
11 #include <tf/transform_broadcaster.h>
+
12 #include <tf_conversions/tf_eigen.h>
+
13 
+
14 #include <cv_bridge/cv_bridge.h>
+
15 #include <sensor_msgs/CameraInfo.h>
+
16 #include <sensor_msgs/Image.h>
+
17 
+
18 #include "image_undistort/undistorter.h"
+
19 
+
20 namespace image_undistort {
+
21 
+
22 // Default values
+
23 
+
24 // queue size
+
25 constexpr int kImageQueueSize = 10;
+
26 // true to load input cam_info from ros parameters, false to get it from a
+
27 // cam_info topic
+
28 constexpr bool kDefaultInputCameraInfoFromROSParams = false;
+
29 // source of output camera information, the options are as follows-
+
30 // "auto_generated": (default), automatically generated based on the input, the
+
31 // focal length is the average of fx and fy of the input, the center point is
+
32 // in the center of the image, R=I and only x-translation is preserved.
+
33 // Resolution is set to the largest area that contains no empty pixels. The
+
34 // size of the output can also be modified with the "scale" parameter
+
35 // "match_input": intrinsic values are taken from the input camera parameters
+
36 // "ros_params": values are loaded from ros parameters, usually stored in an
+
37 // xml file. The file format matches that generated by Kalibr.
+
38 // "camera_info": the output parameters are found through subscribing to a
+
39 // camera_info ros topic, (default topic is output/cam_info).
+
40 const std::string kDefaultOutputCameraInfoSource = "auto_generated";
+
41 // namespace to use when loading input camera parameters from ros params
+
42 const std::string kDefaultInputCameraNamespace = "input_camera";
+
43 // namespace to use when loading output camera parameters from ros params
+
44 const std::string kDefaultOutputCameraNamespace = "output_camera";
+
45 // true to process images, false if you only wish to generate a cam_info topic
+
46 // from ros params (the image topic must still be subscribed to so that the
+
47 // cam_info message is published at the correct times).
+
48 constexpr bool kDefaultProcessImage = true;
+
49 // true to undistort, false if you only wish to modify the intrinsics
+
50 constexpr bool kDefaultUndistortImage = true;
+
51 // downsamples output rate if <= 1, every frame is processed.
+
52 constexpr int kDefaultProcessEveryNthFrame = 1;
+
53 // converts the output image to the given format, set to the empty string "" to
+
54 // copy input type. Consult cv_bridge documentation for valid strings
+
55 const std::string kDefaultOutputImageType = "";
+
56 // if the output camera source is set to "auto_generated", the output focal
+
57 // length will be multiplied by this value. This has the effect of
+
58 // resizing the image by this scale factor.
+
59 constexpr double kDefaultScale = 1.0;
+
60 // if a tf between the input and output frame should be created
+
61 constexpr bool kDefaultPublishTF = true;
+
62 // name of output image frame
+
63 const std::string kDefaultOutputFrame = "output_camera";
+
64 // rename input frames
+
65 constexpr bool kDefaultRenameInputFrame = false;
+
66 // new name of input frame (only used if rename_input_frame = true)
+
67 const std::string kDefaultInputFrame = "input_camera";
+
68 // if radtan distortion should be called radtan (ASL standard) or plumb_bob (ros
+
69 // standard)
+
70 constexpr bool kDefaultRenameRadtanPlumbBob = false;
+
71 
+
72 class ImageUndistort {
+
73  public:
+
74  ImageUndistort(const ros::NodeHandle& nh_,
+
75  const ros::NodeHandle& nh_private_);
+
76 
+
77  private:
+
78  void imageMsgToCvMat(const sensor_msgs::ImageConstPtr& image_msg,
+
79  cv::Mat* image);
+
80 
+
81  void updateCameraInfo(const sensor_msgs::CameraInfo& camera_info);
+
82 
+
83  bool loadCameraParameters(const CameraIO& io,
+
84  sensor_msgs::CameraInfo* loaded_camera_info,
+
85  std::string* image_topic);
+
86 
+
87  void imageCallback(const sensor_msgs::ImageConstPtr& image_msg_in);
+
88 
+
89  void cameraCallback(const sensor_msgs::ImageConstPtr& image_msg,
+
90  const sensor_msgs::CameraInfoConstPtr& cam_info);
+
91 
+
92  void cameraInfoCallback(const sensor_msgs::CameraInfoConstPtr& camera_info);
+
93 
+
94  // nodes
+
95  ros::NodeHandle nh_;
+
96  ros::NodeHandle nh_private_;
+
97  image_transport::ImageTransport it_;
+
98 
+
99  // subscribers
+
100  image_transport::Subscriber image_sub_; // input image
+
101  image_transport::CameraSubscriber camera_sub_; // input image and camera_info
+
102  ros::Subscriber camera_info_sub_; // output camera_info
+
103 
+
104  // publishers
+
105  image_transport::CameraPublisher camera_pub_; // output image and camera_info
+
106  image_transport::Publisher image_pub_; // output image
+
107  ros::Publisher camera_info_pub_; // output camera_info
+
108 
+
109  // undistorter
+
110  std::shared_ptr<Undistorter> undistorter_ptr_;
+
111 
+
112  // tf broadcaster
+
113  tf::TransformBroadcaster br_;
+
114 
+
115  // camera info
+
116  std::shared_ptr<CameraParametersPair> camera_parameters_pair_ptr_;
+
117 
+
118  enum class OutputInfoSource {
+
119  AUTO_GENERATED,
+
120  MATCH_INPUT,
+
121  ROS_PARAMS,
+
122  CAMERA_INFO
+
123  };
+
124 
+
125  // other variables
+
126  int queue_size_;
+
127  bool process_image_;
+
128  OutputInfoSource output_camera_info_source_;
+
129  int process_every_nth_frame_;
+
130  std::string output_image_type_;
+
131  double scale_;
+
132  bool publish_tf_;
+
133  std::string output_frame_;
+
134  bool rename_input_frame_;
+
135  std::string input_frame_;
+
136  bool rename_radtan_plumb_bob_;
+
137 
+
138  int frame_counter_;
+
139 };
+
140 }
+
141 
+
142 #endif
+
+
image_undistort::ImageUndistort
Definition: image_undistort.h:72
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/imu__data_8h_source.html b/docs/html/imu__data_8h_source.html new file mode 100644 index 0000000..37e1ecb --- /dev/null +++ b/docs/html/imu__data_8h_source.html @@ -0,0 +1,112 @@ + + + + + + + +Anahita: navigation_layer/odom_dvl_imu/include/imu_data.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
imu_data.h
+
+
+
1 #ifndef IMU_DATA_H
+
2 #define IMU_DATA_H
+
3 
+
4 #include <sensor_msgs/Imu.h>
+
5 #include "navigation_device.h"
+
6 #include <eigen3/Eigen/Geometry>
+
7 namespace navigation{
+
8 
+
9 class IMUData: public NavigationDevice {
+
10 public:
+
11  const double RAD_TO_DEGREE = 180.0f / M_PI;
+
12 
+
13  IMUData();
+
14  ~IMUData();
+
15 
+
16  void IMUMsgCallback(sensor_msgs::Imu msg);
+
17  Eigen::Quaterniond GetQuaternion();
+
18  Eigen::Vector3d GetOrientation();
+
19  Eigen::Vector3d GetAngularVelocity();
+
20 
+
21 private:
+
22 
+
23  Eigen::Quaterniond quaternion_;
+
24  Eigen::Vector3d eulerAngle_;
+
25  Eigen::Vector3d angularVelocity_;
+
26  Eigen::Vector3d linearAcceleration_;
+
27 };
+
28 
+
29 }
+
30 #endif // IMUDATA_H
+
+
navigation::IMUData
Definition: imu_data.h:9
+
navigation::NavigationDevice
Definition: navigation_device.h:7
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/laplacianBlend_8hpp_source.html b/docs/html/laplacianBlend_8hpp_source.html new file mode 100644 index 0000000..0392fb7 --- /dev/null +++ b/docs/html/laplacianBlend_8hpp_source.html @@ -0,0 +1,125 @@ + + + + + + + +Anahita: vision_layer/vision_fusion/include/fusion/laplacianBlend.hpp Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
laplacianBlend.hpp
+
+
+
1 #ifndef LAPLACIANBLEND
+
2 #define LAPLACIANBLEND
+
3 
+
4 #include <iostream>
+
5 #include <opencv/cv.h>
+
6 #include <opencv/highgui.h>
+
7 
+
8 using namespace cv;
+
9 using namespace std;
+
10 
+
11 // Class that contains methods for Laplacian blend - assumes two images + corresponding masks
+
12 class LaplacianBlending {
+
13 private:
+
14  Mat_<Vec3f> left;
+
15  Mat_<Vec3f> right;
+
16  Mat_<float> leftMask;
+
17  Mat_<float> rightMask;
+
18 
+
19  vector<Mat_<Vec3f> > leftLapPyr, rightLapPyr, resultLapPyr;
+
20  Mat leftSmallestLevel, rightSmallestLevel, resultSmallestLevel;
+
21  vector<Mat_<Vec3f> > leftMaskGaussianPyr; // masks are 3-channels for easier multiplication with RGB
+
22  vector<Mat_<Vec3f> > rightMaskGaussianPyr; // masks are 3-channels for easier multiplication with RGB
+
23  int levels;
+
24 
+
25  // Methods
+
26  // Building pyramids
+
27  void buildPyramids();
+
28  // Method for building gaussian pyramid
+
29  void buildGaussianPyramid();
+
30  // Building laplcian pyramids for the image
+
31  void buildLaplacianPyramid(const Mat& img, vector<Mat_<Vec3f> >& lapPyr, Mat& smallestLevel);
+
32  // Reconstructing image from pyramid
+
33  Mat_<Vec3f> reconstructImgFromLapPyramid();
+
34  // Method to blending the pyramids
+
35  void blendLapPyrs();
+
36 
+
37 public:
+
38  // Constructor
+
39  LaplacianBlending(const Mat_<Vec3f>& _left, const Mat_<Vec3f>& _right, const Mat_<float>& _leftMask, const Mat_<float>& _rightMask, int _levels);
+
40  // Reconstructiong method
+
41  Mat_<Vec3f> blend();
+
42 };
+
43 
+
44 #endif
+
+
LaplacianBlending
Definition: laplacianBlend.hpp:12
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/line_8h_source.html b/docs/html/line_8h_source.html new file mode 100644 index 0000000..46d8f81 --- /dev/null +++ b/docs/html/line_8h_source.html @@ -0,0 +1,114 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/line.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
line.h
+
+
+
1 #ifndef LINE_TASK_H
+
2 #define LINE_TASK_H
+
3 
+
4 #include "base_class.h"
+
5 
+
6 #include <vision_tasks/lineRangeConfig.h>
+
7 
+
8 class Line : public Base_class
+
9 {
+
10 protected:
+
11 
+
12  image_transport::Subscriber image_raw_sub;
+
13 
+
14  ros::Publisher detection_pub;
+
15  ros::Publisher coordinates_pub;
+
16 
+
17  std::string camera_frame_;
+
18 
+
19  bool task_done = false;
+
20 
+
21  ros::Publisher ang_pub;
+
22 
+
23  void callback(vision_tasks::lineRangeConfig &config, double level);
+
24  void imageCallback(const sensor_msgs::Image::ConstPtr &msg);
+
25  double computeMean(std::vector<double> &newAngles);
+
26 
+
27 public:
+
28  Line();
+
29  void spinThreadBottom();
+
30 };
+
31 #endif // LINE_TASK_H
+
32 
+
+
Base_class
Definition: base_class.h:34
+
Line
Definition: line.h:8
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/mapping_2include_2ekf_8h_source.html b/docs/html/mapping_2include_2ekf_8h_source.html new file mode 100644 index 0000000..b309183 --- /dev/null +++ b/docs/html/mapping_2include_2ekf_8h_source.html @@ -0,0 +1,123 @@ + + + + + + + +Anahita: navigation_layer/mapping/include/ekf.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
ekf.h
+
+
+
1 #ifndef SLAM_EKF_H
+
2 #define SLAM_EKF_H
+
3 
+
4 #include "util.h"
+
5 #include <string>
+
6 
+
7 namespace mapping{
+
8 template<int n, int m, int b>
+
9 class EKF {
+
10  public:
+
11  Eigen::Matrix<float, n, 1> xhat_;
+
12  Eigen::Matrix<float, n, n> covs_;
+
13  protected:
+
14  Eigen::Matrix<float, n, b> B_;
+
15  Eigen::Matrix<float, m, m> R_;
+
16  Eigen::Matrix<float, n, n> Q_;
+
17 
+
18  public:
+
19  EKF(const Eigen::Matrix<float, n, b> &B, const Eigen::Matrix<float, m, m> &R,
+
20  const Eigen::Matrix<float, n, n> &Q, const Eigen::Matrix<float, n, 1> &x,
+
21  const Eigen::Matrix<float, n, n> &p);
+
22 
+
23  void Predict(const Eigen::Matrix<float, b, 1> &u,
+
24  const Eigen::Matrix<float, n, 1> &xhat,
+
25  const Eigen::Matrix<float, n, n> &F);
+
26  void Update(const Eigen::Matrix<float, m, 1> &y,
+
27  const Eigen::Matrix<float, m, n> &H);
+
28 };
+
29 
+
30 class SlamEKF: public EKF<3, 3, 3> {
+
31  public:
+
32  std::string id_;
+
33 
+
34  SlamEKF(const vec3 &x, const mat3 &p, std::string id);
+
35  SlamEKF(const SlamEKF &orig);
+
36 
+
37  void Predict(const vec3 &u);
+
38  void Update(const vec3 &z);
+
39 };
+
40 }
+
41 #endif
+
+
mapping::SlamEKF
Definition: ekf.h:30
+
mapping::EKF
Definition: ekf.h:9
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/mapping__main_8h_source.html b/docs/html/mapping__main_8h_source.html new file mode 100644 index 0000000..b616216 --- /dev/null +++ b/docs/html/mapping__main_8h_source.html @@ -0,0 +1,123 @@ + + + + + + + +Anahita: navigation_layer/mapping/include/mapping_main.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
mapping_main.h
+
+
+
1 #ifndef MAPPING_MAIN_H_
+
2 #define MAPPING_MAIN_H_
+
3 
+
4 #include <ros/ros.h>
+
5 #include <grid_map_ros/grid_map_ros.hpp>
+
6 #include <grid_map_msgs/GridMap.h>
+
7 #include <cmath>
+
8 #include "yaml-cpp/yaml.h"
+
9 #include <tf/transform_broadcaster.h>
+
10 #include <tf/transform_datatypes.h>
+
11 #include<string>
+
12 #include "nav_msgs/Odometry.h"
+
13 
+
14 namespace mapping
+
15 {
+
16 
+
17 class MappingNode
+
18 {
+
19 public:
+
20  MappingNode(const ros::NodeHandlePtr &nh);
+
21 
+
22  void transform_broadcaster_initial(tf::TransformBroadcaster& map_to_odom_broadcaster);
+
23  void odometry_update_cb(const nav_msgs::Odometry::ConstPtr& msg);
+
24  void loadMapFromYAML(grid_map::GridMap &map);
+
25  void PublishMap();
+
26  void Spin();
+
27 
+
28 private:
+
29  ros::NodeHandlePtr nh_;
+
30 
+
31  ros::Subscriber odom_subscriber;
+
32  ros::Publisher map_publisher;
+
33  grid_map::GridMap _map;
+
34 
+
35  tf::TransformBroadcaster map_to_odom_broadcaster;
+
36 
+
37  std::string map_yaml_location = "/home/ayush/Projects/anahita_ws/src/Anahita/navigation_layer/mapping/config/transdec.yaml";
+
38 
+
39 };
+
40 
+
41 } // namespace mapping
+
42 #endif //MAPPING_NODE_H_
+
+
mapping::MappingNode
Definition: mapping_main.h:17
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/markerDropper_8h_source.html b/docs/html/markerDropper_8h_source.html new file mode 100644 index 0000000..bb966cc --- /dev/null +++ b/docs/html/markerDropper_8h_source.html @@ -0,0 +1,139 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/markerDropper.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
markerDropper.h
+
+
+
1 #ifndef MARKERDROPPER_TASK_H
+
2 #define MARKERDROPPER_TASK_H
+
3 
+
4 #include "base_class.h"
+
5 
+
6 #include <vision_tasks/markerDropperFrontRangeConfig.h>
+
7 #include <vision_tasks/markerDropperBottomRangeConfig.h>
+
8 
+
9 class MarkerDropper : public Base_class
+
10 {
+
11 protected:
+
12 
+
13  image_transport::Publisher bottom_blue_filtered_pub;
+
14 
+
15  image_transport::Publisher front_blue_filtered_pub;
+
16 
+
17  image_transport::Subscriber front_image_raw_sub;
+
18  image_transport::Subscriber bottom_image_raw_sub;
+
19  ros::Publisher detection_pub;
+
20 
+
21  std::string camera_frame_;
+
22 
+
23  double front_clahe_clip_ = 4.0;
+
24  int front_clahe_grid_size_ = 8;
+
25  int front_clahe_bilateral_iter_ = 8;
+
26  int front_balanced_bilateral_iter_ = 4;
+
27  double front_denoise_h_ = 10.0;
+
28  int front_canny_threshold_low_ = 0;
+
29  int front_canny_threshold_high_ = 1000;
+
30  int front_canny_kernel_size_ = 3;
+
31  int front_hough_threshold_ = 0;
+
32  int front_hough_minline_ = 0;
+
33  int front_hough_maxgap_ = 0;
+
34  double front_hough_angle_tolerance_ = 0.0;
+
35  double front_gate_distance_tolerance_ = 50.0;
+
36  double front_gate_angle_tolerance_ = 0.0;
+
37 
+
38  double bottom_clahe_clip_ = 4.0;
+
39  int bottom_clahe_grid_size_ = 8;
+
40  int bottom_clahe_bilateral_iter_ = 8;
+
41  int bottom_balanced_bilateral_iter_ = 4;
+
42  double bottom_denoise_h_ = 10.0;
+
43 
+
44  void frontCallback(vision_tasks::markerDropperFrontRangeConfig &config, double level);
+
45  void bottomCallback(vision_tasks::markerDropperBottomRangeConfig &config, double level);
+
46  void imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg);
+
47  void imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg);
+
48 
+
49 public:
+
50  MarkerDropper();
+
51 
+
52  cv::Mat image_marked;
+
53  void spinThreadBottom();
+
54  void spinThreadFront();
+
55 };
+
56 #endif // MARKERDROPPER_TASK_H
+
57 
+
+
MarkerDropper
Definition: marker_dropper.h:5
+
Base_class
Definition: base_class.h:34
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/markerDropper__niot_8h_source.html b/docs/html/markerDropper__niot_8h_source.html new file mode 100644 index 0000000..1241b4a --- /dev/null +++ b/docs/html/markerDropper__niot_8h_source.html @@ -0,0 +1,139 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/markerDropper_niot.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
markerDropper_niot.h
+
+
+
1 #ifndef MARKERDROPPER_TASK_H
+
2 #define MARKERDROPPER_TASK_H
+
3 
+
4 #include "base_class.h"
+
5 
+
6 #include <vision_tasks/markerDropperFrontRangeConfig.h>
+
7 #include <vision_tasks/markerDropperBottomRangeConfig.h>
+
8 
+
9 class MarkerDropper : public Base_class
+
10 {
+
11 protected:
+
12 
+
13  image_transport::Publisher bottom_blue_filtered_pub;
+
14 
+
15  image_transport::Publisher front_blue_filtered_pub;
+
16 
+
17  image_transport::Subscriber front_image_raw_sub;
+
18  image_transport::Subscriber bottom_image_raw_sub;
+
19  ros::Publisher detection_pub;
+
20 
+
21  std::string camera_frame_;
+
22 
+
23  double front_clahe_clip_ = 4.0;
+
24  int front_clahe_grid_size_ = 8;
+
25  int front_clahe_bilateral_iter_ = 8;
+
26  int front_balanced_bilateral_iter_ = 4;
+
27  double front_denoise_h_ = 10.0;
+
28  int front_canny_threshold_low_ = 0;
+
29  int front_canny_threshold_high_ = 1000;
+
30  int front_canny_kernel_size_ = 3;
+
31  int front_hough_threshold_ = 0;
+
32  int front_hough_minline_ = 0;
+
33  int front_hough_maxgap_ = 0;
+
34  double front_hough_angle_tolerance_ = 0.0;
+
35  double front_gate_distance_tolerance_ = 50.0;
+
36  double front_gate_angle_tolerance_ = 0.0;
+
37 
+
38  double bottom_clahe_clip_ = 4.0;
+
39  int bottom_clahe_grid_size_ = 8;
+
40  int bottom_clahe_bilateral_iter_ = 8;
+
41  int bottom_balanced_bilateral_iter_ = 4;
+
42  double bottom_denoise_h_ = 10.0;
+
43 
+
44  void frontCallback(vision_tasks::markerDropperFrontRangeConfig &config, double level);
+
45  void bottomCallback(vision_tasks::markerDropperBottomRangeConfig &config, double level);
+
46  void imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg);
+
47  void imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg);
+
48 
+
49 public:
+
50  MarkerDropper();
+
51 
+
52  cv::Mat image_marked;
+
53  void spinThreadBottom();
+
54  void spinThreadFront();
+
55 };
+
56 #endif // MARKERDROPPER_TASK_H
+
57 
+
+
MarkerDropper
Definition: marker_dropper.h:5
+
Base_class
Definition: base_class.h:34
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/marker_8h_source.html b/docs/html/marker_8h_source.html new file mode 100644 index 0000000..d7f85e4 --- /dev/null +++ b/docs/html/marker_8h_source.html @@ -0,0 +1,99 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/marker.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
marker.h
+
+
+
1 #ifndef MARKER_H
+
2 #define MARKER_H
+
3 
+
4 #include "base_class.h"
+
5 
+
6 class Marker : public Base_class
+
7 {
+
8 public:
+
9  Marker();
+
10  virtual void loadParams () override;
+
11  virtual void spinThreadFront () override;
+
12 
+
13 private:
+
14  image_transport::Publisher front_roi_pub;
+
15 };
+
16 
+
17 #endif // MARKER_H
+
+
Base_class
Definition: base_class.h:34
+
Marker
Definition: marker.h:6
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/marker__dropper_8h_source.html b/docs/html/marker__dropper_8h_source.html new file mode 100644 index 0000000..5596c85 --- /dev/null +++ b/docs/html/marker__dropper_8h_source.html @@ -0,0 +1,98 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/marker_dropper.h Source File + + + + + + + + + +
+
+ + + + + + +
+
Anahita +
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
marker_dropper.h
+
+
+
1 #pragma once
+
2 
+
3 #include "base_class.h"
+
4 
+
5 class MarkerDropper : public Base_class {
+
6 public:
+
7  MarkerDropper ();
+
8  virtual void loadParams () override;
+
9  virtual void spinThreadBottom () override;
+
10  void preProcess (cv::Mat& temp_src);
+
11  cv::Point findCenter ();
+
12 
+
13 private:
+
14  cv::Scalar bgr_min;
+
15  cv::Scalar bgr_max;
+
16 };
+
+
MarkerDropper
Definition: marker_dropper.h:5
+
Base_class
Definition: base_class.h:34
+ +
+Generated by   +doxygen + 1.8.18 +
+ + diff --git a/docs/html/md_README.html b/docs/html/md_README.html index 9dee510..7913201 100644 --- a/docs/html/md_README.html +++ b/docs/html/md_README.html @@ -72,7 +72,7 @@ 1. Ubuntu 18.04 LTS Melodic Morenia Build Status -

+

How to build the repository?

  1. Create a catkin worspace following the guidelines given here
    mkdir -p ~/catkin_ws/src
    @@ -114,7 +114,7 @@

    roslaunch odom_dvl_imu odom.launch
    roslaunch uuv_thruster_manager thruster_manager.launch model_name:=anahita (for simulation)
    master_layer/anahita_thruster_manager.py (for real navigation)
    -

    +

    Contribution Guidelines

    To get started with contributing to this repository, look out for open issues here. Kindly read the Developer's Guide before sending a pull request! :)

    diff --git a/docs/html/md_coding_docs_Overview.html b/docs/html/md_coding_docs_Overview.html new file mode 100644 index 0000000..d25fe61 --- /dev/null +++ b/docs/html/md_coding_docs_Overview.html @@ -0,0 +1,128 @@ + + + + + + + +Anahita: Overview of the Software Stack (Anahita) + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + +
    +
    +
    +
    Overview of the Software Stack (Anahita)
    +
    +
    +

    +This document contains a basic overview of the entire software stack that exists in this repository.

    +

    Updated: 24th December, 2019

    +

    +Control Layer

    +

    This layer is basically concerned with the low-level controller of the vehicle. Previously we used a simple PID controller each of the DOF of Anahita. This was implemented in a decoupled manner, i.e. we ran the controllers independently for each of the axes, and according to what we intend to do, we pass the desired position, and just apply the PID formula. The parameters for PID are tuned during the time of testing the vehicle in the pool.

    +

    The current repository contains an implementation of the Cascaded PID Controller, which basically consists of two PID controllers on top of each other, one for position control and one for velocity control. This controller worked well, but since our localisation was heavily dependent on the readings from the DVL, the position controller failed to perform well in depths of water less than 1 metre. This controller was implemented w.r.t positions and velocities in all directions simultaneously (Euclidean distances) in contrast to the previous method.

    +

    We intend to study some new techniques in Controls, and implement them in due course of time. They are:

    +
      +
    • Thruster Allocation Matrix: This is implemented in the code, but I doubt whether it works correctly. Need to check and fix this.
      • +
    • LQR controller: Used by some teams coming to Robosub, performs well according to them
      • +
    • Reinforcement Learning based Controller: This would be very advanced, we'll need to setup a simulation environment with APIs according to the RL literature.
      • +
    +

    +Navigation Layer

    +

    This layer was mostly written considering the DVL in mind. The Doppler Velocity Log provides us with the velocity information of the water profile near the vehicle. Using that along with the IMU, we have created a basic structure for odometry for Anahita. Odometry message tell us about the state of the vehicle in the pool, and is therefore necessary for navigation.

    +

    The mapping package is untested. We wrote down the code for an implementation of the FastSLAM paper, which is basically a landmark-based SLAM. SLAM stands for Simultaneous Localisation and Mapping, which is the process by which a robot creates a map for the obstacles and landmarks around itself, and further localises itself in the map, by estimating a position with the concerned error in the position.

    +
      +
    • Vehicle Dynamics Model: We are currently looking at methods concerning Vehicle Dynamic Model based localisation. This would incorporate the dynamics of our vehicle while estimating its position.
      • +
    • Visual SLAM: This is something we are going to implement surely over the next semester. In this, features on images such as corners are located and the change in their positions are processed to calculate your change in state. ORB SLAM is a well-known implementation of this technique.
      • +
    • Disparity Map Generation: With the procurement of new iDS cameras, we hope to setup a stereo mapping system, which would allow us to get depth maps, and find how far the objects are from the vehicle.
      • +
    +

    +Master Layer

    +

    This layer basically works as the highest most-layer authority for autonomy. Previously, we have used a complex set of if-else statements combined with timeouts to create this system. This is the basis of intelligent behaviour for the vehicle, and has scope for the most drastic change in all of the stack.

    +
      +
    • SMACH: This is a general-purpose library for creating heirarichal state machines, where each behaviour is a state, and we have to code the transitions between them.
      • +
    • Behaviour Trees: Bascially this is a system of trees, where we would setup a non-binary tree-like structure for performing tasks.
      • +
    • End-To-End Deep Reinforcement Learning for Task Completion
      • +
    +

    +Hardware Layer

    +

    Pretty simple to explain, but one of the toughest challenges lie here. Multiple hardware driver packages are present here, such as: IMU, Cameras, DVL, Arduino.

    +
      +
    • Hydrophones: Currently we use a Virtual Machine for running the LabView software on our Ubuntu system. This is very unreliable, and has not been tested for longer durations. We need to reverse-engineer drivers made available for other Linux-distros and configure them to obtain data from the NI DAQ board directly to our system. Pure brainstorming and hacking stuff here.
      • +
    • iDS Cameras: Would be pretty easy to implement depending upon the support for the cameras available online.
      • +
    +

    +Vision Layer

    +

    Currently has a pre-processing timeline implemented (Fusion Framework). OpenCV nodes for most tasks have been written following a object-oriented structure for changing the current tasks. Along with this, a machine-learning based approach is also implemented. We have trained YOLO with the data collected from the swimming pool and tested it on the Jetson TX2.

    +
      +
    • Tracking and Filtering: Would implement tracking for all the tasks and better filtering of random values during object detection
      • +
    • CNNs and Style Transfer for Data Generation: Basically work on the computer vision part of the vision team.
      • +
    +

    +Debug Layer

    +

    Mostly used in the competition and testing time.

    +
      +
    • GUI: We have developed a basic version of the GUI, which works on the local network using ros-bridge. We need to extend this to have more functionality.
      • +
    • Color Calibration: Using static values for thresholding makes it suspectible to changing brightness in the pool, and color variations. We need to setup a very abstracted and simplified method for doing this.
      • +
    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/md_coding_docs_coding_guidelines.html b/docs/html/md_coding_docs_coding_guidelines.html new file mode 100644 index 0000000..70cd776 --- /dev/null +++ b/docs/html/md_coding_docs_coding_guidelines.html @@ -0,0 +1,213 @@ + + + + + + + +Anahita: coding_guidelines + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + +
    +
    +
    +
    coding_guidelines
    +
    +
    +

    Use usual steps to make changes into the project just like other GitHub projects.

    +

    +Code style

    +
      +
    • Cpp follow ROS Cpp Style Guide rigorously.
      +
      • +
    • CMake follow Caktin CMake Style Guide.
      +
      • +
    • Python code should follow pep8. Please see ROS PyStyleGuide for details. Use Anaconda plugin for sublime text editor for style check.
      +
      • +
    • Bash Use this python script.
      +
      • +
    • Roslint All pkgs (except commons pkgs which don't have cpp or py code) depend on roslint for static code analysis.
      +
      • +
    +

    Note: Utils contains scripts for formatting cpp, python, xml, CMakeLists files. Since these are bash scripts, there is a formatting script for bash.

    +
    +

    +Documentation

    +

    We maintain two forms of online documentation for ROS packages:
    +

      +
    • wiki pages / External docs: This is the AUVWiki repo. Home for tutorials, design documents and other sorts of information. This is mainly for people running your code. In general anything that people need to know outside source i.e. while only running auv code goes in the auv-wiki, anything else goes to package doc.
      • +
    • auto-generated code documentation Internal docs: This is mainly for people integrating with or editing your code. There are auto generated from source code comments using doxygen. Travis CI generated and auto deploys to gh-pages branch. Located at http://auv-iitk.github.io/auv/ . Look at sample commit to see how to add documentation. Also Doxygen manual is good for quick start.
      • +
    +
    +

    +Source control

    +

    We use Git. Read the wiki page on git.

    +
    +

    +Bug tracking

    +

    We use github issues on auv repo for tracking bugs.

    +
    +

    +(<em>Still missing</em>) Testing

    +

    We use two level of testing:
    +

      +
    • Library: At the library level, we use standard unit-test frameworks. In C++, we use gtest. In Python, we use unittest.
      +
      • +
    • Message: At the message level, we use rostest to set up a system of ROS nodes, run a test node, then tear down the system.
      • +
    +

    ROS has established best practices and policies for writing and running tests.
    + Auv code is structured in layers, with each layer interacting with the other using actionlib. For testing each layer separately we use unit tests nodes which are part of the concerning layer itself.
    +

    +
    +

    +Standardization

    +

    Code should use ROS services, follow guidelines for their use:
    + use rosout for printing messages
    + uses the ROS Clock for time-based routines

    +
    +

    +Large data files

    +

    Large files (anything over 1MB, really) often don't belong in the auv repositories, especially if they are just used for tests. These large files affect the time that it takes to checkout the repository.

    +
    +

    +Naming Convention

    +

    Please refer to ROS CppStyleGuide and ROS Conventions.

    +

    Avoid using any sort of Hungarian notation on names and "_ptr" on pointers.

    + + + + + + + + + + + + + + + + + + + + + +
    Code Element Style Comment
    Namespace under_scored Differentiate from class names
    Class name CamelCase To differentiate from STL types which ISO recommends (do not use "C" or "T" prefixes)
    Function name camelCase Lower case start is almost universal except for .Net world
    Parameters/Locals under_scored Vast majority of standards recommends this because _ is more readable to C++ crowd (although not much to Java/.Net crowd)
    Member variables under_scored_with_ The prefix _ is heavily discouraged as ISO has rules around reserving _identifiers, so we recommend suffix instead
    Enums and its members CamelCase Most except very old standards agree with this one
    Globals g_under_scored You shouldn't have these in first place!
    Constants UPPER_CASE Very contentious and we just have to pick one here, unless if is a private constant in class or method, then use naming for Members or Locals
    File names Match case of class name in file Lot of pro and cons either way but this removes inconsistency in auto generated code (important for ROS)
    +

    +Header Files

    +

    Use a namespace qualified #ifdef to protect against multiple inclusion:

    +
    #ifndef msr_airsim_MyHeader_hpp
    +
    #define msr_airsim_MyHeader_hpp
    +
    +
    //--your code
    +
    +
    #endif
    +

    The reason we don't use #pragma once is because it's not supported if same header file exists at multiple places (which might be possible under ROS build system!).

    +

    +Bracketing

    +

    Inside function or method body place curly bracket on same line. Outside that the Namespace, Class and methods levels use separate line. This is called K&R style and its variants are widely used in C++ vs other styles which are more popular in other languages. Notice that curlies are not required if you have single statement, but complex statements are easier to keep correct with the braces.

    +
    int main(int argc, char* argv[])
    +
    {
    +
    while (x == y) {
    +
    f0();
    +
    if (cont()) {
    +
    f1();
    +
    } else {
    +
    f2();
    +
    f3();
    +
    }
    +
    if (x > 100)
    +
    break;
    +
    }
    +
    }
    +

    +Const and References

    +

    Religiously review all non-scalar parameters you declare to be candidate for const and references. If you are coming from languages such as C#/Java/Python, the most often mistake you would make is to pass parameters by value instead of const T&; Especially most of the strings, vectors and maps you want to pass as const T&; (if they are readonly) or T& (if they are writable). Also add const suffix to methods as much as possible.

    +

    +Overriding

    +

    When overriding virtual method, use override suffix.

    +

    +Pointers

    +

    This is really about memory management. A simulator has much performance cricial code, so we try and avoid overloading the memory manager with lots of calls to new/delete. We also want to avoid too much copying of things on the stack, so we pass things by reference when ever possible. But when the object really needs to live longer than the call stack you often need to allocate that object on the heap, and so you have a pointer. Now, if management of the lifetime of that object is going to be tricky we recommend using C++ 11 smart pointers. But smart pointers do have a cost, so don’t use them blindly everywhere. For private code where performance is paramount, raw pointers can be used. Raw pointers are also often needed when interfacing with legacy systems that only accept pointer types, for example, sockets API. But we try to wrap those legacy interfaces as much as possible and avoid that style of programming from leaking into the larger code base.
    +

    +

    Religiously check if you can use const everywhere, for example, const float * const xP. Avoid using prefix or suffix to indicate pointer types in variable names, i.e. use my_obj instead of myobj_ptr except in cases where it might make sense to differentiate variables better, for example, int mynum = 5; int* mynum_ptr = mynum;

    +

    +ROS Naming Convention

    +
      +
    • Topics and nodes should be names keeping in mind the ros namespace. For keeping it noob friendly, global names should be assigned to nodes and topics.
      +
      • +
    • Package folder name should be same as package name.
      +
      • +
    • Node file name, executable name and ros node name should be same.
      +
      • +
    • Dynamic Reconfigure cfg files should be related to what it helps configuring.
      +
      • +
    • Action files should be named after what action or task is done through them.
      +
      • +
    • Launch files should be named after what state it will launch the nodes in.
      +
      • +
    +
    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/md_coding_docs_contributing.html b/docs/html/md_coding_docs_contributing.html new file mode 100644 index 0000000..ddd4db4 --- /dev/null +++ b/docs/html/md_coding_docs_contributing.html @@ -0,0 +1,93 @@ + + + + + + + +Anahita: Contributing + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + +
    +
    +
    +
    Contributing
    +
    +
    +

    +How To

    +
      +
    • Please read our short and sweet coding guidelines.
      • +
    • For big changes such as adding new feature or refactoring, file an issue first. We should discuss first!
      • +
    • Use usual steps to make contributions just like other GitHub projects. If you are not familiar with Git Branch-Rebase-Merge workflow, please read this first.
      • +
    +

    +Do and Don't

    +
      +
    • Rebase your branch frequently with master (once every 2-3 days is ideal).
      • +
    • Use same style and formatting as rest of code even if it's not your preferred one.
      • +
    • Change any documentation that goes with code changes.
      • +
    • Do not include OS specific header files.
      • +
    • Keep your pull request small, ideally under 10 files.
      • +
    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/md_coding_docs_documentation.html b/docs/html/md_coding_docs_documentation.html new file mode 100644 index 0000000..3cf6564 --- /dev/null +++ b/docs/html/md_coding_docs_documentation.html @@ -0,0 +1,92 @@ + + + + + + + +Anahita: documentation + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + +
    +
    +
    +
    documentation
    +
    +
    +

    Doxygen Documentation Generator

    +

    Setting Up Doxygen:- 1.In directory structure, make a document folder in root directory then run the command doxygen -g to generate the dconfig file.

    +

    2.Edit the configuration file to fit the project. The config file contains detailed description of all the fields. However the following are important. INPUT:- Set the directories where doxygen should be looking for files. GENERATE HTML:- Set this to yes. PROJECT NAME:- Sets the project name RECURSIVE:- To search the subdirectories recursively

    +

    3.Comment the code in doxygen format.

    +

    If you place comments before functions or variables use /** comment line1

      +
    • comment line2
      • +
    • comment line3 */
      • +
    +

    If you place comments after functions or variables use /**< comment line1

      +
    • comment line2
      • +

    • comment line3 */

      +

      @ or \ preceeded text are considered as doxygen commands

      +

      Important commands are:-

      +
      • +
    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/md_debug_layer_anahita_gui_README.html b/docs/html/md_debug_layer_anahita_gui_README.html new file mode 100644 index 0000000..4909b03 --- /dev/null +++ b/docs/html/md_debug_layer_anahita_gui_README.html @@ -0,0 +1,85 @@ + + + + + + + +Anahita: Graphical User Interface for Anahita + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + +
    +
    +
    +
    Graphical User Interface for Anahita
    +
    +
    +

    +AUV-IITK

    +

    +Usage Instructions

    +

    Clone the repostitory

    +

    To begin, we will launch ROS. To do so, run the following in a terminal: roscore

    +

    Then launch the rosbridge v2.0 server with the following: roslaunch rosbridge_server rosbridge_websocket.launch

    +

    You should also launch the mmpeg server for video streaming: rosrun web_video_server ..

    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/md_hardware_layer_hardware_arduino_README.html b/docs/html/md_hardware_layer_hardware_arduino_README.html new file mode 100644 index 0000000..29c6323 --- /dev/null +++ b/docs/html/md_hardware_layer_hardware_arduino_README.html @@ -0,0 +1,162 @@ + + + + + + + +Anahita: hardware_arduino + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + +
    +
    +
    +
    hardware_arduino
    +
    +
    +

    +Overview

    +

    This is a ROS package for interacting arduino through the rosserial_arduino package. The package is meant to actuate thrusters connected to the arduino through a motor driver, and publish the measurements taken from various sensors connected to the arduino onto separate topics.

    +

    The hardware_arduino package has been tested under ROS Kinetic and Ubuntu 16.04 LTS. The source code is released under a BSD 3-Clause license.

    +

    The hardware used are as follows:

    +

    +Setting up Arduino

    +

    +Dependencies

    + +

    +Setting up the Udev rules for arduino

    +

    Run the following command to copy the udev rules specified for the Arduino port:

    cd ~/catkin_ws/src/auv2018/utils
    +
    sudo bash clone_udev.sh
    +

    NOTE: This connects the arduino always to the port named /dev/arduino.

    +

    +Preparing the Serial Port

    +

    Arduino will likely connect to computer as port /dev/arduino. The easiest way to make the determination is to unplug all other USB devices, plug in your Arduino, then run the command:

    ls /dev*
    +

    Next make sure you have read/write access to the port. Assuming your Arduino is connected on /dev/arduino, run the command:

    +
    ls -l /dev/arduino
    +

    You should see an output similar to the following:

    crw-rw---- 1 root dialout 166, 0 2018-03-05 08:31 /dev/arduino
    +

    Note that only root and the "dialout" group have read/write access. Therefore, you need to be a member of the dialout group. You only have to do this once and it should then work for all USB devices you plug in later on.

    +

    To add yourself to the dialout group, run the command:

    sudo usermod -a -G dialout your_user_name
    +

    where your_user_name is your Linux login name. You will likely have to log out of your X-window session then log in again, or simply reboot your machine if you want to be sure.

    +

    When you log back in again, try the command:

    groups
    +

    and you should see a list of groups you belong to including dialout.

    +

    +Building Arduino code

    +

    Run the following command:

    cd ~/catkin_ws
    +
    catkin_make --pkg hardware_arduino
    +

    +Uploading code to Arduino

    +

    Run the following command:

    cd ~/catkin_ws
    +
    source devel/setup.zsh
    +
    catkin_make hardware_arduino_firmware_arduino_node
    +
    catkin_make hardware_arduino_firmware_arduino_node-upload
    +

    +Robot Orientation

    +
    FRONT
    +
    -----
    +
    SWAY1
    +
    HEAVE1
    +
    -
    +
    SURGE1 SURGE2
    +
    -
    +
    HEAVE2
    +
    SWAY2
    +
    -----
    +
    BACK
    +

    For technical definition of terms, refer to documentation here.

    +

    +Usage

    +

    To connect to the arduino, run:

    roslaunch hardware_arduino hardware_arduino.launch
    +

    First upload the code on arduino through Arduino IDE.

    +

    +Nodes

    +

    +arduino_node

    +

    Subscribes to topics with PWM data and actuate the thrusters with that duty cycle, and also publishes the data obtained from pressure sensor

    +

    NOTE: Pins configurations are specified in the ArduinoConfig.h file.

    +

    +Subscribed Topics

    + +

    +Published Topics

    + +

    +Bugs & Feature Requests

    +

    Please report bugs and request features using the Issue Tracker.

    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/md_hardware_layer_hardware_camera_README.html b/docs/html/md_hardware_layer_hardware_camera_README.html new file mode 100644 index 0000000..f860af5 --- /dev/null +++ b/docs/html/md_hardware_layer_hardware_camera_README.html @@ -0,0 +1,142 @@ + + + + + + + +Anahita: hardware_camera + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + +
    +
    +
    +
    hardware_camera
    +
    +
    +

    +Overview

    +

    This is a ROS package for getting feed from the camera using usb_cam and publishing it as a sensor_msgs/Image to the other layers.

    +

    The hardware_camera package has been tested under ROS Kinetic and Ubuntu 16.04 LTS. The source code is released under a BSD 3-Clause license.

    +

    The hardware used are as follows:

    +

    +Setting up hardware_camera

    +

    +Dependencies

    + +

    +Preparing the Serial Port via udev rules

    +

    The udev rules for the cameras connected to the robot are present in the [/utils/udev] directory. To copy them to your system, run:

    cd ~/catkin_ws/src/auv2018/utils
    +
    sudo bash clone_udev.sh
    +

    Camera will then be connected to the ports with id /dev/front_cam and /dev/bottom_cam.

    +

    +Building Camera code

    +

    Run the following command:

    cd ~/catkin_ws
    +
    catkin_make --pkg hardware_camera
    +

    +Usage

    +

    To initialize the cmaera nodes, run:

    roslaunch hardware_camera camera_logitech.launch
    +

    +Nodes

    +

    +front_camera

    +

    The usb_cam_node interfaces with standard USB cameras (e.g. the Logitech Quickcam) using libusb_cam and publishes images as sensor_msgs::Image. The node belongs to the usb_cam package.

    +

    +Published Topics

    + +

    +Parameters

    +
      +
    • ~image_width (integer, default: 1280) Image width
      • +
    • ~image_height (integer, default: 720) Image height
      • +
    • ~framerate (integer, default: 30) The required framerate
      • +
    • ~camera_info_url (string, default: ) An url to the camera calibration file that will be read by the CameraInfoManager class
      • +
    +

    +bottom_camera

    +

    The usb_cam_node interfaces with standard USB cameras (e.g. the Logitech Quickcam) using libusb_cam and publishes images as sensor_msgs::Image. The node belongs to the usb_cam package.

    +

    +Published Topics

    + +

    +Parameters

    +
      +
    • ~image_width (integer, default: 1280) Image width
      • +
    • ~image_height (integer, default: 720) Image height
      • +
    • ~framerate (integer, default: 30) The required framerate
      • +
    • ~camera_info_url (string, default: ) An url to the camera calibration file that will be read by the CameraInfoManager class.
      • +
    +

    +Bugs & Feature Requests

    +

    Please report bugs and request features using the Issue Tracker.

    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/md_hardware_layer_hardware_dvl_ethernet_README.html b/docs/html/md_hardware_layer_hardware_dvl_ethernet_README.html new file mode 100644 index 0000000..8483671 --- /dev/null +++ b/docs/html/md_hardware_layer_hardware_dvl_ethernet_README.html @@ -0,0 +1,81 @@ + + + + + + + +Anahita: hardware_dvl + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + +
    +
    +
    +
    hardware_dvl
    +
    +
    +

    +Overview

    +

    This is a ROS package for interfacing with the Teledyne Pathnfider Doppler Velocity Log hardware

    +

    The hardware_dvl package has been tested under ROS Kinetic and Ubuntu 16.04 LTS. The source code is released under a BSD 3-Clause license.

    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/md_hardware_layer_hardware_imu_README.html b/docs/html/md_hardware_layer_hardware_imu_README.html new file mode 100644 index 0000000..f732bd8 --- /dev/null +++ b/docs/html/md_hardware_layer_hardware_imu_README.html @@ -0,0 +1,184 @@ + + + + + + + +Anahita: hardware_imu + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + +
    +
    +
    +
    hardware_imu
    +
    +
    +

    +Overview

    +

    This is a ROS package for interfacing with the PX4 hardware or the Sparton AHRS-8 hardware.

    +

    For the PX4, we are using the in-built inertial measurement unit (IMU) present in the PX4 for the robot. For the Sparton AHRS8, the driver communicates with the sensor using NMEA protocol and publishes the IMU data as ROS sensor messages.

    +

    The hardware_imu package has been tested under ROS Kinetic and Ubuntu 16.04 LTS. The source code is released under a BSD 3-Clause license.

    +

    +Setting up hardware_imu

    +

    +Dependencies

    + +

    According to the installation instructions present here, run the following commands to install GeographicLib datasets which is required as a mavros dependency:

    wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
    +
    ./install_geographiclib_datasets.sh
    +

    +Calibrating the sensor

    +

    Download QGround Control and run it with PIXHAWK attached with your computer. Read the manual here for further instructions.

    +

    +Building the package

    +

    Run the following command from the root of your catkin workspace:

    catkin_make --pkg hardware_imu
    +

    +Usage

    +

    To run the PIXHAWK IMU:

    roslaunch hardware_imu imu_px4.launch
    +

    where the PIXHAWK is assumed to be connected at the /dev/ttyACM0 port.

    +

    To run the Sparton AHRS8 IMU:

    +
      +
    1. Check the serial port to which the sensor is connected at and change the device path in the launch file
      # to verify if device is at /dev/ttyUSB0, run:
      +
      udevadm info -a -p $(udevadm info -q path -n /dev/ttyUSB0)
      +
      2. +
    2. Ensure that python cript has executable permission:
      chmod +x sparton_ahrs8_driver/scripts/ahrs8_nmea.py
      +
      3. +
    3. Run the launch file:
      roslaunch sparton_ahrs8_driver ahrs-8.launch
      +
      4. +
    +

    +Nodes

    +

    +mavros_node

    +

    The mavros_node is the main communication node for the MAVLink communication protocol used in the PX4 autopilot. The node belongs to the mavros package.

    +

    +Published Topics

    + +

    +Parameters

    +
      +
    • **~imu/frame_id** (string, default: fcu) Frame ID for this plugin.
      • +
    • **~imu/linear_acceleration_stdev** (double, default: 0.0003) Gyro's standard deviation
      • +
    • **~imu/angular_velocity_stdev** (double, default: !dec 0.02) Accel's standard deviation
      • +
    • **~imu/orientation_stdev** (double, default: 1.0) Standard deviation for IMU.orientation
      • +
    • **~imu/magnetic_stdev** (double, default: 0.0) Standard deviation for magnetic field message (undefined if: 0.0)
      • +
    +

    +mavros.cpp

    +

    This node takes the IMU data in quateranion format and convert it into euler angles. We calculate the roll, pitch and yaw using the following formulas:

    +
    yaw = atan2 ( 2 * x * y - 2 * w * z, 2 * w * w + 2 * x * x - 1)
    +
    roll = atan2(2 * q2 * q3 - 2 * q0 * q1, 2 * q0 * q0 + 2 * q3 * q3 - 1)
    +
    pitch = -asin(2 * q1 * q3 + 2 * q0 * q2)
    +

    where q = (w, x, y, z) is the quaternion angle.

    +

    +Subscribed Topics

    +
      +
    • **~/mavros/imu/data** (sensor_msgs/Imu) Imu data, orientation computed by FCU
      • +
    +

    +Published Topics

    +
      +
    • **/mavros/imu/yaw** (std_msgs/Float64) Yaw data computed using quaternion to euler angles transformation **/mavros/imu/pitch** (std_msgs/Float64) Pitch data computed using quaternion to euler angles transformation **/mavros/imu/roll** (std_msgs/Float64) Roll data computed using quaternion to euler angles transformation
      • +
    +

    +ahrs8_nmea.py

    +

    The node communicate with the sensor using the NMEA protocol and publishes IMU data.

    +

    +Parameters

    +
      +
    • **~frame_id** (string, default: ahrs8_imu) Frame ID for this plugin
      • +
    • **~port** (string, default: /dev/ttyUSB0) Port at which sensor is connected
      • +
    • **~baud** (double, default: 115200) Baud rate for communication with the sensor
      • +
    +

    +Published Topics

    +
      +
    • **~imu/data** (sensor_msgs/Imu) IMU orientation data, orientation in the ahrs8_imu frame
      • +
    +

    +sparton.cpp

    +

    This node takes the IMU data in quateranion format and convert it into euler angles. We calculate the roll, pitch and yaw using the above formulas again

    +

    +Subscribed Topics

    +
      +
    • **~/sparton/imu/data** (sensor_msgs/Imu) Imu data, orientation computed by FCU
      • +
    +

    +Published Topics

    +
      +
    • **/sparton/imu/yaw** (std_msgs/Float64) Yaw data computed using quaternion to euler angles transformation **/sparton/imu/pitch** (std_msgs/Float64) Pitch data computed using quaternion to euler angles transformation **/sparton/imu/roll** (std_msgs/Float64) Roll data computed using quaternion to euler angles transformation
      +
      • +
    +

    +Bugs & Feature Requests

    +

    Please report bugs and request features using the Issue Tracker.

    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/md_hardware_layer_teledyne_navigator_README.html b/docs/html/md_hardware_layer_teledyne_navigator_README.html new file mode 100644 index 0000000..f968264 --- /dev/null +++ b/docs/html/md_hardware_layer_teledyne_navigator_README.html @@ -0,0 +1,127 @@ + + + + + + + +Anahita: Teledyne Navigator ROS Package + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + +
    +
    +
    +
    Teledyne Navigator ROS Package
    +
    +
    +

    ![status]

    +

    This ROS package configures and communicates with the Teledyne Navigator Doppler Velocity Log (DVL). This has only been tested on ROS Kinetic and Melodic over RS232.

    +

    +Setting up

    +

    You must clone this repository as teledyne_navigator into your catkin workspace's src directory:

    +
    roscd
    +
    cd src
    +
    git clone https://github.com/mcgill-robotics/ros-teledyne-navigator.git teledyne_navigator
    +

    +Dependencies

    +

    Before proceeding, make sure to install all the dependencies by running:

    +
    rosdep update
    +
    rosdep install teledyne_navigator
    +

    +Compiling

    +

    You must compile this package before being able to run it. You can do so by running:

    +
    catkin_make
    +

    from the root of your workspace.

    +

    +Running

    +

    To run, simply connect the DVL over RS232 and launch the package with:

    +
    roslaunch teledyne_navigator teledyne_navigator.launch port:=</path/to/dvl>
    +

    The following run-time ROS launch arguments are available:

    +
      +
    • port: Serial port to read from, default: /dev/dvl.
      • +
    • baudrate: Serial baud rate, default: 9600.
      • +
    • timeout: Serial read timeout in seconds, default: 1.0.
      • +
    • frame: tf frame to stamp the messages with, default: dvl.
      • +
    +

    The package will keep trying to connect to the DVL until it is successful.

    +

    The teledyne_navigator node will output to the following ROS topic:

    +
      +
    • ~ensemble: DVL scan data as an Ensemble message.
      • +
    +

    +Limitations

    +

    This driver is limited to the PD5 output format and the earth-coordinate frame (ENU). You may change other parameters as you please using TRDI Toolz and save them with CK, but the PD and EX commands will be overridden.

    +

    +Contributing

    +

    Contributions are welcome. Simply open an issue or pull request on the matter, and it will be accepted as long as it does not complicate the code base too much.

    +

    As for style guides, we follow the ROS Python Style Guide for ROS-specifics and the Google Python Style Guide for everything else.

    +

    +Linting

    +

    We use YAPF for all Python formatting needs. You can auto-format your changes with the following command:

    +
    yapf --recursive --in-place --parallel .
    +

    We also use catkin_lint for all catkin specifics. You can lint your changes as follows:

    +
    catkin lint --explain -W2 .
    +

    +License

    +

    See [LICENSE](LICENSE).

    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/md_vision_layer_image_undistort_README.html b/docs/html/md_vision_layer_image_undistort_README.html new file mode 100644 index 0000000..6ef9f6d --- /dev/null +++ b/docs/html/md_vision_layer_image_undistort_README.html @@ -0,0 +1,308 @@ + + + + + + + +Anahita: README + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + +
    +
    +
    +
    README
    +
    +
    +

    image_undistort exists to handle all the odd situations image_proc doesn't quite cover. Some examples of this are

      +
    • working with images that don't have a camera_info topic
      • +
    • undistortion of images using equidistant or other less common camera models
      • +
    • turning a location in a distorted image into a bearing vector
      • +
    +

    If you have an image undistortion / stereo imaging problem that the library doesn't cover, create an issue and I'll look at adding it. Note that the automatic image size approach used will fail for cameras with a fov greater than 180 degrees.

    +

    This repo contains six related ros nodes-

      +
    • image_undistort_node: Undistorts and changes images intrinsics and resolution.
      • +
    • stereo_info_node: Calculates the camera information needed for stereo rectification.
      • +
    • stereo_undistort_node: Combines the functionality of the above two nodes to perform stereo image rectification.
      • +
    • depth_node: Converts two undistorted images and their camera information into a disparity image and a pointcloud.
      • +
    • dense_stereo_node: Performs the full dense stereo estimation (internally this node is just the stereo_undistort nodelet and the depth nodelet).
      • +
    • point_to_bearing_node: Takes in a 2D image location and transforms it into a bearing vector.
      • +
    +

    +Dependencies

    +

    Image undistort depends on ROS, OpenCV and Eigen. The point to bearing node also depends on NLopt (installed with apt install libnlopt-dev) and will only be built if it is found.

    +

    +Supported Camera and Distortion Models

    +

    The only supported output is the pinhole camera model with no distortion. Supported input models:

    +
      +
    • Pinhole with no distortion
      • +
    • Pinhole with radial-tangential distortion
      • +
    • Pinhole with equidistant distortion
      • +
    • Omnidirectional with no distortion
      • +
    • Omindirectional with rad-tan distortion
      • +
    • FOV
      • +
    • Unified
      • +
    • Extended Unified
      • +
    • Double Sphere
      • +
    +

    +image_undistort_node:

    +

    A simple node for undistorting images. Handles plumb bob (aka radial-tangential), fov and equidistant distortion models. It can either use standard ros camera_info topics or load camera models in a form that is compatible with the camchain.yaml files produced by Kalibr. Note this node can also be run as a nodelet named image_undistort/ImageUndistort

    +

    +The node has several possible use cases:

    +
      +
    • Undistort images. The default usage of the node, outputting an undistorted version of an input image.
      • +
    • Modify the image resolution and intrinsics. The node supports projecting from and to any valid projection matrix and resolution.
      • +
    • Provide a camera_info topic for an image. In this mode ros params are used to build a camera info message that is published in sync with the image messages. This allows the use of ros nodes that require camera info with devices and bags that do not provide it.
      • +
    +

    +Parameters:

    +
      +
    • queue size The length of the queues the node uses for topics (default: 10).
      • +
    • input_camera_info_from_ros_params If false the node will subscribe to a camera_info ros topic named input/camera_info to obtain the input camera parameters. If true the input camera parameters will be loaded from ros parameters. See the parameters format section for further details. (default: false).
      • +
    • output_camera_info_source The source to use when obtaining the output camera parameters. The possible case-insensitive options are,
        +
      • *"auto_generated"* The default value. In this mode "good" output parameters are automatically generated based on the input image. focal length is the average of fx and fy of the input, the center point is in the center of the image, R=I and translation is preserved. Resolution is set to the largest area that contains no empty pixels. The size of the output can also be modified with the scale parameter.
        • +
      • *"match_input"* The output projection matrix and resolution, exactly match the inputs.
        • +
      • *"ros_params"* The output camera parameters are loaded from ros parameters. See the parameters format section for further details.
        • +
      • *"camera_info"* The output parameters are found through subscribing to a camera_info ros topic named output/camera_info
        • +
      +
      • +
    • input_camera_namespace If the input camera parameters are loaded from ros parameters this is the namespace that will be searched. This is needed to allow both input and output to be loaded from parameters. (default: "input_camera")
      • +
    • output_camera_namespace If the output camera parameters are loaded from ros parameters this is the namespace that will be searched. (default: "output_camera").
      • +
    • process_images True to output a processed image, false if only a camera_info topic should be generated. (default: true).
      • +
    • undistort_image True to undistort the images, false to keep the distortion. (default: true).
      • +
    • process_every_nth_frame Used to temporarily down-sample the images, if it is <= 1 every frame will be processed. (default: 1).
      • +
    • output_image_type Converts the output image to the specified format, set to the empty string "" to preserve the input type. See the cv_bridge tutorial for possible format strings. (default: "").
      • +
    • scale Only used if output_camera_info_source is set to "auto_generated" or "match_input". The output focal length will be multiplied by this value. If "auto_generated" is set the image size will also be increased by this factor. (default: 1.0).
      • +
    • publish_tf True to publish the tf between the input and output image. If the undistortion involves changes to the rotation matrix the frame that the image is in will change. This tf gives that change. (default: true)
      • +
    • output_frame The name of the frame of the output images. (default: "output_camera")
      • +
    • rename_input_frame If the input frame should be renamed in the published topics and tf tree. (default: false)
      • +
    • input_frame Only used if rename_input_frame is true. The name of the frame of the input images. (default: "input_camera")
      • +
    • rename_radtan_plumb_bob If true the radial-tangential distortion model will be called "plumb_bob" in the output camera_info, this is needed by some ros image processing nodes. If false it will be called "radtan". (default: false).
      • +
    +

    +Input/Output Topics

    +

    Many of these topics are dependent on the parameters set above and may not appear or may be renamed under some settings.

      +
    • input/image input image topic
      • +
    • input/camera_info input camera info topic
      • +
    • output/image output image topic
      • +
    • output/camera_info output camera info topic
      • +
    +

    +Loading Camera Information from ROS Parameters:

    +

    Camera information can be loaded from ROS parameters. These parameters are typically set using <rosparam file="path_to_yaml_file">. The format used by this node is compatible with the camchains generated by Kalibr. The follow steps are used when loading this information.

    +
      +
    1. A 3x3 intrinscs matrix named K is searched for. If it is found it is loaded. If it is not found a 1x4 vector named intrinsics is loaded, this contains the parameters (fx, fy, cx, cy). If neither parameters are given the node displays an error and terminates.
      2. +
    2. A 1x2 vector named resolution is loaded which contains the parameters (width, height). Again, if not given the node displays an error and terminates.
      3. +
    3. A 4x4 transformation matrix T is searched for. If it is found it is loaded. Otherwise it is searched for under the name T_cn_cnm1 and if found loaded. If neither are found the node continues.
      4. +
    4. A 4x3 projection matrix P is searched for. If it is found it is loaded. If P was found but T was not, P and K are used to construct T, otherwise T is set to identity. If P was not found it is constructed from K and T.
      5. +
    5. If an output is being loaded, the loading of parameters is completed. For input cameras the distortion properties are now loaded
      6. +
    6. A 1xn vector D is loaded. If it is not found or is less than 5 elements long it is padded with zeros.
      7. +
    7. A string distortion_model is loaded and converted to lower-case. If it is not found it is set to "radtan".
      8. +
    +

    +stereo_info_node:

    +

    A node that takes in the properties of two cameras and outputs the camera info required to rectify them so that stereo reconstruction can be performed. The rectification is performed such that only x translation is present between the cameras. The focal points are in the image centers, fx=fy and the image resolution is set to be the largest frame that contains no empty pixels. Note this node can also be run as a nodelet named image_undistort/StereoInfo

    +

    +Parameters:

    +
      +
    • queue size The length of the queues the node uses for topics (default: 10).
      • +
    • input_camera_info_from_ros_params If false the node will subscribe to a camera_info ros topic named input/camera_info to obtain the input camera parameters. If true the input camera parameters will be loaded from ros parameters. See the parameters format section for further details. (default: false).
      • +
    • first_camera_namespace If the first camera parameters are loaded from ros parameters this is the namespace that will be searched. (default: "first_camera")
      • +
    • second_camera_namespace If the second camera parameters are loaded from ros parameters this is the namespace that will be searched. (default: "second_camera").
      • +
    • scale Only used if output_camera_info_source is set to "auto_generated". The output focal length will be multiplied by this value. This has the effect of resizing the image by this scale factor. (default: 1.0). rename_radtan_plumb_bob If true the radial-tangential distortion model will be called "plumb_bob" in the output camera_info, this is needed by some ros image processing nodes. If false it will be called "radtan". (default: false).
      • +
    +

    +Input/Output Topics

    +

    Many of these topics are dependent on the parameters set above and may not appear or may be renamed under some settings.

      +
    • raw/first/image first input image topic, only needed if loading camera parameters from ros params (used for timing information)
      • +
    • raw/second/image second input image topic, only needed if loading camera parameters from ros params (used for timing information)
      • +
    • raw/first/camera_info first input camera info topic
      • +
    • raw/second/camera_info second input camera info topic
      • +
    • rect/first/camera_info first output camera info topic
      • +
    • rect/second/camera_info second output camera info topic
      • +
    +

    +stereo_undistort_node:

    +

    A node that takes in the images and properties of two cameras and outputs rectified stereo images with their corresponding camera parameters. The rectification is performed such that only x translation is present between the cameras. The focal points are in the image centers, fx=fy and the image resolution is set to be the largest frame that contains no empty pixels. Note this node can also be run as a nodelet named image_undistort/StereoUndistort

    +

    +Parameters:

    +
      +
    • queue size The length of the queues the node uses for topics (default: 10).
      • +
    • input_camera_info_from_ros_params If false the node will subscribe to a camera_info ros topic named input/camera_info to obtain the input camera parameters. If true the input camera parameters will be loaded from ros parameters. See the parameters format section for further details. (default: false).
      • +
    • first_camera_namespace If the first camera parameters are loaded from ros parameters this is the namespace that will be searched. (default: "first_camera")
      • +
    • second_camera_namespace If the second camera parameters are loaded from ros parameters this is the namespace that will be searched. (default: "second_camera").
      • +
    • scale Only used if output_camera_info_source is set to "auto_generated". The output focal length will be multiplied by this value. This has the effect of resizing the image by this scale factor. (default: 1.0).
      • +
    • process_every_nth_frame Used to temporarily down-sample the images, if it is <= 1 every frame will be processed. (default: 1).
      • +
    • output_image_type Converts the output images to the specified format, set to the empty string "" to preserve the input type. See the cv_bridge tutorial for possible format strings. (default: "").
      • +
    • scale The output focal length will be multiplied by this value. This has the effect of resizing the image by this scale factor. (default: 1.0).
      • +
    • T_invert Only used if loading parameters from ros params. True to invert the given transformations. (default: false)
      • +
    • publish_tf True to publish the tf between the first input and output image. If the undistortion involves changes to the rotation matrix the frame that the image is in will change. This tf gives that change. (default: true)
      • +
    • output_frame The name of the frame of the output images. (default: "first_camera_rect")
      • +
    • rename_input_frame If the input frame should be renamed in the published topics and tf tree. (default: false)
      • +
    • first_input_frame Only used if rename_input_frame is true. The name of the frame of the first input images. (default: "first_camera")
      • +
    • second_input_frame Only used if rename_input_frame is true. The name of the frame of the second input images. (default: "second_camera") rename_radtan_plumb_bob If true the radial-tangential distortion model will be called "plumb_bob" in the output camera_info, this is needed by some ros image processing nodes. If false it will be called "radtan". (default: false).
      • +
    +

    +Input/Output Topics

    +

    Many of these topics are dependent on the parameters set above and may not appear or may be renamed under some settings.

      +
    • raw/first/image first input image topic
      • +
    • raw/second/image second input image topic
      • +
    • raw/first/camera_info first input camera info topic
      • +
    • raw/second/camera_info second input camera info topic
      • +
    • rect/first/image first output image topic
      • +
    • rect/second/image second output image topic
      • +
    • rect/first/camera_info first output camera info topic
      • +
    • rect/second/camera_info second output camera info topic
      • +
    +

    +depth_node:

    +

    A node that takes in the rectified images and properties of two cameras and outputs a disparity image and a pointcloud. The node uses the camera_info topics to figure out which camera is the left one and which is the right one. Internally the node makes use of the opencv stereo block matcher to perform the depth estimation. Note this node can also be run as a nodelet named image_undistort/Depth

    +

    +Parameters:

    +
      +
    • queue size The length of the queues the node uses for topics. (default: 10)
      • +
    • pre_filter_size The size of the prefilter used in StereoBM. (default: 9)
      • +
    • pre_filter_cap The upper cap on the prefilter used in StereoBM. (default: 31)
      • +
    • sad_window_size The window size used when performing the stereo matching, note the efficientcy of the implementation reduces if this value is greater than 21 (default: 21)
      • +
    • min_disparity The minimum disparity checked in StereoBM. (default: 0)
      • +
    • num_disparities The number of disparities checked in StereoBM. (default: 64)
      • +
    • texture_threshold Minimum texture a patch requires to be matched in StereoBM. (default: 10)
      • +
    • uniqueness_ratio Minimum margin by which the best matching disparity must 'win' in StereoBM. (default: 15)
      • +
    • speckle_range Parameter used for removing speckle in StereoBM. (default: 0)
      • +
    • speckle_window_size Window size used for speckle removal in StereoBM. (default: 0)
      • +
    +

    +Input/Output Topics

    +
      +
    • rect/first/image first input image topic
      • +
    • rect/second/image second input image topic
      • +
    • rect/first/camera_info first input camera info topic
      • +
    • rect/second/camera_info second input camera info topic
      • +
    • disparity output disparity image
      • +
    • pointcloud output pointcloud
      • +
    +

    +dense_stereo_node:

    +

    A node for producing dense stereo images. Internally this node simply combines 2 nodelets.

      +
    • image_undistort/StereoUndistort Used to set up the stereo system and rectify the images.
      • +
    • image_undistort/Depth Generates disparity images and pointclouds from the rectified images.
      • +
    +

    +Parameters:

    +
      +
    • queue size The length of the queues the node uses for topics (default: 10).
      • +
    • input_camera_info_from_ros_params If false the node will subscribe to a camera_info ros topic named input/camera_info to obtain the input camera parameters. If true the input camera parameters will be loaded from ros parameters. See the parameters format section for further details. (default: false).
      • +
    • first_camera_namespace If the first camera parameters are loaded from ros parameters this is the namespace that will be searched. (default: "first_camera")
      • +
    • second_camera_namespace If the second camera parameters are loaded from ros parameters this is the namespace that will be searched. (default: "second_camera").
      • +
    • scale Only used if output_camera_info_source is set to "auto_generated". The output focal length will be multiplied by this value. This has the effect of resizing the image by this scale factor. (default: 1.0).
      • +
    • T_invert Only used if loading parameters from ros params. True to invert the given transformations. (default: false)
      • +
    • process_every_nth_frame Used to temporarily down-sample the images, if it is <= 1 every frame will be processed. (default: 1).
      • +
    • output_image_type Converts the output images to the specified format, set to the empty string "" to preserve the input type. See the cv_bridge tutorial for possible format strings. (default: "").
      • +
    • scale The output focal length will be multiplied by this value. This has the effect of resizing the image by this scale factor. (default: 1.0).
      • +
    • publish_tf True to publish the tf between the first input and output image. If the undistortion involves changes to the transformation matrix the frame that the image is in will change, this occurs during most image rectifications. This tf gives that change. (default: true)
      • +
    • output_frame The name of the frame of the output images. (default: "first_camera_rect")
      • +
    • rename_input_frame If the input frame should be renamed in the published topics and tf tree. (default: false)
      • +
    • first_input_frame Only used if rename_input_frame is true. The name of the frame of the first input images. (default: "first_camera")
      • +
    • second_input_frame Only used if rename_input_frame is true. The name of the frame of the second input images. (default: "second_camera") rename_radtan_plumb_bob If true the radial-tangential distortion model will be called "plumb_bob" in the output camera_info, this is needed by some ros image processing nodes. If false it will be called "radtan". (default: false).
      • +
    • pre_filter_size The size of the prefilter used in StereoBM. (default: 9)
      • +
    • pre_filter_cap The upper cap on the prefilter used in StereoBM. (default: 31)
      • +
    • sad_window_size The window size used when performing the stereo matching, note the efficientcy of the implementation reduces if this value is greater than 21 (default: 21)
      • +
    • min_disparity The minimum disparity checked in StereoBM. (default: 0)
      • +
    • num_disparities The number of disparities checked in StereoBM. (default: 64)
      • +
    • texture_threshold Minimum texture a patch requires to be matched in StereoBM. (default: 10)
      • +
    • uniqueness_ratio Minimum margin by which the best matching disparity must 'win' in StereoBM. (default: 15)
      • +
    • speckle_range Parameter used for removing speckle in StereoBM. (default: 0)
      • +
    • speckle_window_size Window size used for speckle removal in StereoBM. (default: 0)
      • +
    +

    +Input/Output Topics

    +

    Many of these topics are dependent on the parameters set above and may not appear or may be renamed under some settings.

      +
    • raw/first/image first input image topic
      • +
    • raw/second/image second input image topic
      • +
    • raw/first/camera_info first input camera info topic
      • +
    • raw/second/camera_info second input camera info topic
      • +
    • rect/first/image first output rectified image topic
      • +
    • rect/second/image second output rectified image topic
      • +
    • rect/first/camera_info first output camera info topic
      • +
    • rect/second/camera_info second output camera info topic
      • +
    • disparity output disparity image topic
      • +
    • pointcloud output pointcloud topic
      • +
    +

    +point_to_bearing_node:

    +

    A node for converting a point in a distorted image to a unit bearing vector.

    +

    +Parameters:

    +
      +
    • queue size The length of the queues the node uses for topics (default: 10).
      • +
    • input_camera_info_from_ros_params If false the node will subscribe to a camera_info ros topic named input/camera_info to obtain the input camera parameters. If true the input camera parameters will be loaded from ros parameters. See the parameters format section for further details. (default: false).
      • +
    +

    +Input/Output Topics

    +

    Many of these topics are dependent on the parameters set above and may not appear or may be renamed under some settings.

      +
    • input/camera_info camera info topic
      • +
    • image_point input location of the point of interest in the image
      • +
    • bearing unit bearing to point
      • +
    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/md_vision_layer_vision_commons_README.html b/docs/html/md_vision_layer_vision_commons_README.html new file mode 100644 index 0000000..25f0f2a --- /dev/null +++ b/docs/html/md_vision_layer_vision_commons_README.html @@ -0,0 +1,172 @@ + + + + + + + +Anahita: vision_commons + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
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    +
    + + + + + + + + +
    +
    + + +
    + +
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    +
    +
    vision_commons
    +
    +
    +

    +Overview

    +

    This is a ROS package that abstracts common image processing operations and serves as a library for vision_tasks.

    +

    The vision_commons package has been tested under ROS Kinetic and Ubuntu 16.04 LTS. The source code is released under a BSD 3-Clause license.

    +

    +Setting up vision_commons

    +

    +Dependencies

    + +

    +Building

    +

    Run the following command:

    cd ~/catkin_ws
    +
    catkin_make --pkg vision_commons
    +

    +Usage

    +

    To run the blue filter demo, run:

    rosrun vision_commons blue_filter_demo
    +

    All other files are libraries and hence cannot be executed.

    +

    To use the filtering library, add this line to your C++ source file:

    #include <vision_commons/filter.h>
    +

    To use the geometry library, add this line to your C++ source file:

    #include <vision_commons/geometry.h>
    +

    To use the morphing library, add this line to your C++ source file:

    #include <vision_commons/morph.h>
    +

    To use the thresholding library, add this line to your C++ source file:

    #include <vision_commons/threshold.h>
    +

    +Libraries

    +

    +contour

    +

    This module contains all the functions related to forming a contour around a thresholded region.

    +

    +Functions

    +
      +
    • **std::vector<std::vector<cv::Point>> getBestX(cv::Mat& raw, int x)** Returns best x (passed as int) contours from the passed binary image in the descending order of area
      • +
    • **std::vector<std::vector<cv::Point>> getBestXConvexHulled(cv::Mat& raw, int x)** Returns best x (passed as int) contours using convex hull from the passed binary image in the descending order of area
      • +
    +

    +filter

    +

    This module contains all the functions related to filtering the image to enhance it.

    +

    +Functions

    +
      +
    • **cv::Mat clahe(cv::Mat& image, double clahe_clip, int clahe_grid_size)** Applies CLAHE to image with clip limit clahe_clip and the grid size of the operator clahe_grid_size and returns the resultant image
      • +
    • **cv::Mat balance_white(cv::Mat& image)** Applies white balance to image with Gray World assumption and returns the resultant image
      • +
    • **cv::Mat blue_filter(cv::Mat& image, double clahe_clip, int clahe_grid_size, int clahe_bilateral_iter, int balanced_bilateral_iter, double denoise_h)** "Blue filters" image. Applies CLAHE on image followed by clahe_bilateral_iter number of bilateral filter iterations followed by white balancing followed by balanced_bilateral_iter number of bilateral filter iterations followed by fast non-local means denoising with h value of denoise_h
      • +
    +

    +geometry

    +

    This module contains all the functions related to geometrical operations on points.

    +

    +Functions

    +
      +
    • **double distance(cv::Point &p1, cv::Point &p2)** Calculates distance between p1 and p2 using Pythagoras' Theorem
      • +
    • **double angleWrtY(cv::Point &p1, cv::Point &p2)** Calculates angle of the line joining p1 and p2 with respect to the y-axis (vertical).
      • +
    +

    +morph

    +

    This module contains all the functions related to morphological operations.

    +

    +Functions

    +
      +
    • **cv::Mat open(cv::Mat& raw, int element_size, int element_centerX, int element_centerY, int iterations)** Applies "opening" operation on the image using a matrix of size element_size, center ar (element_centerX, element_centerY) iterations times
      • +
    • **cv::Mat close(cv::Mat &raw, int element_size, int element_centerX, int element_centerY, int iterations)** Applies "closing" operation on the image using a matrix of size element_size, center ar (element_centerX, element_centerY) iterations times
      • +
    +

    +threshold

    +

    This module contains all the functions related to thresholding operations.

    +

    +Functions

    +
      +
    • **cv::Mat threshold(cv::Mat &raw, int low_a, int high_a, int low_b, int high_b, int low_c, int high_c)** Thresholds raw between (low_a, low_b, low_c) and (high_a, high_b, high_c) and returns the resultant binary image
      • +
    +

    +Nodes

    +

    +blue_filter_demo

    +

    This node serves for demonstration purposes of our pre-processing pipeline.

    +

    +Published Topics

    + +

    +Parameters

    +
      +
    • ~clahe_clip (double, default: 0.15, range: 0.0 - 40.0) Clip limit for CLAHE
      • +
    • ~clahe_grid_size (integer, default: 3, range: 1 - 16) Grid size of the CLAHE operator
      • +
    • ~clahe_bilateral_iter (integer, default: 2, range: 0 - 16) Number of iterations of bilateral filter after CLAHE is applied
      • +
    • ~balanced_bilateral_iter (integer, default: 2, range: 0 - 8) Number of iterations of bilateral filter after white balancing is applied
      • +
    • ~denoise_h (double, default: 10.0, range: 0.0 - 20.0) h value for fast non-local means denoising applied on the final blue-filtered image
      • +
    +

    +Bugs & Feature Requests

    +

    Please report bugs and request features using the Issue Tracker.

    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/md_vision_layer_vision_tasks_README.html b/docs/html/md_vision_layer_vision_tasks_README.html new file mode 100644 index 0000000..1f1ed1e --- /dev/null +++ b/docs/html/md_vision_layer_vision_tasks_README.html @@ -0,0 +1,256 @@ + + + + + + + +Anahita: vision_tasks + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + +
    +
    +
    +
    vision_tasks
    +
    +
    +

    +Overview

    +

    This is a ROS package for processing video feed provided by hardware_camera and publishing the coordinates of the object of interest in the camera's frame as a geometry_msgs/PointStamped or geometry_msgs/Pose2D to the other layers.

    +

    The vision_tasks package has been tested under ROS Kinetic and Ubuntu 16.04 LTS. The source code is released under a BSD 3-Clause license.

    +

    The hardware used are as follows:

    +

    +Setting up vision_tasks

    +

    +Dependencies

    + +

    +Building

    +

    Run the following command:

    cd ~/catkin_ws
    +
    catkin_make --pkg vision_tasks
    +

    +Usage

    +

    To run any vision task named <name>, run:

    rosrun vision_tasks <name>
    +

    +Nodes

    +

    +buoy_task

    +

    This task pre-processes (blue-filters) the raw image, applies thresholding on the image, draws a minimum enclosing circle on the main blob and returns the coordinates of the buoy in the camera's reference frame. The distance of the buoy from the camera is calculated using an exponential mapping of the radius of the minimum enclosing circle and the actual distance.

    +

    +Published Topics

    + +

    +Parameters

    +
      +
    • ~clahe_clip (double, default: 0.15, range: 0.0 - 40.0) Clip limit for CLAHE
      • +
    • ~clahe_grid_size (integer, default: 3, range: 1 - 16) Grid size of the CLAHE operator
      • +
    • ~clahe_bilateral_iter (integer, default: 2, range: 0 - 16) Number of iterations of bilateral filter after CLAHE is applied
      • +
    • ~balanced_bilateral_iter (integer, default: 2, range: 0 - 8) Number of iterations of bilateral filter after white balancing is applied
      • +
    • ~denoise_h (double, default: 10.0, range: 0.0 - 20.0) h value for fast non-local means denoising applied on the final blue-filtered image
      • +
    • ~low_h (int, default: 0, range: 0 - 255) Lower Bound of H
      • +
    • ~high_h (int, default: 10, range: 0 - 255) Higher Bound of H
      • +
    • ~low_s (int, default: 251, range: 0 - 255) Lower Bound of S
      • +
    • ~high_s (int, default: 255, range: 0 - 255) Higher Bound of S
      • +
    • ~low_v (int, default: 160, range: 0 - 255) Lower Bound of V
      • +
    • ~high_v (int, default: 255, range: 0 - 255) Higher Bound of V
      • +
    • ~opening_mat_point (int, default: 1, range: 1 - 7) Center of the matrix for the opening operation (size extrapolated 2x+1)
      • +
    • ~opening_iter (int, default: 0, range: 0 - 10) Iterations of opening applied on the thresholded image
      • +
    • ~closing_mat_point (int, default: 1, range: 1 - 7) Center of the matrix for the closing operation (size extrapolated 2x+1)
      • +
    • ~closing_iter (int, default: 0, range: 0 - 10) Iterations of closing applied on the opened thresholded image
      • +
    +

    +gate_task_bottom

    +

    This task applies pre-processes (blue-filters) the raw image, applies thresholding on the image, draws a minimum enclosing rectangle on the main blob and publishes the coordinates of the gate's horizontal arm in the camera's reference frame and also publishes whether the task is done or not.

    +

    +Published Topics

    + +

    +Parameters

    +
      +
    • ~clahe_clip (double, default: 4.0, range: 0.0 - 40.0) Clip limit for CLAHE
      • +
    • ~clahe_grid_size (integer, default: 8, range: 1 - 16) Grid size of the CLAHE operator
      • +
    • ~clahe_bilateral_iter (integer, default: 4, range: 0 - 16) Number of iterations of bilateral filter after CLAHE is applied
      • +
    • ~balanced_bilateral_iter (integer, default: 2, range: 0 - 8) Number of iterations of bilateral filter after white balancing is applied
      • +
    • ~denoise_h (double, default: 10.0, range: 0.0 - 20.0) h value for fast non-local means denoising applied on the final blue-filtered image
      • +
    • ~low_h (int, default: 0, range: 0 - 255) Lower Bound of H
      • +
    • ~high_h (int, default: 130, range: 0 - 255) Higher Bound of H
      • +
    • ~low_s (int, default: 0, range: 0 - 255) Lower Bound of S
      • +
    • ~high_s (int, default: 123, range: 0 - 255) Higher Bound of S
      • +
    • ~low_v (int, default: 95, range: 0 - 255) Lower Bound of V
      • +
    • ~high_v (int, default: 255, range: 0 - 255) Higher Bound of V
      • +
    • ~closing_mat_point (int, default: 2, range: 1 - 7) Center of the matrix for the closing operation (size extrapolated 2x+1)
      • +
    • ~closing_iter (int, default: 2, range: 0 - 10) Iterations of closing applied on the thresholded image
      • +
    +

    +gate_task_front

    +

    This task applies pre-processes (blue-filters) the raw image, applies thresholding on the image, detects edges using Canny edge detection,detects straight lines using Probabilistic Hough Line Transform, filters all the vertical and horizontal lines and detects which pair of these lines are perpendicular and close enough to be a gate. If multiple such pairs are found, the pair with longer lines is taken into considerations. This returns the coordinates of the gate in the camera's frame. The distance of the gate from the camera is calculated using an exponential mapping of the diagonal of the rectangle formed by the two arms and the actual distance. If both arms of the gate are not detected and only one of the arms is detected, the rectangle is extrapolated and the distance of the gate from the camera is also calculated based on this extrapolated rectangle.

    +

    +Published Topics

    + +

    +Parameters

    +
      +
    • ~clahe_clip (double, default: 0.15, range: 0.0 - 40.0) Clip limit for CLAHE
      • +
    • ~clahe_grid_size (integer, default: 3, range: 1 - 16) Grid size of the CLAHE operator
      • +
    • ~clahe_bilateral_iter (integer, default: 2, range: 0 - 16) Number of iterations of bilateral filter after CLAHE is applied
      • +
    • ~balanced_bilateral_iter (integer, default: 4, range: 0 - 8) Number of iterations of bilateral filter after white balancing is applied
      • +
    • ~denoise_h (double, default: 10.0, range: 0.0 - 20.0) h value for fast non-local means denoising applied on the final blue-filtered image
      • +
    • ~low_h (int, default: 0, range: 0 - 255) Lower Bound of H
      • +
    • ~high_h (int, default: 10, range: 0 - 255) Higher Bound of H
      • +
    • ~low_s (int, default: 156, range: 0 - 255) Lower Bound of S
      • +
    • ~high_s (int, default: 255, range: 0 - 255) Higher Bound of S
      • +
    • ~low_v (int, default: 88, range: 0 - 255) Lower Bound of V
      • +
    • ~high_v (int, default: 255, range: 0 - 255) Higher Bound of V
      • +
    • ~closing_mat_point (int, default: 1, range: 1 - 7) Center of the matrix for the closing operation (size extrapolated 2x+1)
      • +
    • ~closing_iter (int, default: 0, range: 0 - 10) Iterations of closing applied on the thresholded image
      • +
    • ~canny_threshold_low (int, default: 0, range: 0 - 1000) Lower threshold for the pixel intensity gradient
      • +
    • ~canny_threshold_high (int, default: 1000, range: 0 - 1000) Higher threshold for the pixel intensity gradient
      +
      • +
    • ~canny_kernel_size (int, default: 3, range: 3 - 7) Kernel size of the operator
      • +
    • ~hough_minline (int, default: 200, range: 0 - 500) Minimum length of the detected lines
      • +
    • ~hough_threshold (int, default: 105, range: 0 - 500) Minimum number of intersections to be considered as part of one line
      • +
    • ~hough_maxgap (int, default: 61, range: 0 - 500) Maximum gap between two points to be considered the same line
      • +
    • ~hough_angle_tolerance (double, default: 20.0, range: 0.0 - 45.0) Tolerance angle with respect to 0, 90 and 180 degrees to be considered as a probable line
      • +
    • ~gate_distance_tolerance (double, default: 50.0, range: 0.0 - 500.0) Maximum distance between atleast one pair of points to be considered close to each other
      • +
    • ~gate_angle_tolerance (double, default: 20.0, range: 0.0 - 45.0) Tolerance angle with respect to 90 to be considered as perpendicular
      • +
    +

    +line_task

    +

    This task applies thresholding on the raw image, draws contours around the blob, finds straight lines using Probabilistic Hough Line Transform and draws a tilted bounding rectangle around the contour. This returns the coordinates in the camera's reference frame using the bounding rectangle and returns the vehicle's angle with this line using the lines detected.

    +

    +Published Topics

    + +

    +Parameters

    +
      +
    • ~low_h (int, default: 31, range: 0 - 255) Lower Bound of H
      • +
    • ~high_h (int, default: 47, range: 0 - 255) Higher Bound of H
      • +
    • ~low_s (int, default: 0, range: 0 - 255) Lower Bound of S
      • +
    • ~high_s (int, default: 255, range: 0 - 255) Higher Bound of S
      • +
    • ~low_v (int, default: 0, range: 0 - 255) Lower Bound of V
      • +
    • ~high_v (int, default: 255, range: 0 - 255) Higher Bound of V
      • +
    • ~opening_mat_point (int, default: 1, range: 1 - 7) Center of the matrix for the opening operation (size extrapolated 2x+1)
      • +
    • ~opening_iter (int, default: 0, range: 0 - 10) Iterations of opening applied on the thresholded image
      • +
    • ~closing_mat_point (int, default: 2, range: 1 - 7) Center of the matrix for the closing operation (size extrapolated 2x+1)
      • +
    • ~closing_iter (int, default: 1, range: 0 - 10) Iterations of closing applied on the opened thresholded image
      • +
    +

    +torpedo_task

    +

    This task applies pre-processes (blue-filters) the raw image, applies thresholding on the image, draws a minimum enclosing rectangle on all the detected contours. Based on the number of contours and their areas, an algorithm decides which of the contours is actually the heart and publishes the coordinates of the target in the camera's reference frame. The distance of the target from the camera is calculated using an exponential mapping of the width of the bounding rectangle and the actual distance.

    +

    +Published Topics

    + +

    +Parameters

    +
      +
    • ~clahe_clip (double, default: 0.15, range: 0.0 - 40.0) Clip limit for CLAHE
      • +
    • ~clahe_grid_size (integer, default: 3, range: 1 - 16) Grid size of the CLAHE operator
      • +
    • ~clahe_bilateral_iter (integer, default: 2, range: 0 - 16) Number of iterations of bilateral filter after CLAHE is applied
      • +
    • ~balanced_bilateral_iter (integer, default: 4, range: 0 - 8) Number of iterations of bilateral filter after white balancing is applied
      • +
    • ~denoise_h (double, default: 5.6, range: 0.0 - 20.0) h value for fast non-local means denoising applied on the final blue-filtered image
      • +
    • ~low_h (int, default: 53, range: 0 - 255) Lower Bound of H
      • +
    • ~high_h (int, default: 86, range: 0 - 255) Higher Bound of H
      • +
    • ~low_s (int, default: 128, range: 0 - 255) Lower Bound of S
      • +
    • ~high_s (int, default: 255, range: 0 - 255) Higher Bound of S
      • +
    • ~low_v (int, default: 104, range: 0 - 255) Lower Bound of V
      • +
    • ~high_v (int, default: 202, range: 0 - 255) Higher Bound of V
      • +
    • ~opening_mat_point (int, default: 2, range: 1 - 7) Center of the matrix for the opening operation (size extrapolated 2x+1)
      • +
    • ~opening_iter (int, default: 1, range: 0 - 10) Iterations of opening applied on the thresholded image
      • +
    • ~closing_mat_point (int, default: 2, range: 1 - 7) Center of the matrix for the closing operation (size extrapolated 2x+1)
      • +
    • ~closing_iter (int, default: 3, range: 0 - 10) Iterations of closing applied on the opened thresholded image
      • +
    +

    +Bugs & Feature Requests

    +

    Please report bugs and request features using the Issue Tracker.

    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/menudata.js b/docs/html/menudata.js index 92d1611..333d727 100644 --- a/docs/html/menudata.js +++ b/docs/html/menudata.js @@ -22,10 +22,64 @@ for the JavaScript code in this file */ var menudata={children:[ {text:"Main Page",url:"index.html"}, +{text:"Related Pages",url:"pages.html"}, +{text:"Namespaces",url:"namespaces.html",children:[ +{text:"Namespace List",url:"namespaces.html"}, +{text:"Namespace Members",url:"namespacemembers.html",children:[ +{text:"All",url:"namespacemembers.html"}, +{text:"Functions",url:"namespacemembers_func.html"}]}]}, {text:"Classes",url:"annotated.html",children:[ {text:"Class List",url:"annotated.html"}, {text:"Class Index",url:"classes.html"}, {text:"Class Hierarchy",url:"hierarchy.html"}, {text:"Class Members",url:"functions.html",children:[ -{text:"All",url:"functions.html"}, -{text:"Functions",url:"functions_func.html"}]}]}]} +{text:"All",url:"functions.html",children:[ +{text:"_",url:"functions.html#index__5F"}, +{text:"a",url:"functions_a.html#index_a"}, +{text:"c",url:"functions_c.html#index_c"}, +{text:"d",url:"functions_d.html#index_d"}, +{text:"e",url:"functions_e.html#index_e"}, +{text:"f",url:"functions_f.html#index_f"}, +{text:"g",url:"functions_g.html#index_g"}, +{text:"h",url:"functions_h.html#index_h"}, +{text:"i",url:"functions_i.html#index_i"}, +{text:"n",url:"functions_n.html#index_n"}, +{text:"o",url:"functions_o.html#index_o"}, +{text:"p",url:"functions_p.html#index_p"}, +{text:"q",url:"functions_q.html#index_q"}, +{text:"r",url:"functions_r.html#index_r"}, +{text:"s",url:"functions_s.html#index_s"}, +{text:"t",url:"functions_t.html#index_t"}, +{text:"u",url:"functions_u.html#index_u"}, +{text:"v",url:"functions_v.html#index_v"}, +{text:"w",url:"functions_w.html#index_w"}, +{text:"x",url:"functions_x.html#index_x"}, +{text:"y",url:"functions_y.html#index_y"}, +{text:"z",url:"functions_z.html#index_z"}]}, +{text:"Functions",url:"functions_func.html",children:[ +{text:"_",url:"functions_func.html#index__5F"}, +{text:"a",url:"functions_func_a.html#index_a"}, +{text:"c",url:"functions_func_c.html#index_c"}, +{text:"d",url:"functions_func_d.html#index_d"}, +{text:"e",url:"functions_func_e.html#index_e"}, +{text:"f",url:"functions_func_f.html#index_f"}, +{text:"g",url:"functions_func_g.html#index_g"}, +{text:"h",url:"functions_func_h.html#index_h"}, +{text:"i",url:"functions_func_i.html#index_i"}, +{text:"n",url:"functions_func_n.html#index_n"}, +{text:"o",url:"functions_func_o.html#index_o"}, +{text:"p",url:"functions_func_p.html#index_p"}, +{text:"q",url:"functions_func_q.html#index_q"}, +{text:"r",url:"functions_func_r.html#index_r"}, +{text:"s",url:"functions_func_s.html#index_s"}, +{text:"t",url:"functions_func_t.html#index_t"}, +{text:"u",url:"functions_func_u.html#index_u"}, +{text:"v",url:"functions_func_v.html#index_v"}, +{text:"w",url:"functions_func_w.html#index_w"}, +{text:"x",url:"functions_func_x.html#index_x"}, +{text:"y",url:"functions_func_y.html#index_y"}, +{text:"z",url:"functions_func_z.html#index_z"}]}, +{text:"Variables",url:"functions_vars.html"}, +{text:"Enumerations",url:"functions_enum.html"}]}]}, +{text:"Files",url:"files.html",children:[ +{text:"File List",url:"files.html"}]}]} diff --git a/docs/html/morph_8h_source.html b/docs/html/morph_8h_source.html new file mode 100644 index 0000000..0e77498 --- /dev/null +++ b/docs/html/morph_8h_source.html @@ -0,0 +1,108 @@ + + + + + + + +Anahita: vision_layer/vision_commons/include/morph.h Source File + + + + + + + + + +
    +
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    Anahita +
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    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    morph.h
    +
    +
    +
    1 #ifndef morph_H
    +
    2 #define morph_H
    +
    3 
    +
    4 #include "opencv2/core/core.hpp"
    +
    5 
    +
    6 namespace vision_commons
    +
    7 {
    +
    8 class Morph
    +
    9 {
    +
    10 public:
    +
    11  static void open(
    +
    12  cv::Mat& raw,
    +
    13  int element_size,
    +
    14  int element_centerX,
    +
    15  int element_centerY,
    +
    16  int iterations);
    +
    17 
    +
    18  static void close(
    +
    19  cv::Mat& raw,
    +
    20  int element_size,
    +
    21  int element_centerX,
    +
    22  int element_centerY,
    +
    23  int iterations);
    +
    24 };
    +
    25 } // namespace vision_commons
    +
    26 
    +
    27 #endif
    +
    +
    vision_commons::Morph
    Definition: morph.h:8
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/namespacebag__to__video.html b/docs/html/namespacebag__to__video.html new file mode 100644 index 0000000..30d8e76 --- /dev/null +++ b/docs/html/namespacebag__to__video.html @@ -0,0 +1,157 @@ + + + + + + + +Anahita: bag_to_video Namespace Reference + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
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    +
    +
    +Functions | +Variables
    +
    +
    bag_to_video Namespace Reference
    +
    +
    + + + + + + +

    +Functions

    +def print_help ()
     
    +def filter_image_msgs (topic, datatype, md5sum, msg_def, header)
     
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Variables

    +float opt_fps = 15.0
     
    +int opt_rate = 1
     
    +string opt_out_file = ""
     
    +string opt_fourcc = "XVID"
     
    +string opt_topic = ""
     
    +list opt_files = []
     
    +bool opt_display_images = False;
     
    + opts
     
    +list cv_image = []
     
    +list np_arr = []
     
    +dictionary p_avconv = {}
     
    + bridge = CvBridge()
     
    +list bagfile = opt_files[files]
     
    + bag = rosbag.Bag(bagfile)
     
    + connection_filter
     
    +string out_file = str(topic).replace("/", "")+".mp4"
     
    + stdin
     
    + key = cv2.waitKey(1)
     
    +string pix_fmt = ""
     
    +string size = str(msg.width)+"x"+str(msg.height)
     
    +

    Detailed Description

    +
    rosbag2video.py
+rosbag to video file conversion tool
+by Maximilian Laiacker 2016
+post@mlaiacker.de
+
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/namespacemaster.html b/docs/html/namespacemaster.html new file mode 100644 index 0000000..ed41733 --- /dev/null +++ b/docs/html/namespacemaster.html @@ -0,0 +1,124 @@ + + + + + + + +Anahita: master Namespace Reference + + + + + + + + + +
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    +Functions | +Variables
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    master Namespace Reference
    +
    +
    + + + + +

    +Functions

    +def callback (msg)
     
    + + + + + + + + + + + + + + + + + + + + + + + +

    +Variables

    +string pwm_str = ""
     
    + depth_publisher = rospy.Publisher("/anahita/depth", Float32, queue_size=10)
     
    + bat_voltage_pub = rospy.Publisher("/anahita/battery_voltage", Float32, queue_size=10)
     
    + serial_port_id = rospy.get_param("~serial_port_id", "/dev/ttyACM0")
     
    + baud_rate = rospy.get_param("~baud_rate", 115200)
     
    + depth_msg = Float32()
     
    + bat_voltage_msg = Float32()
     
    + serial_connection = serial.Serial("/dev/ttyACM0", 115200, timeout=5)
     
    +string pwm_msg = pwm_str.encode('utf-8')
     
    + msg = serial_connection.read(serial_connection.inWaiting())
     
    + data = list(map(float,[x.strip() for x in msg.split(',')]))
     
    +

    Detailed Description

    +
    Handles Arduino messages and publishes them to ROS topics
+
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/namespacemembers.html b/docs/html/namespacemembers.html new file mode 100644 index 0000000..55f9743 --- /dev/null +++ b/docs/html/namespacemembers.html @@ -0,0 +1,80 @@ + + + + + + + +Anahita: Namespace Members + + + + + + + + + +
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    +
    Here is a list of all documented namespace members with links to the namespaces they belong to:
    +
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    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/namespacemembers_func.html b/docs/html/namespacemembers_func.html new file mode 100644 index 0000000..c8e14ab --- /dev/null +++ b/docs/html/namespacemembers_func.html @@ -0,0 +1,80 @@ + + + + + + + +Anahita: Namespace Members + + + + + + + + + +
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    + + diff --git a/docs/html/namespacemtdef.html b/docs/html/namespacemtdef.html new file mode 100644 index 0000000..2305aa8 --- /dev/null +++ b/docs/html/namespacemtdef.html @@ -0,0 +1,159 @@ + + + + + + + +Anahita: mtdef Namespace Reference + + + + + + + + + +
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    +Classes | +Functions
    +
    +
    mtdef Namespace Reference
    +
    +
    + + + + + + + + + + + + + + + + + + + + + + +

    +Classes

    class  Baudrates
     
    class  DeprecatedMID
     
    class  DeviceState
     
    class  MID
     
    class  MTErrorMessage
     
    class  MTException
     
    class  MTTimeoutException
     
    class  OutputMode
     
    class  OutputSettings
     
    class  XDIGroup
     
    + + + + + +

    +Functions

    def getName (cls, value)
     
    def getMIDName (mid)
     
    +

    Detailed Description

    +
    Constant and messages definition for MT communication.

    Function Documentation

    + +

    ◆ getMIDName()

    + +
    +
    + + + + + + + + +
    def mtdef.getMIDName ( mid)
    +
    +
    Return the name of a message given the message id.
    +
    +
    + +

    ◆ getName()

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    def mtdef.getName ( cls,
     value 
    )
    +
    +
    Return the name of the first found member of class cls with given
+value.
    +
    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/namespaces.html b/docs/html/namespaces.html new file mode 100644 index 0000000..b1bc218 --- /dev/null +++ b/docs/html/namespaces.html @@ -0,0 +1,84 @@ + + + + + + + +Anahita: Namespace List + + + + + + + + + +
    +
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    +
    +
    Namespace List
    +
    +
    +
    Here is a list of all documented namespaces with brief descriptions:
    + + + + + +
     Nbag_to_video
     Nmaster
     Nmtdef
     Nsetup
    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/namespacesetup.html b/docs/html/namespacesetup.html new file mode 100644 index 0000000..b6964ec --- /dev/null +++ b/docs/html/namespacesetup.html @@ -0,0 +1,123 @@ + + + + + + + +Anahita: setup Namespace Reference + + + + + + + + + +
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    +Variables

     setup_args
     
     d
     
    +

    Detailed Description

    +
    Teledyne Navigator DVL ROS package setup.

    Variable Documentation

    + +

    ◆ d

    + +
    +
    + + + + +
    setup.d
    +
    +Initial value:
    1 = generate_distutils_setup(
    +
    2  packages=["teledyne_navigator"], package_dir={"": "src"})
    +
    +
    +
    + +

    ◆ setup_args

    + +
    +
    + + + + +
    setup.setup_args
    +
    +Initial value:
    1 = generate_distutils_setup(
    +
    2  packages=['uuv_auv_actuator_interface'],
    +
    3  package_dir={'': 'src'},
    +
    4  requires=['rospy']
    +
    5 )
    +
    +
    +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/nav__main_8h_source.html b/docs/html/nav__main_8h_source.html new file mode 100644 index 0000000..0a49e8f --- /dev/null +++ b/docs/html/nav__main_8h_source.html @@ -0,0 +1,157 @@ + + + + + + + +Anahita: navigation_layer/odom_dvl_imu/include/nav_main.h Source File + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
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    + + +
    +
    +
    +
    nav_main.h
    +
    +
    +
    1 #ifndef NAV_MAIN_H_
    +
    2 #define NAV_MAIN_H_
    +
    3 
    +
    4 #include <ros/ros.h>
    +
    5 #include <memory>
    +
    6 #include <eigen3/Eigen/Geometry>
    +
    7 #include <geometry_msgs/Pose.h>
    +
    8 #include <geometry_msgs/TwistStamped.h>
    +
    9 #include <sensor_msgs/FluidPressure.h>
    +
    10 #include <sensor_msgs/Imu.h>
    +
    11 #include <nav_msgs/Odometry.h>
    +
    12 #include <tf/transform_broadcaster.h>
    +
    13 #include <tf/transform_datatypes.h>
    +
    14 
    +
    15 #include <odom_dvl_imu/SetDepthOffset.h>
    +
    16 #include <odom_dvl_imu/SetWorldXYOffset.h>
    +
    17 
    +
    18 #include "dvl_data.h"
    +
    19 #include "imu_data.h"
    +
    20 #include "ekf.h"
    +
    21 
    +
    22 namespace navigation
    +
    23 {
    +
    24 
    +
    25 class NavigationNode
    +
    26 {
    +
    27 public:
    +
    28  NavigationNode(const ros::NodeHandlePtr &nh);
    +
    29  ~NavigationNode();
    +
    30 
    +
    31  void Spin();
    +
    32  void ProcessCartesianPose();
    +
    33  void PublishData(ros::Time &current_time);
    +
    34  void BroadcastTransform(Eigen::Vector3d &position, Eigen::Quaterniond &quaternion, ros::Time &current_time);
    +
    35 
    +
    36  bool SetDepthOffsetCallback(odom_dvl_imu::SetDepthOffset::Request &rqst, odom_dvl_imu::SetDepthOffset::Response &response);
    +
    37  bool SetWorldXYOffsetCallback(odom_dvl_imu::SetWorldXYOffset::Request &rqst, odom_dvl_imu::SetWorldXYOffset::Response &response);
    +
    38 
    +
    39  void FillPoseMsg(Eigen::Vector3d &position, Eigen::Quaterniond &angle, nav_msgs::Odometry &msg);
    +
    40  void FillTwistMsg(Eigen::Vector3d &linear_velocity, Eigen::Vector3d &angular_velocity, nav_msgs::Odometry &msg);
    +
    41 
    +
    42 private:
    +
    43  ros::NodeHandlePtr nh_;
    +
    44 
    +
    45  ros::Subscriber dvlTwistSubscriber_;
    +
    46  ros::Subscriber dvlPressureSubscriber_;
    +
    47  ros::Subscriber imuSubscriber_;
    +
    48 
    +
    49  ros::Publisher navigationOdomPublisher_;
    +
    50  tf::TransformBroadcaster odom_broadcaster;
    +
    51 
    +
    52  ros::ServiceServer navigationDepthOffsetServer_;
    +
    53  ros::ServiceServer navigationXYOffsetServer_;
    +
    54 
    +
    55  DvlData dvlData_;
    +
    56  IMUData imuData_;
    +
    57 
    +
    58  ExtendedKalmanFilter dvlFilter_;
    +
    59  Eigen::Vector3d poseEstimation_;
    +
    60 
    +
    61  double zOffset_;
    +
    62  double positionFromDepth_;
    +
    63 
    +
    64  Eigen::Quaterniond quaternion_;
    +
    65  Eigen::Vector3d position_;
    +
    66  Eigen::Vector3d incrementPosition_;
    +
    67  Eigen::Vector3d velocity_;
    +
    68  Eigen::Vector3d angularVelocity_;
    +
    69  Eigen::Vector3d eulerAngel_;
    +
    70 };
    +
    71 
    +
    72 } // namespace navigation
    +
    73 #endif //NAVIGATION_NODE_H_
    +
    +
    navigation::DvlData
    Definition: dvl_data.h:12
    + +
    navigation::NavigationNode
    Definition: nav_main.h:25
    +
    navigation::IMUData
    Definition: imu_data.h:9
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/navigation__device_8h_source.html b/docs/html/navigation__device_8h_source.html new file mode 100644 index 0000000..046970d --- /dev/null +++ b/docs/html/navigation__device_8h_source.html @@ -0,0 +1,117 @@ + + + + + + + +Anahita: navigation_layer/odom_dvl_imu/include/navigation_device.h Source File + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    navigation_device.h
    +
    +
    +
    1 #ifndef NAVIGATION_DEVICE_H
    +
    2 #define NAVIGATION_DEVICE_H
    +
    3 
    +
    4 #include <mutex>
    +
    5 namespace navigation{
    +
    6 
    +
    7  class NavigationDevice {
    +
    8 
    +
    9  public:
    +
    10  NavigationDevice() : new_data_ready_(false) { };
    +
    11  void SetNewDataReady();
    +
    12  bool IsNewDataReady();
    +
    13  void SetNewDataUsed();
    +
    14 
    +
    15  private:
    +
    16  bool new_data_ready_;
    +
    17  std::mutex data_ready_mutex_;
    +
    18  };
    +
    19 
    +
    20  inline void NavigationDevice::SetNewDataReady() {
    +
    21  std::lock_guard<std::mutex> guard(data_ready_mutex_);
    +
    22  new_data_ready_ = true;
    +
    23  };
    +
    24 
    +
    25  inline bool NavigationDevice::IsNewDataReady() {
    +
    26  std::lock_guard<std::mutex> guard(data_ready_mutex_);
    +
    27  return new_data_ready_;
    +
    28  };
    +
    29 
    +
    30  inline void NavigationDevice::SetNewDataUsed() {
    +
    31  std::lock_guard<std::mutex> guard(data_ready_mutex_);
    +
    32  new_data_ready_ = false;
    +
    33  };
    +
    34 }
    +
    35 
    +
    36 #endif
    +
    +
    navigation::NavigationDevice
    Definition: navigation_device.h:7
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/navigation__layer_2odom__dvl__imu_2include_2dvl__data_8h_source.html b/docs/html/navigation__layer_2odom__dvl__imu_2include_2dvl__data_8h_source.html new file mode 100644 index 0000000..d92723e --- /dev/null +++ b/docs/html/navigation__layer_2odom__dvl__imu_2include_2dvl__data_8h_source.html @@ -0,0 +1,146 @@ + + + + + + + +Anahita: navigation_layer/odom_dvl_imu/include/dvl_data.h Source File + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    dvl_data.h
    +
    +
    +
    1 #ifndef DVL_DATA_H
    +
    2 #define DVL_DATA_H
    +
    3 
    +
    4 #include <geometry_msgs/TwistWithCovarianceStamped.h>
    +
    5 #include <std_msgs/Float32.h>
    +
    6 #include <eigen3/Eigen/Geometry>
    +
    7 #include "navigation_device.h"
    +
    8 #include <geometry_msgs/TwistWithCovarianceStamped.h>
    +
    9 
    +
    10 namespace navigation{
    +
    11 
    +
    12  class DvlData: public NavigationDevice
    +
    13  {
    +
    14  typedef void (DvlData::*IntegrationMethodT) (const double &);
    +
    15 
    +
    16  public:
    +
    17 
    +
    18  const double BAR_TO_METER_OF_WATER = 10.1972;
    +
    19 
    +
    20  enum IntegrationMethodType
    +
    21  {
    +
    22  StdMethod = 0,
    +
    23  RKMethod,
    +
    24  DefaultMethod
    +
    25  };
    +
    26 
    +
    27  DvlData(IntegrationMethodType integrationMethodType = RKMethod);
    +
    28  ~DvlData();
    +
    29 
    +
    30  void DvlTwistCallback(geometry_msgs::TwistWithCovarianceStamped msg);
    +
    31  void DvlPressureCallback(std_msgs::Float32 msg);
    +
    32 
    +
    33  std::vector<double> x_vel;
    +
    34  std::vector<double> y_vel;
    +
    35  std::vector<double> z_vel;
    +
    36  int x_count = 0;
    +
    37  int y_count = 0;
    +
    38  int z_count = 0;
    +
    39  int vel_count = 0;
    +
    40 
    +
    41  Eigen::Vector3d GetPositionXYZ();
    +
    42  Eigen::Vector3d GetVelocityXYZ();
    +
    43  double GetPositionZFromPressure();
    +
    44  std_msgs::Float32 GetPressure();
    +
    45 
    +
    46  private:
    +
    47  void StdIntegrationMethod(const double &dt_sec);
    +
    48  void RKIntegrationMethod(const double &dt_sec);
    +
    49  double Average(std::vector<double> array);
    +
    50  bool inRange (double x, double avg, double thres);
    +
    51 
    +
    52  ros::Time last_timestamp_;
    +
    53 
    +
    54  Eigen::Vector3d positionIncrement_;
    +
    55  Eigen::MatrixXd historyPositionIncrement_;
    +
    56 
    +
    57  geometry_msgs::TwistWithCovarianceStamped dvl_twist_;
    +
    58  std_msgs::Float32 dvl_pressure_;
    +
    59 
    +
    60  IntegrationMethodT integrationMethod_;
    +
    61  };
    +
    62 
    +
    63 }
    +
    64 #endif // DVLDATA_H
    +
    +
    navigation::DvlData
    Definition: dvl_data.h:12
    +
    navigation::NavigationDevice
    Definition: navigation_device.h:7
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/octagon_8h_source.html b/docs/html/octagon_8h_source.html new file mode 100644 index 0000000..c835a68 --- /dev/null +++ b/docs/html/octagon_8h_source.html @@ -0,0 +1,134 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/octagon.h Source File + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    octagon.h
    +
    +
    +
    1 #ifndef OCTAGON_TASK_H
    +
    2 #define OCTAGON_TASK_H
    +
    3 
    +
    4 #include "base_class.h"
    +
    5 
    +
    6 #include <vision_tasks/octagonFrontRangeConfig.h>
    +
    7 #include <vision_tasks/octagonBottomRangeConfig.h>
    +
    8 
    +
    9 class Octagon : public Base_class
    +
    10 {
    +
    11 protected:
    +
    12 
    +
    13  image_transport::Publisher blue_filtered_pub;
    +
    14  image_transport::Subscriber image_raw_sub;
    +
    15 
    +
    16  std::string camera_frame_;
    +
    17 
    +
    18  double front_clahe_clip_ = 4.0;
    +
    19  int front_clahe_grid_size_ = 8;
    +
    20  int front_clahe_bilateral_iter_ = 8;
    +
    21  int front_balanced_bilateral_iter_ = 4;
    +
    22  double front_denoise_h_ = 10.0;
    +
    23  int front_canny_threshold_low_ = 0;
    +
    24  int front_canny_threshold_high_ = 1000;
    +
    25  int front_canny_kernel_size_ = 3;
    +
    26  int front_hough_threshold_ = 0;
    +
    27  int front_hough_minline_ = 0;
    +
    28  int front_hough_maxgap_ = 0;
    +
    29  double front_hough_angle_tolerance_ = 0.0;
    +
    30  double front_gate_distance_tolerance_ = 50.0;
    +
    31  double front_gate_angle_tolerance_ = 0.0;
    +
    32 
    +
    33  double bottom_clahe_clip_ = 4.0;
    +
    34  int bottom_clahe_grid_size_ = 8;
    +
    35  int bottom_clahe_bilateral_iter_ = 8;
    +
    36  int bottom_balanced_bilateral_iter_ = 4;
    +
    37  double bottom_denoise_h_ = 10.0;
    +
    38 
    +
    39  bool task_done = false;
    +
    40 
    +
    41  void frontCallback(vision_tasks::octagonFrontRangeConfig &config, double level);
    +
    42  void bottomCallback(vision_tasks::octagonBottomRangeConfig &config, double level);
    +
    43  void imageFrontCallback(const sensor_msgs::Image::ConstPtr &msg);
    +
    44  void imageBottomCallback(const sensor_msgs::Image::ConstPtr &msg);
    +
    45 
    +
    46 public:
    +
    47  Octagon();
    +
    48  void spinThreadBottom();
    +
    49  void spinThreadFront();
    +
    50 };
    +
    51 #endif // OCTAGON_TASK_H
    +
    52 
    +
    +
    Base_class
    Definition: base_class.h:34
    +
    Octagon
    Definition: octagon.h:9
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/odom__dvl__imu_2include_2ekf_8h_source.html b/docs/html/odom__dvl__imu_2include_2ekf_8h_source.html new file mode 100644 index 0000000..a8568bc --- /dev/null +++ b/docs/html/odom__dvl__imu_2include_2ekf_8h_source.html @@ -0,0 +1,110 @@ + + + + + + + +Anahita: navigation_layer/odom_dvl_imu/include/ekf.h Source File + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    ekf.h
    +
    +
    +
    1 #ifndef EKF_H_
    +
    2 #define EKF_H_
    +
    3 
    +
    4 #include <ros/ros.h>
    +
    5 #include <memory>
    +
    6 #include <eigen3/Eigen/Geometry>
    +
    7 namespace navigation{
    +
    8 
    +
    9  class ExtendedKalmanFilter
    +
    10  {
    +
    11  public:
    +
    12 
    +
    13  ExtendedKalmanFilter();
    +
    14  ~ExtendedKalmanFilter() = default;
    +
    15 
    +
    16  void Update(Eigen::Vector3d &measurement, Eigen::Vector3d &estimation);
    +
    17 
    +
    18  void Initialization(float pval, float qval, float rval);
    +
    19 
    +
    20  private:
    +
    21  Eigen::Matrix3d previousNoise_;
    +
    22  Eigen::Matrix3d postNoise_;
    +
    23  Eigen::Matrix3d jacobiansTransition_;
    +
    24  Eigen::Matrix3d jacobiansMeasurement_;
    +
    25  Eigen::Matrix3d processNoise_;
    +
    26  Eigen::Matrix3d measurementNoise_;
    +
    27  };
    +
    28 }
    +
    29 #endif // EKF_H_
    +
    + + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/pages.html b/docs/html/pages.html index c9c5ede..c4d73d4 100644 --- a/docs/html/pages.html +++ b/docs/html/pages.html @@ -67,7 +67,20 @@
    Here is a list of all related documentation pages:
    - + + + + + + + + + + + + + +
     AUV Anahita
     coding_guidelines
     Contributing
     documentation
     Overview of the Software Stack (Anahita)
     Graphical User Interface for Anahita
     hardware_arduino
     hardware_camera
     hardware_dvl
     hardware_imu
     Teledyne Navigator ROS Package
     AUV Anahita
     README
     vision_commons
     vision_tasks
    diff --git a/docs/html/path__marker_8h_source.html b/docs/html/path__marker_8h_source.html new file mode 100644 index 0000000..12a6be4 --- /dev/null +++ b/docs/html/path__marker_8h_source.html @@ -0,0 +1,104 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/path_marker.h Source File + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    path_marker.h
    +
    +
    +
    1 #ifndef PATH_MARKER_H
    +
    2 #define PATH_MARKER_H
    +
    3 
    +
    4 #include "base_class.h"
    +
    5 #include <master_layer/RequestMarkerAngle.h>
    +
    6 
    +
    7 class PathMarker : public Base_class
    +
    8 {
    +
    9 public:
    +
    10  PathMarker();
    +
    11  virtual void loadParams () override;
    +
    12  virtual void spinThreadBottom () override;
    +
    13  bool markerAngle (master_layer::RequestMarkerAngle::Request &req,
    +
    14  master_layer::RequestMarkerAngle::Response &res);
    +
    15 
    +
    16 private:
    +
    17  double MAJOR;
    +
    18  double MINOR;
    +
    19  ros::ServiceServer service;
    +
    20 };
    +
    21 
    +
    22 #endif // PATH_MARKER_H
    +
    +
    Base_class
    Definition: base_class.h:34
    +
    PathMarker
    Definition: path_marker.h:7
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/pinger_8h_source.html b/docs/html/pinger_8h_source.html new file mode 100644 index 0000000..974ca3e --- /dev/null +++ b/docs/html/pinger_8h_source.html @@ -0,0 +1,109 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/pinger.h Source File + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    pinger.h
    +
    +
    +
    1 #pragma once
    +
    2 
    +
    3 #include <base_class.h>
    +
    4 #include <master_layer/PingerFrontTarget.h>
    +
    5 #include <master_layer/PingerBottomTarget.h>
    +
    6 
    +
    7 class Pinger : public Base_class {
    +
    8 public:
    +
    9  Pinger ();
    +
    10  void loadParams () override;
    +
    11  void spinThreadFront () override;
    +
    12  void spinThreadBottom () override;
    +
    13  cv::Point getContourCenter (const std::vector<cv::Point>& contour);
    +
    14  bool bottomTarget (master_layer::PingerBottomTarget::Request &req,
    +
    15  master_layer::PingerBottomTarget::Response &resp);
    +
    16  bool frontTarget (master_layer::PingerFrontTarget::Request &req,
    +
    17  master_layer::PingerFrontTarget::Response &resp);
    +
    18 
    +
    19 private:
    +
    20  bool bottom_visible = false;
    +
    21  bool front_visible = false;
    +
    22  double bottom_size_thres = 300;
    +
    23  double front_size_thres = 100;
    +
    24  image_transport::Publisher front_roi_pub;
    +
    25  ros::ServiceServer front_service;
    +
    26  ros::ServiceServer bottom_service;
    +
    27 };
    +
    +
    Base_class
    Definition: base_class.h:34
    +
    Pinger
    Definition: pinger.h:7
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/point__to__bearing_8h_source.html b/docs/html/point__to__bearing_8h_source.html new file mode 100644 index 0000000..233eab5 --- /dev/null +++ b/docs/html/point__to__bearing_8h_source.html @@ -0,0 +1,148 @@ + + + + + + + +Anahita: vision_layer/image_undistort/include/image_undistort/point_to_bearing.h Source File + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    point_to_bearing.h
    +
    +
    +
    1 #ifndef IMAGE_UNDISTORT_POINT_TO_BEARING_NODELET_H
    +
    2 #define IMAGE_UNDISTORT_POINT_TO_BEARING_NODELET_H
    +
    3 
    +
    4 #include <stdio.h>
    +
    5 #include <Eigen/Dense>
    +
    6 
    +
    7 #include <nodelet/nodelet.h>
    +
    8 #include <ros/callback_queue.h>
    +
    9 #include <ros/ros.h>
    +
    10 
    +
    11 #include <geometry_msgs/PointStamped.h>
    +
    12 #include <sensor_msgs/CameraInfo.h>
    +
    13 
    +
    14 #include <nlopt.hpp>
    +
    15 
    +
    16 #include "image_undistort/undistorter.h"
    +
    17 
    +
    18 namespace image_undistort {
    +
    19 
    +
    20 // Default values
    +
    21 
    +
    22 // queue size
    +
    23 constexpr int kQueueSize = 10;
    +
    24 // true to load cam_info from ros parameters, false to get it from a
    +
    25 // cam_info topic
    +
    26 constexpr bool kDefaultCameraInfoFromROSParams = false;
    +
    27 // namespace to use when loading camera parameters from ros params
    +
    28 const std::string kDefaultCameraNamespace = "camera";
    +
    29 
    +
    30 class PointToBearing {
    +
    31  public:
    +
    32  PointToBearing(const ros::NodeHandle& nh, const ros::NodeHandle& nh_private);
    +
    33 
    +
    34  static void optimizeForBearingVector(
    +
    35  const InputCameraParameters& camera_parameters,
    +
    36  const Eigen::Vector2d& pixel_location, Eigen::Vector3d* bearing);
    +
    37 
    +
    38  static double bearingProjectionError(const std::vector<double>& values,
    +
    39  std::vector<double>& grad, void* data);
    +
    40 
    +
    41  private:
    +
    42  void imagePointCallback(
    +
    43  const geometry_msgs::PointStampedConstPtr& image_point);
    +
    44 
    +
    45  void cameraInfoCallback(const sensor_msgs::CameraInfoConstPtr& camera_info);
    +
    46 
    +
    47  // nodes
    +
    48  ros::NodeHandle nh_;
    +
    49  ros::NodeHandle nh_private_;
    +
    50 
    +
    51  // subscribers
    +
    52  ros::Subscriber camera_info_sub_;
    +
    53  ros::Subscriber image_point_sub_;
    +
    54 
    +
    55  // publishers
    +
    56  ros::Publisher bearing_pub_;
    +
    57 
    +
    58  // camera info
    +
    59  std::shared_ptr<InputCameraParameters> camera_parameters_ptr_;
    +
    60 
    +
    61  // other variables
    +
    62  int queue_size_;
    +
    63 };
    +
    64 }
    +
    65 
    +
    66 #endif
    +
    +
    image_undistort::InputCameraParameters
    Definition: camera_parameters.h:85
    +
    image_undistort::PointToBearing
    Definition: point_to_bearing.h:30
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/search/all_0.js b/docs/html/search/all_0.js index bae60f5..2cfab9b 100644 --- a/docs/html/search/all_0.js +++ b/docs/html/search/all_0.js @@ -1,4 +1,7 @@ var searchData= [ - ['anahitathrustermanager_0',['AnahitaThrusterManager',['../classmaster__layer_1_1anahita__thruster__manager_1_1AnahitaThrusterManager.html',1,'master_layer::anahita_thruster_manager']]] + ['_5f_5fdel_5f_5f_0',['__del__',['../classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner.html#a1e359e0c4268f8587f0a2cab1d545a74',1,'uuv_control_interfaces::dp_controller_local_planner::DPControllerLocalPlanner']]], + ['_5f_5fenter_5f_5f_1',['__enter__',['../classteledyne__navigator_1_1driver_1_1TeledyneNavigator.html#ad32b886ab3f18b15ddde6efa3244a0fe',1,'teledyne_navigator::driver::TeledyneNavigator']]], + ['_5f_5fexit_5f_5f_2',['__exit__',['../classteledyne__navigator_1_1driver_1_1TeledyneNavigator.html#a8af2570d9fc07d7a56d4df2a082c441e',1,'teledyne_navigator::driver::TeledyneNavigator']]], + ['_5f_5finit_5f_5f_3',['__init__',['../classthruster__allocator_1_1ThrusterAllocatorNode.html#a2932029cfc6d72b464473c0e8e639126',1,'thruster_allocator.ThrusterAllocatorNode.__init__()'],['../classuuv__thrusters_1_1models_1_1thruster_1_1Thruster.html#a5d472c0b1187de31ecbecade71fb77e9',1,'uuv_thrusters.models.thruster.Thruster.__init__()'],['../classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom.html#a1a5847a4ffe4b2137ddde38b3779974b',1,'uuv_thrusters.models.thruster_custom.ThrusterCustom.__init__()'],['../classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager.html#a256d947278c99ab4f6096c8e1c97949e',1,'uuv_thrusters.thruster_manager.ThrusterManager.__init__()'],['../classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle.html#a051443f66e198b47b0c601e889f08ac1',1,'uuv_control_interfaces.sym_vehicle.SymVehicle.__init__()'],['../classuuv__control__interfaces_1_1vehicle_1_1Vehicle.html#a6d02b3dd4b8f9a6bf0a1b625152da0a5',1,'uuv_control_interfaces.vehicle.Vehicle.__init__()'],['../classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator.html#a8b7c95b3f0708670b211e6588664c5b1',1,'uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.__init__()'],['../classteledyne__navigator_1_1driver_1_1TeledyneNavigator.html#a1ebe1cad172dbc3b1e4daad75375b816',1,'teledyne_navigator.driver.TeledyneNavigator.__init__()'],['../classmtdevice_1_1MTDevice.html#a9a93b603a3c9ab6a7ad9027e436799d4',1,'mtdevice.MTDevice.__init__()']]] ]; 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    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    slam_ekf.h
    +
    +
    +
    1 #ifndef SLAM_EKF_H
    +
    2 #define SLAM_EKF_H
    +
    3 
    +
    4 #include "util.h"
    +
    5 #include <string>
    +
    6 
    +
    7 template<int n, int m, int b>
    +
    8 
    +
    9 namespace mapping{
    +
    10 class EKF {
    +
    11  public:
    +
    12  Eigen::Matrix<float, n, 1> xhat_;
    +
    13  Eigen::Matrix<float, n, n> covs_;
    +
    14  protected:
    +
    15  Eigen::Matrix<float, n, b> B_;
    +
    16  Eigen::Matrix<float, m, m> R_;
    +
    17  Eigen::Matrix<float, n, n> Q_;
    +
    18 
    +
    19  public:
    +
    20  EKF(const Eigen::Matrix<float, n, b> &B, const Eigen::Matrix<float, m, m> &R,
    +
    21  const Eigen::Matrix<float, n, n> &Q, const Eigen::Matrix<float, n, 1> &x,
    +
    22  const Eigen::Matrix<float, n, n> &p);
    +
    23 
    +
    24  void Predict(const Eigen::Matrix<float, b, 1> &u,
    +
    25  const Eigen::Matrix<float, n, 1> &xhat,
    +
    26  const Eigen::Matrix<float, n, n> &F);
    +
    27  void Update(const Eigen::Matrix<float, m, 1> &y,
    +
    28  const Eigen::Matrix<float, m, n> &H);
    +
    29 };
    +
    30 
    +
    31 class SlamEKF: public EKF<3, 3, 3> {
    +
    32  public:
    +
    33  std::string id_;
    +
    34 
    +
    35  SlamEKF(const vec3 &x, const mat3 &p, std::string id);
    +
    36  SlamEKF(const SlamEKF &orig);
    +
    37 
    +
    38  void Predict(const vec3 &u);
    +
    39  void Update(const vec3 &z);
    +
    40 };
    +
    41 }
    +
    42 #endif
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/slam__filter_8h_source.html b/docs/html/slam__filter_8h_source.html new file mode 100644 index 0000000..0376bdb --- /dev/null +++ b/docs/html/slam__filter_8h_source.html @@ -0,0 +1,154 @@ + + + + + + + +Anahita: navigation_layer/mapping/include/slam_filter.h Source File + + + + + + + + + +
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    slam_filter.h
    +
    +
    +
    1 #ifndef SLAM_FILTER
    +
    2 #define SLAM_FILTER
    +
    3 #include "ekf.h"
    +
    4 #include <vector>
    +
    5 #include <unordered_map>
    +
    6 #include <unordered_set>
    +
    7 #include <random>
    +
    8 #include <iostream>
    +
    9 #include <mutex>
    +
    10 
    +
    11 namespace mapping
    +
    12 {
    +
    13 
    +
    14 class SlamParticle {
    +
    15  public:
    +
    16  float weight_;
    +
    17  vec3 position_;
    +
    18  vec3 orientation_;
    +
    19 
    +
    20  std::default_random_engine gen_;
    +
    21  std::normal_distribution<float> uniform_;
    +
    22  std::normal_distribution<float> gaussian_;
    +
    23 
    +
    24  std::unordered_map<std::string, SlamEKF> landmark_filters_;
    +
    25 
    +
    26  SlamParticle(float weight, const vec3 &pos, const vec3 &ori);
    +
    27  void AddLandmark(std::string id, const vec3 &relpos, const mat3 &conv);
    +
    28  void UpdateLandmark(std::string id, const vec3 &relpos);
    +
    29  void UpdateParticle(const vec6 &u, float weight);
    +
    30  float UpdateWeight(std::string id, const vec3 &relpos, float certainty);
    +
    31 
    +
    32  void ReinitRandom();
    +
    33 
    +
    34  vec3 GetState();
    +
    35  vec6 GetState(std::string id);
    +
    36 
    +
    37 };
    +
    38 
    +
    39 class SlamFilter {
    +
    40  private:
    +
    41  int num_particles_;
    +
    42  std::vector<SlamParticle> particles_;
    +
    43  std::vector<float> weights_;
    +
    44  std::unordered_set<std::string> landmarks_;
    +
    45 
    +
    46  std::default_random_engine gen_;
    +
    47 
    +
    48  std::mutex mutex_;
    +
    49 
    +
    50  public:
    +
    51  SlamFilter(int n);
    +
    52  SlamFilter(int n, const vec3 &pos, const vec3 &ori);
    +
    53  void Update(const vec6 &u);
    +
    54  void Landmark(std::string id, const vec3 &relpos, const mat3 &cov);
    +
    55 
    +
    56  vec3 GetState();
    +
    57  vec6 GetState(std::string id);
    +
    58 
    +
    59  void GNUPlotOut();
    +
    60 
    +
    61 
    +
    62  friend std::ostream& operator<<(std::ostream &os, const SlamFilter &sf);
    +
    63 
    +
    64  private:
    +
    65  void NewLandmark(std::string id, const vec3 &relpos, const mat3 &cov);
    +
    66  void UpdateLandmark(std::string id, const vec3 &relpos, const mat3 &cov);
    +
    67  void NormalizeWeights();
    +
    68  void Resample();
    +
    69 
    +
    70 };
    +
    71 }
    +
    72 #endif
    +
    +
    mapping::SlamFilter
    Definition: slam_filter.h:39
    +
    mapping::SlamParticle
    Definition: slam_filter.h:14
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/slam__server_8h_source.html b/docs/html/slam__server_8h_source.html new file mode 100644 index 0000000..0a8b042 --- /dev/null +++ b/docs/html/slam__server_8h_source.html @@ -0,0 +1,113 @@ + + + + + + + +Anahita: navigation_layer/mapping/include/slam_server.h Source File + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    slam_server.h
    +
    +
    +
    1 #ifndef SLAM_SERVER_H
    +
    2 #define SLAM_SERVER_H
    +
    3 
    +
    4 #include "slam_filter.h"
    +
    5 #include "ros/ros.h"
    +
    6 #include "mapping/slam_msg.h"
    +
    7 #include "mapping/slam_srv.h"
    +
    8 #include "util.h"
    +
    9 
    +
    10 namespace mapping{
    +
    11 class SlamClient {
    +
    12  public:
    +
    13  int observe_landmark(const ros::NodeHandlePtr &n_, std::string obj_id, double m_x,double m_y, double m_z, double u_x, double u_y, double u_z, int uncertainty);
    +
    14  vec6 request_landmark(const ros::NodeHandlePtr &n_, std::string obj_id);
    +
    15  vec3 request_position(const ros::NodeHandlePtr &n_);
    +
    16 };
    +
    17 
    +
    18 class SlamServer {
    +
    19  private:
    +
    20  SlamFilter *filter_;
    +
    21 
    +
    22  public:
    +
    23  SlamServer(SlamFilter *filter);
    +
    24  bool observe(mapping::slam_msg::Request &msg, mapping::slam_msg::Response &rep);
    +
    25  bool slam_do(mapping::slam_srv::Request &req, mapping::slam_srv::Response &res);
    +
    26  void Listen(const ros::NodeHandlePtr &n_);
    +
    27  void Landmark_observe(const ros::NodeHandlePtr n_);
    +
    28 };
    +
    29 }
    +
    30 #endif
    +
    +
    mapping::SlamClient
    Definition: slam_server.h:11
    +
    mapping::SlamServer
    Definition: slam_server.h:18
    +
    mapping::SlamFilter
    Definition: slam_filter.h:39
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/start__gate_8h_source.html b/docs/html/start__gate_8h_source.html new file mode 100644 index 0000000..333479c --- /dev/null +++ b/docs/html/start__gate_8h_source.html @@ -0,0 +1,98 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/start_gate.h Source File + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    start_gate.h
    +
    +
    +
    1 #pragma once
    +
    2 
    +
    3 #include "base_class.h"
    +
    4 
    +
    5 class StartGate : public Base_class
    +
    6 {
    +
    7 public:
    +
    8  StartGate ();
    +
    9  void loadParams() override;
    +
    10  void spinThreadFront() override;
    +
    11  cv::Point findGateCenter (cv::Mat& thres_img);
    +
    12 
    +
    13 private:
    +
    14  image_transport::Publisher front_roi_pub;
    +
    15  cv::Mat marked_img;
    +
    16 };
    +
    +
    StartGate
    Definition: start_gate.h:5
    +
    Base_class
    Definition: base_class.h:34
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/stereo__info_8h_source.html b/docs/html/stereo__info_8h_source.html new file mode 100644 index 0000000..347ae01 --- /dev/null +++ b/docs/html/stereo__info_8h_source.html @@ -0,0 +1,159 @@ + + + + + + + +Anahita: vision_layer/image_undistort/include/image_undistort/stereo_info.h Source File + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    stereo_info.h
    +
    +
    +
    1 #ifndef IMAGE_UNDISTORT_STEREO_INFO_H
    +
    2 #define IMAGE_UNDISTORT_STEREO_INFO_H
    +
    3 
    +
    4 #include <image_transport/image_transport.h>
    +
    5 #include <ros/callback_queue.h>
    +
    6 #include <ros/ros.h>
    +
    7 
    +
    8 #include <cv_bridge/cv_bridge.h>
    +
    9 #include <sensor_msgs/CameraInfo.h>
    +
    10 #include <sensor_msgs/Image.h>
    +
    11 
    +
    12 #include "image_undistort/camera_parameters.h"
    +
    13 
    +
    14 namespace image_undistort {
    +
    15 
    +
    16 // Default values
    +
    17 
    +
    18 // queue size
    +
    19 constexpr int kQueueSize = 10;
    +
    20 // true to load input cam_info from ros parameters, false to get it from a
    +
    21 // cam_info topic
    +
    22 constexpr bool kDefaultInputCameraInfoFromROSParams = true;
    +
    23 // namespace to use when loading first camera parameters from ros params
    +
    24 const std::string kDefaultFirstCameraNamespace = "first_camera";
    +
    25 // namespace to use when loading second camera parameters from ros params
    +
    26 const std::string kDefaultSecondCameraNamespace = "second_camera";
    +
    27 // the output focal length will be multiplied by this value. This has the effect
    +
    28 // of resizing the image by this scale factor.
    +
    29 constexpr double kDefaultScale = 1.0;
    +
    30 // if radtan distortion should be called radtan (ASL standard) or plumb_bob (ros
    +
    31 // standard)
    +
    32 constexpr bool kDefaultRenameRadtanPlumbBob = false;
    +
    33 // if the read in transforms should be inverted
    +
    34 constexpr bool kDefaultInvertT = false;
    +
    35 
    +
    36 class StereoInfo {
    +
    37  public:
    +
    38  StereoInfo(const ros::NodeHandle& nh, const ros::NodeHandle& nh_private);
    +
    39 
    +
    40  void firstImageCallback(const sensor_msgs::ImageConstPtr& image_msg);
    +
    41 
    +
    42  void secondImageCallback(const sensor_msgs::ImageConstPtr& image_msg);
    +
    43 
    +
    44  void firstCameraInfoCallback(
    +
    45  const sensor_msgs::CameraInfoConstPtr& camera_info);
    +
    46 
    +
    47  void secondCameraInfoCallback(
    +
    48  const sensor_msgs::CameraInfoConstPtr& camera_info);
    +
    49 
    +
    50  private:
    +
    51  void sendCameraInfo(const std_msgs::Header& header, const CameraSide& side,
    +
    52  const CameraIO& io);
    +
    53 
    +
    54  // nodes
    +
    55  ros::NodeHandle nh_;
    +
    56  ros::NodeHandle nh_private_;
    +
    57  image_transport::ImageTransport it_;
    +
    58 
    +
    59  // subscribers
    +
    60  image_transport::Subscriber first_image_sub_;
    +
    61  image_transport::Subscriber second_image_sub_;
    +
    62  ros::Subscriber first_camera_info_sub_;
    +
    63  ros::Subscriber second_camera_info_sub_;
    +
    64 
    +
    65  // publishers
    +
    66  ros::Publisher first_camera_info_input_pub_;
    +
    67  ros::Publisher second_camera_info_input_pub_;
    +
    68  ros::Publisher first_camera_info_output_pub_;
    +
    69  ros::Publisher second_camera_info_output_pub_;
    +
    70 
    +
    71  std::shared_ptr<StereoCameraParameters> stereo_camera_parameters_ptr_;
    +
    72 
    +
    73  int queue_size_;
    +
    74  bool rename_radtan_plumb_bob_;
    +
    75 };
    +
    76 }
    +
    77 
    +
    78 #endif
    +
    +
    image_undistort::StereoInfo
    Definition: stereo_info.h:36
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/stereo__undistort_8h_source.html b/docs/html/stereo__undistort_8h_source.html new file mode 100644 index 0000000..9993305 --- /dev/null +++ b/docs/html/stereo__undistort_8h_source.html @@ -0,0 +1,228 @@ + + + + + + + +Anahita: vision_layer/image_undistort/include/image_undistort/stereo_undistort.h Source File + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    stereo_undistort.h
    +
    +
    +
    1 #ifndef IMAGE_UNDISTORT_STEREO_UNDISTORTER_H
    +
    2 #define IMAGE_UNDISTORT_STEREO_UNDISTORTER_H
    +
    3 
    +
    4 #include <image_transport/image_transport.h>
    +
    5 #include <image_transport/subscriber_filter.h>
    +
    6 
    +
    7 #include <ros/callback_queue.h>
    +
    8 #include <ros/ros.h>
    +
    9 
    +
    10 #include <tf/transform_broadcaster.h>
    +
    11 #include <tf_conversions/tf_eigen.h>
    +
    12 
    +
    13 #include <message_filters/subscriber.h>
    +
    14 #include <message_filters/sync_policies/approximate_time.h>
    +
    15 #include <message_filters/time_synchronizer.h>
    +
    16 
    +
    17 #include <cv_bridge/cv_bridge.h>
    +
    18 
    +
    19 #include "image_undistort/camera_parameters.h"
    +
    20 #include "image_undistort/undistorter.h"
    +
    21 
    +
    22 namespace image_undistort {
    +
    23 
    +
    24 // Default values
    +
    25 
    +
    26 // queue size
    +
    27 constexpr int kQueueSize = 10;
    +
    28 // true to load input cam_info from ros parameters, false to get it from a
    +
    29 // cam_info topic
    +
    30 constexpr bool kDefaultInputCameraInfoFromROSParams = true;
    +
    31 // namespace to use when loading first camera parameters from ros params
    +
    32 const std::string kDefaultFirstCameraNamespace = "first_camera";
    +
    33 // namespace to use when loading second camera parameters from ros params
    +
    34 const std::string kDefaultSecondCameraNamespace = "second_camera";
    +
    35 // downsamples output rate if <= 1, every frame is processed.
    +
    36 constexpr int kDefaultProcessEveryNthFrame = 1;
    +
    37 // converts the output image to the given format, set to the empty string "" to
    +
    38 // copy input type. Consult cv_bridge documentation for valid strings
    +
    39 const std::string kDefaultOutputImageType = "";
    +
    40 // if the output camera source is set to "auto_generated", the output focal
    +
    41 // length will be multiplied by this value. This has the effect of
    +
    42 // resizing the image by this scale factor.
    +
    43 constexpr double kDefaultScale = 1.0;
    +
    44 // if a tf between the input and output frame should be created
    +
    45 constexpr bool kDefaultPublishTF = true;
    +
    46 // name of first output image frame
    +
    47 const std::string kDefaultFirstOutputFrame = "first_camera_rect";
    +
    48 // name of second output image frame
    +
    49 const std::string kDefaultSecondOutputFrame = "second_camera_rect";
    +
    50 // rename input frames
    +
    51 constexpr bool kDefaultRenameInputFrame = false;
    +
    52 // new name of first input frame
    +
    53 const std::string kDefaultFirstInputFrame = "first_camera";
    +
    54 // new name of second input frame
    +
    55 const std::string kDefaultSecondInputFrame = "second_camera";
    +
    56 // if radtan distortion should be called radtan (ASL standard) or plumb_bob (ros
    +
    57 // standard)
    +
    58 constexpr bool kDefaultRenameRadtanPlumbBob = false;
    +
    59 // if the read in transforms should be inverted
    +
    60 constexpr bool kDefaultInvertT = false;
    +
    61 
    +
    62 class StereoUndistort {
    +
    63  public:
    +
    64  StereoUndistort(const ros::NodeHandle& nh, const ros::NodeHandle& nh_private);
    +
    65 
    +
    66  void imagesCallback(const sensor_msgs::ImageConstPtr& first_image_msg_in,
    +
    67  const sensor_msgs::ImageConstPtr& second_image_msg_in);
    +
    68 
    +
    69  void camerasCallback(
    +
    70  const sensor_msgs::ImageConstPtr& first_image_msg_in,
    +
    71  const sensor_msgs::ImageConstPtr& second_image_msg_in,
    +
    72  const sensor_msgs::CameraInfoConstPtr& first_camera_info_msg_in,
    +
    73  const sensor_msgs::CameraInfoConstPtr& second_camera_info_msg_in);
    +
    74 
    +
    75  private:
    +
    76  int getQueueSize() const;
    +
    77 
    +
    78  void updateUndistorter(const CameraSide& side);
    +
    79 
    +
    80  void sendCameraInfo(const std_msgs::Header& header, const CameraSide& side,
    +
    81  const CameraIO& io);
    +
    82 
    +
    83  void processAndSendImage(const sensor_msgs::ImageConstPtr& image_msg_in,
    +
    84  const CameraSide& side);
    +
    85 
    +
    86  // tf broadcaster
    +
    87  tf::TransformBroadcaster br_;
    +
    88 
    +
    89  // nodes
    +
    90  ros::NodeHandle nh_;
    +
    91  ros::NodeHandle nh_private_;
    +
    92  image_transport::ImageTransport it_;
    +
    93 
    +
    94  // subscribers
    +
    95  image_transport::SubscriberFilter first_image_sub_;
    +
    96  image_transport::SubscriberFilter second_image_sub_;
    +
    97  // these use pointers as they are not needed when loading from ros params
    +
    98  std::shared_ptr<message_filters::Subscriber<sensor_msgs::CameraInfo>>
    +
    99  first_camera_info_sub_ptr_;
    +
    100  std::shared_ptr<message_filters::Subscriber<sensor_msgs::CameraInfo>>
    +
    101  second_camera_info_sub_ptr_;
    +
    102 
    +
    103  // publishers
    +
    104  image_transport::Publisher first_image_pub_;
    +
    105  image_transport::Publisher second_image_pub_;
    +
    106  ros::Publisher first_camera_info_input_pub_;
    +
    107  ros::Publisher second_camera_info_input_pub_;
    +
    108  ros::Publisher first_camera_info_output_pub_;
    +
    109  ros::Publisher second_camera_info_output_pub_;
    +
    110 
    +
    111  // filters
    +
    112  typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image,
    +
    113  sensor_msgs::Image>
    +
    114  ImageSyncPolicy;
    +
    115  std::shared_ptr<message_filters::Synchronizer<ImageSyncPolicy>>
    +
    116  image_sync_ptr_;
    +
    117  typedef message_filters::sync_policies::ApproximateTime<
    +
    118  sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo,
    +
    119  sensor_msgs::CameraInfo>
    +
    120  CameraSyncPolicy;
    +
    121  std::shared_ptr<message_filters::Synchronizer<CameraSyncPolicy>>
    +
    122  camera_sync_ptr_;
    +
    123 
    +
    124  // camera parameters
    +
    125  std::shared_ptr<StereoCameraParameters> stereo_camera_parameters_ptr_;
    +
    126 
    +
    127  // undistorters
    +
    128  std::shared_ptr<Undistorter> first_undistorter_ptr_;
    +
    129  std::shared_ptr<Undistorter> second_undistorter_ptr_;
    +
    130 
    +
    131  // other variables
    +
    132  bool input_camera_info_from_ros_params_;
    +
    133  int queue_size_;
    +
    134  int process_every_nth_frame_;
    +
    135  std::string output_image_type_;
    +
    136  bool publish_tf_;
    +
    137  std::string first_output_frame_;
    +
    138  std::string second_output_frame_;
    +
    139  bool rename_input_frame_;
    +
    140  std::string first_input_frame_;
    +
    141  std::string second_input_frame_;
    +
    142  bool rename_radtan_plumb_bob_;
    +
    143  int frame_counter_;
    +
    144 };
    +
    145 }
    +
    146 
    +
    147 #endif
    +
    +
    image_undistort::StereoUndistort
    Definition: stereo_undistort.h:62
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/structDVLData-members.html b/docs/html/structDVLData-members.html new file mode 100644 index 0000000..443cbb0 --- /dev/null +++ b/docs/html/structDVLData-members.html @@ -0,0 +1,121 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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    DVLData Member List
    +
    +
    + +

    This is the complete list of members for DVLData, including all inherited members.

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    day (defined in DVLData)DVLData
    distBeam (defined in DVLData)DVLData
    error (defined in DVLData)DVLData
    fomBeam (defined in DVLData)DVLData
    fomX (defined in DVLData)DVLData
    fomY (defined in DVLData)DVLData
    fomZ1 (defined in DVLData)DVLData
    fomZ2 (defined in DVLData)DVLData
    hour (defined in DVLData)DVLData
    microSeconds100 (defined in DVLData)DVLData
    minute (defined in DVLData)DVLData
    month (defined in DVLData)DVLData
    nBeams (defined in DVLData)DVLData
    offsetOfData (defined in DVLData)DVLData
    pressure (defined in DVLData)DVLData
    seconds (defined in DVLData)DVLData
    serialNumber (defined in DVLData)DVLData
    soundSpeed (defined in DVLData)DVLData
    status (defined in DVLData)DVLData
    temperature (defined in DVLData)DVLData
    timeDiff1Beam (defined in DVLData)DVLData
    timeDiff1X (defined in DVLData)DVLData
    timeDiff1Y (defined in DVLData)DVLData
    timeDiff1Z1 (defined in DVLData)DVLData
    timeDiff1Z2 (defined in DVLData)DVLData
    timeDiff2Beam (defined in DVLData)DVLData
    timeDiff2X (defined in DVLData)DVLData
    timeDiff2Y (defined in DVLData)DVLData
    timeDiff2Z1 (defined in DVLData)DVLData
    timeDiff2Z2 (defined in DVLData)DVLData
    timeVelEstBeam (defined in DVLData)DVLData
    timeVelEstX (defined in DVLData)DVLData
    timeVelEstY (defined in DVLData)DVLData
    timeVelEstZ1 (defined in DVLData)DVLData
    timeVelEstZ2 (defined in DVLData)DVLData
    velBeam (defined in DVLData)DVLData
    velX (defined in DVLData)DVLData
    velY (defined in DVLData)DVLData
    velZ1 (defined in DVLData)DVLData
    velZ2 (defined in DVLData)DVLData
    version (defined in DVLData)DVLData
    year (defined in DVLData)DVLData
    + +
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    + + diff --git a/docs/html/structDVLData.html b/docs/html/structDVLData.html new file mode 100644 index 0000000..dc85408 --- /dev/null +++ b/docs/html/structDVLData.html @@ -0,0 +1,212 @@ + + + + + + + +Anahita: DVLData Struct Reference + + + + + + + + + +
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    +Public Attributes

    +unsigned char version
     
    +unsigned char offsetOfData
     
    +unsigned long serialNumber
     
    +unsigned char year
     
    +unsigned char month
     
    +unsigned char day
     
    +unsigned char hour
     
    +unsigned char minute
     
    +unsigned char seconds
     
    +unsigned short microSeconds100
     
    +unsigned short nBeams
     
    +unsigned long error
     
    +DVLstatus status
     
    +float soundSpeed
     
    +float temperature
     
    +float pressure
     
    +float velBeam [4]
     
    +float distBeam [4]
     
    +float fomBeam [4]
     
    +float timeDiff1Beam [4]
     
    +float timeDiff2Beam [4]
     
    +float timeVelEstBeam [4]
     
    +float velX
     
    +float velY
     
    +float velZ1
     
    +float velZ2
     
    +float fomX
     
    +float fomY
     
    +float fomZ1
     
    +float fomZ2
     
    +float timeDiff1X
     
    +float timeDiff1Y
     
    +float timeDiff1Z1
     
    +float timeDiff1Z2
     
    +float timeDiff2X
     
    +float timeDiff2Y
     
    +float timeDiff2Z1
     
    +float timeDiff2Z2
     
    +float timeVelEstX
     
    +float timeVelEstY
     
    +float timeVelEstZ1
     
    +float timeVelEstZ2
     
    +
    The documentation for this struct was generated from the following file:
      +
    • hardware_layer/hardware_dvl_ethernet/include/dvl_data.h
      • +
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    +Generated by   +doxygen + 1.8.18 +
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    dataChecksum (defined in DVLHeader)DVLHeader
    dataSize (defined in DVLHeader)DVLHeader
    family (defined in DVLHeader)DVLHeader
    hdrChecksum (defined in DVLHeader)DVLHeader
    hdrSize (defined in DVLHeader)DVLHeader
    ID (defined in DVLHeader)DVLHeader
    sync (defined in DVLHeader)DVLHeader
    + +
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    + + diff --git a/docs/html/structDVLHeader.html b/docs/html/structDVLHeader.html new file mode 100644 index 0000000..7947131 --- /dev/null +++ b/docs/html/structDVLHeader.html @@ -0,0 +1,107 @@ + + + + + + + +Anahita: DVLHeader Struct Reference + + + + + + + + + +
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    +Public Attributes

    +unsigned char sync
     
    +unsigned char hdrSize
     
    +unsigned char ID
     
    +unsigned char family
     
    +unsigned short dataSize
     
    +unsigned short dataChecksum
     
    +unsigned short hdrChecksum
     
    +
    The documentation for this struct was generated from the following file:
      +
    • hardware_layer/hardware_dvl_ethernet/include/dvl_data.h
      • +
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    data (defined in DVLformat21_t)DVLformat21_t
    header (defined in DVLformat21_t)DVLformat21_t
    + +
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    +Public Attributes

    +DVLHeader header
     
    +DVLData data
     
    +
    The documentation for this struct was generated from the following file:
      +
    • hardware_layer/hardware_dvl_ethernet/include/dvl_data.h
      • +
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    +Generated by   +doxygen + 1.8.18 +
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    _empty1 (defined in DVLstatus)DVLstatus
    beam1DistValid (defined in DVLstatus)DVLstatus
    beam1FOMValid (defined in DVLstatus)DVLstatus
    beam1VelValid (defined in DVLstatus)DVLstatus
    beam2DistValid (defined in DVLstatus)DVLstatus
    beam2FOMValid (defined in DVLstatus)DVLstatus
    beam2VelValid (defined in DVLstatus)DVLstatus
    beam3DistValid (defined in DVLstatus)DVLstatus
    beam3FOMValid (defined in DVLstatus)DVLstatus
    beam3VelValid (defined in DVLstatus)DVLstatus
    beam4DistValid (defined in DVLstatus)DVLstatus
    beam4FOMValid (defined in DVLstatus)DVLstatus
    beam4VelValid (defined in DVLstatus)DVLstatus
    procIdle12 (defined in DVLstatus)DVLstatus
    procIdle3 (defined in DVLstatus)DVLstatus
    procIdle6 (defined in DVLstatus)DVLstatus
    wakeupstate (defined in DVLstatus)DVLstatus
    xFOMValid (defined in DVLstatus)DVLstatus
    xVelValid (defined in DVLstatus)DVLstatus
    yFOMValid (defined in DVLstatus)DVLstatus
    yVelValid (defined in DVLstatus)DVLstatus
    z1FOMValid (defined in DVLstatus)DVLstatus
    z1VelValid (defined in DVLstatus)DVLstatus
    z2FOMValid (defined in DVLstatus)DVLstatus
    z2VelValid (defined in DVLstatus)DVLstatus
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/structDVLstatus.html b/docs/html/structDVLstatus.html new file mode 100644 index 0000000..152b42d --- /dev/null +++ b/docs/html/structDVLstatus.html @@ -0,0 +1,161 @@ + + + + + + + +Anahita: DVLstatus Struct Reference + + + + + + + + + +
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    +Public Attributes

    +unsigned long beam1VelValid: 1
     
    +unsigned long beam2VelValid: 1
     
    +unsigned long beam3VelValid: 1
     
    +unsigned long beam4VelValid: 1
     
    +unsigned long beam1DistValid: 1
     
    +unsigned long beam2DistValid: 1
     
    +unsigned long beam3DistValid: 1
     
    +unsigned long beam4DistValid: 1
     
    +unsigned long beam1FOMValid: 1
     
    +unsigned long beam2FOMValid: 1
     
    +unsigned long beam3FOMValid: 1
     
    +unsigned long beam4FOMValid: 1
     
    +unsigned long xVelValid: 1
     
    +unsigned long yVelValid: 1
     
    +unsigned long z1VelValid: 1
     
    +unsigned long z2VelValid: 1
     
    +unsigned long xFOMValid: 1
     
    +unsigned long yFOMValid: 1
     
    +unsigned long z1FOMValid: 1
     
    +unsigned long z2FOMValid: 1
     
    +unsigned long procIdle3: 1
     
    +unsigned long procIdle6: 1
     
    +unsigned long procIdle12: 1
     
    +unsigned long _empty1: 5
     
    +unsigned long wakeupstate: 4
     
    +
    The documentation for this struct was generated from the following file:
      +
    • hardware_layer/hardware_dvl_ethernet/include/dvl_data.h
      • +
    +
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/structObservation-members.html b/docs/html/structObservation-members.html new file mode 100644 index 0000000..73b75e3 --- /dev/null +++ b/docs/html/structObservation-members.html @@ -0,0 +1,86 @@ + + + + + + + +Anahita: Member List + + + + + + + + + +
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    Observation Member List
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    This is the complete list of members for Observation, including all inherited members.

    + + + + + + + + +
    id (defined in Observation)Observation
    m_x (defined in Observation)Observation
    m_y (defined in Observation)Observation
    m_z (defined in Observation)Observation
    u_x (defined in Observation)Observation
    u_y (defined in Observation)Observation
    u_z (defined in Observation)Observation
    + +
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    + + diff --git a/docs/html/structObservation.html b/docs/html/structObservation.html new file mode 100644 index 0000000..333aa58 --- /dev/null +++ b/docs/html/structObservation.html @@ -0,0 +1,107 @@ + + + + + + + +Anahita: Observation Struct Reference + + + + + + + + + +
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    +Public Attributes

    +std::string id
     
    +int m_x
     
    +int m_y
     
    +int m_z
     
    +int u_x
     
    +int u_y
     
    +int u_z
     
    +
    The documentation for this struct was generated from the following file:
      +
    • navigation_layer/mapping/include/util.h
      • +
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    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/testgate_8h_source.html b/docs/html/testgate_8h_source.html new file mode 100644 index 0000000..473183d --- /dev/null +++ b/docs/html/testgate_8h_source.html @@ -0,0 +1,105 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/testgate.h Source File + + + + + + + + + +
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    testgate.h
    +
    +
    +
    1 #pragma once
    +
    2 #include "base_class.h"
    +
    3 #include <vision_tasks/ContourCenter.h>
    +
    4 #include <master_layer/TargetNormal.h>
    +
    5 #include <cmath>
    +
    6 
    +
    7 class TestGate : public Base_class
    +
    8 {
    +
    9 public:
    +
    10  TestGate();
    +
    11  void loadParams() override;
    +
    12  void spinThreadFront() override;
    +
    13  void rectCB (const sensor_msgs::Image::ConstPtr &msg);
    +
    14  bool getNormal (master_layer::TargetNormal::Request &req,
    +
    15  master_layer::TargetNormal::Response &resp);
    +
    16 private:
    +
    17  image_transport::Publisher front_roi_pub;
    +
    18  image_transport::Subscriber image_rect_sub;
    +
    19  ros::ServiceClient contour_center_client;
    +
    20  ros::ServiceServer normal_server;
    +
    21  cv::Mat rect_image;
    +
    22  cv::Mat rect_thresholded;
    +
    23 };
    +
    +
    Base_class
    Definition: base_class.h:34
    +
    TestGate
    Definition: testgate.h:7
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/threshold_8h_source.html b/docs/html/threshold_8h_source.html new file mode 100644 index 0000000..9e40ff4 --- /dev/null +++ b/docs/html/threshold_8h_source.html @@ -0,0 +1,96 @@ + + + + + + + +Anahita: vision_layer/vision_commons/include/threshold.h Source File + + + + + + + + + +
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    threshold.h
    +
    +
    +
    1 #ifndef threshold_H
    +
    2 #define threshold_H
    +
    3 #include "opencv2/core/core.hpp"
    +
    4 
    +
    5 namespace vision_commons
    +
    6 {
    +
    7 class Threshold
    +
    8 {
    +
    9 public:
    +
    10  static cv::Mat threshold (cv::Mat& raw, int low_a, int high_a, int low_b, int high_b, int low_c, int high_c);
    +
    11  static cv::Mat threshold (const cv::Mat& raw, const cv::Scalar& bgr_min, const cv::Scalar& bgr_max);
    +
    12 };
    +
    13 } // namespace vision_commons
    +
    14 
    +
    15 #endif
    +
    +
    vision_commons::Threshold
    Definition: threshold.h:7
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/torpedo_8h_source.html b/docs/html/torpedo_8h_source.html new file mode 100644 index 0000000..2393036 --- /dev/null +++ b/docs/html/torpedo_8h_source.html @@ -0,0 +1,133 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/torpedo.h Source File + + + + + + + + + +
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    torpedo.h
    +
    +
    +
    1 #ifndef TORPEDO_TASK_H
    +
    2 #define TORPEDO_TASK_H
    +
    3 
    +
    4 #include "base_class.h"
    +
    5 #include <opencv2/tracking.hpp>
    +
    6 //#include "opencv2/tracking/tracking.hpp"
    +
    7 
    +
    8 #include <opencv2/core/ocl.hpp>
    +
    9 #include <master_layer/ChangeTorpedoHole.h>
    +
    10 
    +
    11 class Torpedo : public Base_class
    +
    12 {
    +
    13  public:
    +
    14  Torpedo();
    +
    15  virtual void loadParams () override;
    +
    16  virtual void spinThreadFront () override;
    +
    17  void findCircles (cv::Mat& src_img, cv::Mat& thres_img, double circle_threshold);
    +
    18  void InitTracker (cv::Mat& src_img, cv::Mat& thres_img, double circle_threshold);
    +
    19  void updateTracker (cv::Mat& src_img);
    +
    20  cv::Point2f threshROI (const cv::Rect2d& bounding_rect, const cv::Mat& img, int padding);
    +
    21  void recogniseHoles (cv::Mat& thres_img);
    +
    22  void updateCoordinates (std::vector<cv::Point> points);
    +
    23  bool changeTorpedoHole (master_layer::ChangeTorpedoHole::Request &req,
    +
    24  master_layer::ChangeTorpedoHole::Response &resp);
    +
    25 
    +
    26  private:
    +
    27  image_transport::Publisher front_roi_pub;
    +
    28  cv::Mat marked_img;
    +
    29  bool initTracker = false;
    +
    30 
    +
    31  cv::Rect2d bbox1;
    +
    32  cv::Rect2d bbox2;
    +
    33  cv::Rect2d bbox3;
    +
    34 
    +
    35  cv::Ptr<cv::Tracker> tracker1;
    +
    36  cv::Ptr<cv::Tracker> tracker2;
    +
    37  cv::Ptr<cv::Tracker> tracker3;
    +
    38 
    +
    39  cv::Point TR;
    +
    40  cv::Point TL;
    +
    41  cv::Point BOT;
    +
    42 
    +
    43  bool TR_init = false;
    +
    44  bool TL_init = false;
    +
    45  bool BOT_init = false;
    +
    46 
    +
    47  std::string current_hole = "";
    +
    48  ros::ServiceServer service;
    +
    49 };
    +
    50 #endif // TORPEDO_TASK_H
    +
    51 
    +
    +
    Torpedo
    Definition: torpedo.h:11
    +
    Base_class
    Definition: base_class.h:34
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/triangular__buoy_8h_source.html b/docs/html/triangular__buoy_8h_source.html new file mode 100644 index 0000000..7057e67 --- /dev/null +++ b/docs/html/triangular__buoy_8h_source.html @@ -0,0 +1,125 @@ + + + + + + + +Anahita: vision_layer/vision_tasks/include/triangular_buoy.h Source File + + + + + + + + + +
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    triangular_buoy.h
    +
    +
    +
    1 #pragma once
    +
    2 
    +
    3 #include <base_class.h>
    +
    4 #include <geometry_msgs/Point.h>
    +
    5 #include <master_layer/GetMaxDepth.h>
    +
    6 #include <master_layer/GetBlackoutTime.h>
    +
    7 
    +
    8 class TriangularBuoy : public Base_class {
    +
    9 public:
    +
    10  TriangularBuoy();
    +
    11  void loadParams () override;
    +
    12  void spinThreadFront () override;
    +
    13  void preProcess (cv::Mat& temp_src);
    +
    14  cv::Point findCenter ();
    +
    15  void depthCallback (const geometry_msgs::Point msg);
    +
    16  bool depthRequest (master_layer::GetMaxDepth::Request& req,
    +
    17  master_layer::GetMaxDepth::Response& res);
    +
    18  bool blackoutCB (master_layer::GetBlackoutTime::Request& req,
    +
    19  master_layer::GetBlackoutTime::Response& res);
    +
    20  void rectCB (const sensor_msgs::Image::ConstPtr &msg);
    +
    21 
    +
    22 private:
    +
    23  image_transport::Publisher roi_pub;
    +
    24  image_transport::Subscriber image_rect_sub;
    +
    25 
    +
    26  ros::ServiceServer depth_service;
    +
    27  ros::ServiceServer blackout_service;
    +
    28  ros::Subscriber depth_sub;
    +
    29 
    +
    30  cv::Scalar bgr_min;
    +
    31  cv::Scalar bgr_max;
    +
    32 
    +
    33  float max_depth = 0;
    +
    34  float blackout_time = 0;
    +
    35 
    +
    36  cv::Mat rect_image;
    +
    37  cv::Mat rect_thresholded;
    +
    38 
    +
    39  bool init = false;
    +
    40  float init_time = 0;
    +
    41  bool contour_init = false;
    +
    42  bool blackout_response_ready = false;
    +
    43 };
    +
    +
    TriangularBuoy
    Definition: triangular_buoy.h:8
    +
    Base_class
    Definition: base_class.h:34
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/undistorter_8h_source.html b/docs/html/undistorter_8h_source.html new file mode 100644 index 0000000..9bbafa9 --- /dev/null +++ b/docs/html/undistorter_8h_source.html @@ -0,0 +1,123 @@ + + + + + + + +Anahita: vision_layer/image_undistort/include/image_undistort/undistorter.h Source File + + + + + + + + + +
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    +
    + + +
    + +
    + + +
    +
    +
    +
    undistorter.h
    +
    +
    +
    1 #ifndef IMAGE_UNDISTORT_UNDISTORTER_H
    +
    2 #define IMAGE_UNDISTORT_UNDISTORTER_H
    +
    3 
    +
    4 #include <Eigen/Dense>
    +
    5 
    +
    6 #include <cv.h>
    +
    7 #include <highgui.h>
    +
    8 #include <opencv2/imgproc/imgproc.hpp>
    +
    9 
    +
    10 #include "image_undistort/camera_parameters.h"
    +
    11 
    +
    12 namespace image_undistort {
    +
    13 
    +
    14 class Undistorter {
    +
    15  public:
    +
    16  Undistorter(const CameraParametersPair& input_camera_parameters_pair);
    +
    17 
    +
    18  void undistortImage(const cv::Mat& image, cv::Mat* undistored_image);
    +
    19 
    +
    20  // get camera parameters used to build undistorter
    +
    21  const CameraParametersPair& getCameraParametersPair();
    +
    22 
    +
    23  static void distortPixel(const Eigen::Matrix<double, 3, 3>& K_in,
    +
    24  const Eigen::Matrix<double, 3, 3>& R_in,
    +
    25  const Eigen::Matrix<double, 3, 4>& P_out,
    +
    26  const DistortionModel& distortion_model,
    +
    27  const std::vector<double>& D,
    +
    28  const Eigen::Vector2d& pixel_location,
    +
    29  Eigen::Vector2d* distorted_pixel_location);
    +
    30 
    +
    31  private:
    +
    32  const CameraParametersPair used_camera_parameters_pair_;
    +
    33 
    +
    34  cv::Mat map_x_;
    +
    35  cv::Mat map_y_;
    +
    36 
    +
    37  double empty_pixels_;
    +
    38 };
    +
    39 }
    +
    40 
    +
    41 #endif
    +
    +
    image_undistort::Undistorter
    Definition: undistorter.h:14
    +
    image_undistort::CameraParametersPair
    Definition: camera_parameters.h:121
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/html/util_8h_source.html b/docs/html/util_8h_source.html new file mode 100644 index 0000000..d93f7bb --- /dev/null +++ b/docs/html/util_8h_source.html @@ -0,0 +1,104 @@ + + + + + + + +Anahita: navigation_layer/mapping/include/util.h Source File + + + + + + + + + +
    +
    + + + + + + +
    +
    Anahita +
    +
    +
    + + + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    util.h
    +
    +
    +
    1 #ifndef UTIL_H
    +
    2 #define UTIL_H
    +
    3 
    +
    4 #include <string>
    +
    5 #include <Eigen/Dense>
    +
    6 
    +
    7 typedef Eigen::Matrix<float, 3, 1> vec3;
    +
    8 typedef Eigen::Matrix<float, 3, 3> mat3;
    +
    9 typedef Eigen::Matrix<float, 6, 1> vec6;
    +
    10 typedef Eigen::Matrix<float, Eigen::Dynamic, 1> vecX;
    +
    11 typedef Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic> matX;
    +
    12 
    +
    13 
    +
    14 struct Observation {
    +
    15  std::string id;
    +
    16  int m_x;
    +
    17  int m_y;
    +
    18  int m_z;
    +
    19  int u_x;
    +
    20  int u_y;
    +
    21  int u_z;
    +
    22 };
    +
    23 #endif
    +
    +
    Observation
    Definition: util.h:14
    + +
    +Generated by   +doxygen + 1.8.18 +
    + + diff --git a/docs/latex/annotated.tex b/docs/latex/annotated.tex index 2573b9f..a07909b 100644 --- a/docs/latex/annotated.tex +++ b/docs/latex/annotated.tex @@ -1,34 +1,152 @@ \doxysection{Class List} Here are the classes, structs, unions and interfaces with brief descriptions\+:\begin{DoxyCompactList} +\item\contentsline{section}{\mbox{\hyperlink{classAccelerationControl_1_1AccelerationControllerNode}{Acceleration\+Control.\+Acceleration\+Controller\+Node}} }{\pageref{classAccelerationControl_1_1AccelerationControllerNode}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager}{uuv\+\_\+auv\+\_\+actuator\+\_\+interface.\+actuator\+\_\+manager.\+Actuator\+Manager}} }{\pageref{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1anahita__thruster__manager_1_1AnahitaThrusterManager}{master\+\_\+layer.\+anahita\+\_\+thruster\+\_\+manager.\+Anahita\+Thruster\+Manager}} }{\pageref{classmaster__layer_1_1anahita__thruster__manager_1_1AnahitaThrusterManager}}{} -\item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1BouyTask}{master\+\_\+layer.\+state\+\_\+mach.\+Bouy\+Task}} }{\pageref{classmaster__layer_1_1state__mach_1_1BouyTask}}{} +\item\contentsline{section}{\mbox{\hyperlink{classBase__class}{Base\+\_\+class}} }{\pageref{classBase__class}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1BaseCameraParameters}{image\+\_\+undistort\+::\+Base\+Camera\+Parameters}} }{\pageref{classimage__undistort_1_1BaseCameraParameters}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmtdef_1_1Baudrates}{mtdef.\+Baudrates}} }{\pageref{classmtdef_1_1Baudrates}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+bezier\+\_\+curve.\+Bezier\+Curve}} }{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1BouyTask}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Bouy\+Task}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1BouyTask}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1BouyTask}{master\+\_\+layer.\+state\+\_\+mach.\+Bouy\+Task}} }{\pageref{classmaster__layer_1_1state__mach_1_1BouyTask}}{} +\item\contentsline{section}{\mbox{\hyperlink{classBuoy}{Buoy}} }{\pageref{classBuoy}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1CameraParametersPair}{image\+\_\+undistort\+::\+Camera\+Parameters\+Pair}} }{\pageref{classimage__undistort_1_1CameraParametersPair}}{} +\item\contentsline{section}{\mbox{\hyperlink{classcolor__correction}{color\+\_\+correction}} \\*Class defining generic interfaces and methods common for color correction methods }{\pageref{classcolor__correction}}{} +\item\contentsline{section}{\mbox{\hyperlink{classvision__commons_1_1Contour}{vision\+\_\+commons\+::\+Contour}} }{\pageref{classvision__commons_1_1Contour}}{} +\item\contentsline{section}{\mbox{\hyperlink{classcolor__correction_1_1contrast__stretching}{color\+\_\+correction\+::contrast\+\_\+stretching}} \\*Class defining methods to perform color correction using modified contrast stretching }{\pageref{classcolor__correction_1_1contrast__stretching}}{} +\item\contentsline{section}{\mbox{\hyperlink{classCrucifix}{Crucifix}} }{\pageref{classCrucifix}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+cs\+\_\+interpolator.\+C\+S\+Interpolator}} }{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmtdef_1_1DeprecatedMID}{mtdef.\+Deprecated\+M\+ID}} }{\pageref{classmtdef_1_1DeprecatedMID}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1Depth}{image\+\_\+undistort\+::\+Depth}} }{\pageref{classimage__undistort_1_1Depth}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1DepthNodelet}{image\+\_\+undistort\+::\+Depth\+Nodelet}} }{\pageref{classimage__undistort_1_1DepthNodelet}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmtdef_1_1DeviceState}{mtdef.\+Device\+State}} }{\pageref{classmtdef_1_1DeviceState}}{} +\item\contentsline{section}{\mbox{\hyperlink{classdisturbance__manager_1_1DisturbanceManager}{disturbance\+\_\+manager.\+Disturbance\+Manager}} }{\pageref{classdisturbance__manager_1_1DisturbanceManager}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase}{uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+base.\+D\+P\+Controller\+Base}} }{\pageref{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner}{uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+local\+\_\+planner.\+D\+P\+Controller\+Local\+Planner}} }{\pageref{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase}{uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+pid\+\_\+controller\+\_\+base.\+D\+P\+P\+I\+D\+Controller\+Base}} }{\pageref{classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+dubins\+\_\+interpolator.\+Dubins\+Interpolator}} }{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator}}{} +\item\contentsline{section}{\mbox{\hyperlink{structDVLData}{D\+V\+L\+Data}} }{\pageref{structDVLData}}{} +\item\contentsline{section}{\mbox{\hyperlink{classnavigation_1_1DvlData}{navigation\+::\+Dvl\+Data}} }{\pageref{classnavigation_1_1DvlData}}{} +\item\contentsline{section}{\mbox{\hyperlink{classDVLEthernet}{D\+V\+L\+Ethernet}} }{\pageref{classDVLEthernet}}{} +\item\contentsline{section}{\mbox{\hyperlink{structDVLformat21__t}{D\+V\+Lformat21\+\_\+t}} }{\pageref{structDVLformat21__t}}{} +\item\contentsline{section}{\mbox{\hyperlink{structDVLHeader}{D\+V\+L\+Header}} }{\pageref{structDVLHeader}}{} +\item\contentsline{section}{\mbox{\hyperlink{classhardware__dvl_1_1DVLNode}{hardware\+\_\+dvl\+::\+D\+V\+L\+Node}} }{\pageref{classhardware__dvl_1_1DVLNode}}{} +\item\contentsline{section}{\mbox{\hyperlink{structDVLstatus}{D\+V\+Lstatus}} }{\pageref{structDVLstatus}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmapping_1_1EKF}{mapping\+::\+E\+K\+F$<$ n, m, b $>$}} }{\pageref{classmapping_1_1EKF}}{} +\item\contentsline{section}{\mbox{\hyperlink{classErrorDescriptor}{Error\+Descriptor}} }{\pageref{classErrorDescriptor}}{} +\item\contentsline{section}{\mbox{\hyperlink{classnavigation_1_1ExtendedKalmanFilter}{navigation\+::\+Extended\+Kalman\+Filter}} }{\pageref{classnavigation_1_1ExtendedKalmanFilter}}{} +\item\contentsline{section}{\mbox{\hyperlink{classvision__commons_1_1Filter}{vision\+\_\+commons\+::\+Filter}} }{\pageref{classvision__commons_1_1Filter}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1FindBottomTarget}{master\+\_\+layer.\+state\+\_\+mach.\+Find\+Bottom\+Target}} }{\pageref{classmaster__layer_1_1state__mach_1_1FindBottomTarget}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1FindBottomTarget}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Find\+Bottom\+Target}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1FindBottomTarget}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1FindFrontTarget}{master\+\_\+layer.\+state\+\_\+mach.\+Find\+Front\+Target}} }{\pageref{classmaster__layer_1_1state__mach_1_1FindFrontTarget}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1FindFrontTarget}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Find\+Front\+Target}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1FindFrontTarget}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel}{uuv\+\_\+auv\+\_\+actuator\+\_\+interface.\+fin\+\_\+model.\+Fin\+Model}} }{\pageref{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel}}{} +\item\contentsline{section}{\mbox{\hyperlink{classGate}{Gate}} }{\pageref{classGate}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1GateTask}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Gate\+Task}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1GateTask}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1GateTask}{master\+\_\+layer.\+state\+\_\+mach.\+Gate\+Task}} }{\pageref{classmaster__layer_1_1state__mach_1_1GateTask}}{} +\item\contentsline{section}{\mbox{\hyperlink{classvision__commons_1_1Geometry}{vision\+\_\+commons\+::\+Geometry}} }{\pageref{classvision__commons_1_1Geometry}}{} +\item\contentsline{section}{\mbox{\hyperlink{classGrabber}{Grabber}} }{\pageref{classGrabber}}{} +\item\contentsline{section}{\mbox{\hyperlink{classcolor__correction_1_1gray__edge}{color\+\_\+correction\+::gray\+\_\+edge}} }{\pageref{classcolor__correction_1_1gray__edge}}{} +\item\contentsline{section}{\mbox{\hyperlink{classcolor__correction_1_1gray__world}{color\+\_\+correction\+::gray\+\_\+world}} }{\pageref{classcolor__correction_1_1gray__world}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+helical\+\_\+segment.\+Helical\+Segment}} }{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1IdentifyTarget}{master\+\_\+layer.\+state\+\_\+mach.\+Identify\+Target}} }{\pageref{classmaster__layer_1_1state__mach_1_1IdentifyTarget}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1IdentifyTarget}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Identify\+Target}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1IdentifyTarget}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1ImageUndistort}{image\+\_\+undistort\+::\+Image\+Undistort}} }{\pageref{classimage__undistort_1_1ImageUndistort}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1ImageUndistortNodelet}{image\+\_\+undistort\+::\+Image\+Undistort\+Nodelet}} }{\pageref{classimage__undistort_1_1ImageUndistortNodelet}}{} +\item\contentsline{section}{\mbox{\hyperlink{classnavigation_1_1IMUData}{navigation\+::\+I\+M\+U\+Data}} }{\pageref{classnavigation_1_1IMUData}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1InputCameraParameters}{image\+\_\+undistort\+::\+Input\+Camera\+Parameters}} }{\pageref{classimage__undistort_1_1InputCameraParameters}}{} +\item\contentsline{section}{\mbox{\hyperlink{classLaplacianBlending}{Laplacian\+Blending}} }{\pageref{classLaplacianBlending}}{} +\item\contentsline{section}{\mbox{\hyperlink{classLine}{Line}} }{\pageref{classLine}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+linear\+\_\+interpolator.\+Linear\+Interpolator}} }{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+line\+\_\+segment.\+Line\+Segment}} }{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1LineTask}{master\+\_\+layer.\+state\+\_\+mach.\+Line\+Task}} }{\pageref{classmaster__layer_1_1state__mach_1_1LineTask}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1LineTask}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Line\+Task}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1LineTask}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+lipb\+\_\+interpolator.\+L\+I\+P\+B\+Interpolator}} }{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmapping_1_1MappingNode}{mapping\+::\+Mapping\+Node}} }{\pageref{classmapping_1_1MappingNode}}{} +\item\contentsline{section}{\mbox{\hyperlink{classMarker}{Marker}} }{\pageref{classMarker}}{} +\item\contentsline{section}{\mbox{\hyperlink{classMarkerDropper}{Marker\+Dropper}} }{\pageref{classMarkerDropper}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1MarkerDropperTask}{master\+\_\+layer.\+state\+\_\+mach.\+Marker\+Dropper\+Task}} }{\pageref{classmaster__layer_1_1state__mach_1_1MarkerDropperTask}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1MarkerDropperTask}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Marker\+Dropper\+Task}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1MarkerDropperTask}}{} +\item\contentsline{section}{\mbox{\hyperlink{classcolor__correction_1_1max__edge}{color\+\_\+correction\+::max\+\_\+edge}} }{\pageref{classcolor__correction_1_1max__edge}}{} +\item\contentsline{section}{\mbox{\hyperlink{classcolor__correction_1_1maxRGB}{color\+\_\+correction\+::max\+R\+GB}} }{\pageref{classcolor__correction_1_1maxRGB}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmtdef_1_1MID}{mtdef.\+M\+ID}} }{\pageref{classmtdef_1_1MID}}{} +\item\contentsline{section}{\mbox{\hyperlink{classvision__commons_1_1Morph}{vision\+\_\+commons\+::\+Morph}} }{\pageref{classvision__commons_1_1Morph}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1MoveToXYZ}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Move\+To\+X\+YZ}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1MoveToXYZ}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1MoveToXYZ}{master\+\_\+layer.\+state\+\_\+mach.\+Move\+To\+X\+YZ}} }{\pageref{classmaster__layer_1_1state__mach_1_1MoveToXYZ}}{} -\item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1OctagonTask}{master\+\_\+layer.\+state\+\_\+mach.\+Octagon\+Task}} }{\pageref{classmaster__layer_1_1state__mach_1_1OctagonTask}}{} +\item\contentsline{section}{\mbox{\hyperlink{classMS5837}{M\+S5837}} }{\pageref{classMS5837}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmtdevice_1_1MTDevice}{mtdevice.\+M\+T\+Device}} \\*\mbox{\hyperlink{classmtdevice_1_1MTDevice}{M\+T\+Device}} class }{\pageref{classmtdevice_1_1MTDevice}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmtdef_1_1MTErrorMessage}{mtdef.\+M\+T\+Error\+Message}} }{\pageref{classmtdef_1_1MTErrorMessage}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmtdef_1_1MTException}{mtdef.\+M\+T\+Exception}} }{\pageref{classmtdef_1_1MTException}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmtdef_1_1MTTimeoutException}{mtdef.\+M\+T\+Timeout\+Exception}} }{\pageref{classmtdef_1_1MTTimeoutException}}{} +\item\contentsline{section}{\mbox{\hyperlink{classname}{name}} }{\pageref{classname}}{} +\item\contentsline{section}{\mbox{\hyperlink{classnavigation_1_1NavigationDevice}{navigation\+::\+Navigation\+Device}} }{\pageref{classnavigation_1_1NavigationDevice}}{} +\item\contentsline{section}{\mbox{\hyperlink{classnavigation_1_1NavigationNode}{navigation\+::\+Navigation\+Node}} }{\pageref{classnavigation_1_1NavigationNode}}{} +\item\contentsline{section}{\mbox{\hyperlink{structObservation}{Observation}} }{\pageref{structObservation}}{} +\item\contentsline{section}{\mbox{\hyperlink{classOctagon}{Octagon}} }{\pageref{classOctagon}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1OctagonTask}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Octagon\+Task}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1OctagonTask}}{} -\item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1RescueMode}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Rescue\+Mode}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1RescueMode}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1OctagonTask}{master\+\_\+layer.\+state\+\_\+mach.\+Octagon\+Task}} }{\pageref{classmaster__layer_1_1state__mach_1_1OctagonTask}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1OutputCameraParameters}{image\+\_\+undistort\+::\+Output\+Camera\+Parameters}} }{\pageref{classimage__undistort_1_1OutputCameraParameters}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmtdef_1_1OutputMode}{mtdef.\+Output\+Mode}} }{\pageref{classmtdef_1_1OutputMode}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmtdef_1_1OutputSettings}{mtdef.\+Output\+Settings}} }{\pageref{classmtdef_1_1OutputSettings}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+path\+\_\+generator.\+Path\+Generator}} }{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator}}{} +\item\contentsline{section}{\mbox{\hyperlink{classPathMarker}{Path\+Marker}} }{\pageref{classPathMarker}}{} +\item\contentsline{section}{\mbox{\hyperlink{classPID_1_1PIDRegulator_1_1PIDRegulator}{P\+I\+D.\+P\+I\+D\+Regulator.\+P\+I\+D\+Regulator}} }{\pageref{classPID_1_1PIDRegulator_1_1PIDRegulator}}{} +\item\contentsline{section}{\mbox{\hyperlink{classPinger}{Pinger}} }{\pageref{classPinger}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1PointToBearing}{image\+\_\+undistort\+::\+Point\+To\+Bearing}} }{\pageref{classimage__undistort_1_1PointToBearing}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1PointToBearingNodelet}{image\+\_\+undistort\+::\+Point\+To\+Bearing\+Nodelet}} }{\pageref{classimage__undistort_1_1PointToBearingNodelet}}{} +\item\contentsline{section}{\mbox{\hyperlink{classPositionControlUnderactuated_1_1PositionControllerNode}{Position\+Control\+Underactuated.\+Position\+Controller\+Node}} }{\pageref{classPositionControlUnderactuated_1_1PositionControllerNode}}{} +\item\contentsline{section}{\mbox{\hyperlink{classPositionControl_1_1PositionControllerNode}{Position\+Control.\+Position\+Controller\+Node}} }{\pageref{classPositionControl_1_1PositionControllerNode}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1RescueMode}{master\+\_\+layer.\+state\+\_\+mach.\+Rescue\+Mode}} }{\pageref{classmaster__layer_1_1state__mach_1_1RescueMode}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1RescueMode}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Rescue\+Mode}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1RescueMode}}{} +\item\contentsline{section}{\mbox{\hyperlink{classcascaded__pid__dp__controller_1_1ROV__CascadedController}{cascaded\+\_\+pid\+\_\+dp\+\_\+controller.\+R\+O\+V\+\_\+\+Cascaded\+Controller}} }{\pageref{classcascaded__pid__dp__controller_1_1ROV__CascadedController}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmapping_1_1SlamClient}{mapping\+::\+Slam\+Client}} }{\pageref{classmapping_1_1SlamClient}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmapping_1_1SlamEKF}{mapping\+::\+Slam\+E\+K\+F$<$ n, m, b $>$}} }{\pageref{classmapping_1_1SlamEKF}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmapping_1_1SlamFilter}{mapping\+::\+Slam\+Filter}} }{\pageref{classmapping_1_1SlamFilter}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmapping_1_1SlamParticle}{mapping\+::\+Slam\+Particle}} }{\pageref{classmapping_1_1SlamParticle}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmapping_1_1SlamServer}{mapping\+::\+Slam\+Server}} }{\pageref{classmapping_1_1SlamServer}}{} +\item\contentsline{section}{\mbox{\hyperlink{classStartGate}{Start\+Gate}} }{\pageref{classStartGate}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1StationKeeping}{master\+\_\+layer.\+state\+\_\+mach.\+Station\+Keeping}} }{\pageref{classmaster__layer_1_1state__mach_1_1StationKeeping}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1StationKeeping}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Station\+Keeping}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1StationKeeping}}{} -\item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1TaskBaseClass}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Task\+Base\+Class}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1TaskBaseClass}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1StereoCameraParameters}{image\+\_\+undistort\+::\+Stereo\+Camera\+Parameters}} }{\pageref{classimage__undistort_1_1StereoCameraParameters}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1StereoInfo}{image\+\_\+undistort\+::\+Stereo\+Info}} }{\pageref{classimage__undistort_1_1StereoInfo}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1StereoInfoNodelet}{image\+\_\+undistort\+::\+Stereo\+Info\+Nodelet}} }{\pageref{classimage__undistort_1_1StereoInfoNodelet}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1StereoUndistort}{image\+\_\+undistort\+::\+Stereo\+Undistort}} }{\pageref{classimage__undistort_1_1StereoUndistort}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1StereoUndistortNodelet}{image\+\_\+undistort\+::\+Stereo\+Undistort\+Nodelet}} }{\pageref{classimage__undistort_1_1StereoUndistortNodelet}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle}{uuv\+\_\+control\+\_\+interfaces.\+sym\+\_\+vehicle.\+Sym\+Vehicle}} }{\pageref{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1TaskBaseClass}{master\+\_\+layer.\+state\+\_\+mach.\+Task\+Base\+Class}} }{\pageref{classmaster__layer_1_1state__mach_1_1TaskBaseClass}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1TaskBaseClass}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Task\+Base\+Class}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1TaskBaseClass}}{} +\item\contentsline{section}{\mbox{\hyperlink{classteledyne__navigator_1_1driver_1_1TeledyneNavigator}{teledyne\+\_\+navigator.\+driver.\+Teledyne\+Navigator}} }{\pageref{classteledyne__navigator_1_1driver_1_1TeledyneNavigator}}{} +\item\contentsline{section}{\mbox{\hyperlink{classTest}{Test}} \\*This is a test class. +\begin{DoxyItemize} +\item +\end{DoxyItemize}}{\pageref{classTest}}{} +\item\contentsline{section}{\mbox{\hyperlink{classTestGate}{Test\+Gate}} }{\pageref{classTestGate}}{} +\item\contentsline{section}{\mbox{\hyperlink{classtest__trajectory__point_1_1TestTrajectoryPoint}{test\+\_\+trajectory\+\_\+point.\+Test\+Trajectory\+Point}} }{\pageref{classtest__trajectory__point_1_1TestTrajectoryPoint}}{} +\item\contentsline{section}{\mbox{\hyperlink{classtest__waypoint_1_1TestWaypoint}{test\+\_\+waypoint.\+Test\+Waypoint}} }{\pageref{classtest__waypoint_1_1TestWaypoint}}{} +\item\contentsline{section}{\mbox{\hyperlink{classtest__waypoint__set_1_1TestWaypointSet}{test\+\_\+waypoint\+\_\+set.\+Test\+Waypoint\+Set}} }{\pageref{classtest__waypoint__set_1_1TestWaypointSet}}{} +\item\contentsline{section}{\mbox{\hyperlink{classvision__commons_1_1Threshold}{vision\+\_\+commons\+::\+Threshold}} }{\pageref{classvision__commons_1_1Threshold}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster}{uuv\+\_\+thrusters.\+models.\+thruster.\+Thruster}} }{\pageref{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster}}{} +\item\contentsline{section}{\mbox{\hyperlink{classthruster__allocator_1_1ThrusterAllocatorNode}{thruster\+\_\+allocator.\+Thruster\+Allocator\+Node}} }{\pageref{classthruster__allocator_1_1ThrusterAllocatorNode}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom}{uuv\+\_\+thrusters.\+models.\+thruster\+\_\+custom.\+Thruster\+Custom}} }{\pageref{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager}{uuv\+\_\+thrusters.\+thruster\+\_\+manager.\+Thruster\+Manager}} }{\pageref{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional}{uuv\+\_\+thrusters.\+models.\+thruster\+\_\+proportional.\+Thruster\+Proportional}} }{\pageref{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1TooFar}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Too\+Far}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1TooFar}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1TooFar}{master\+\_\+layer.\+state\+\_\+mach.\+Too\+Far}} }{\pageref{classmaster__layer_1_1state__mach_1_1TooFar}}{} +\item\contentsline{section}{\mbox{\hyperlink{classTorpedo}{Torpedo}} }{\pageref{classTorpedo}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1TorpedoTask}{master\+\_\+layer.\+state\+\_\+mach.\+Torpedo\+Task}} }{\pageref{classmaster__layer_1_1state__mach_1_1TorpedoTask}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1TorpedoTask}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Torpedo\+Task}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1TorpedoTask}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator}{uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+generator.\+Trajectory\+Generator}} }{\pageref{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator}}{} +\item\contentsline{section}{\mbox{\hyperlink{classtrajectory__marker__publisher_1_1TrajectoryMarkerPublisher}{trajectory\+\_\+marker\+\_\+publisher.\+Trajectory\+Marker\+Publisher}} }{\pageref{classtrajectory__marker__publisher_1_1TrajectoryMarkerPublisher}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint}{uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point}} }{\pageref{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach_1_1Transition}{master\+\_\+layer.\+state\+\_\+mach.\+Transition}} }{\pageref{classmaster__layer_1_1state__mach_1_1Transition}}{} \item\contentsline{section}{\mbox{\hyperlink{classmaster__layer_1_1state__mach__gate__torpedo_1_1Transition}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Transition}} }{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1Transition}}{} +\item\contentsline{section}{\mbox{\hyperlink{classTriangularBuoy}{Triangular\+Buoy}} }{\pageref{classTriangularBuoy}}{} +\item\contentsline{section}{\mbox{\hyperlink{classimage__undistort_1_1Undistorter}{image\+\_\+undistort\+::\+Undistorter}} }{\pageref{classimage__undistort_1_1Undistorter}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle}{uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle}} }{\pageref{classuuv__control__interfaces_1_1vehicle_1_1Vehicle}}{} +\item\contentsline{section}{\mbox{\hyperlink{classVelocityControl_1_1VelocityControllerNode}{Velocity\+Control.\+Velocity\+Controller\+Node}} }{\pageref{classVelocityControl_1_1VelocityControllerNode}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__waypoints_1_1waypoint_1_1Waypoint}{uuv\+\_\+waypoints.\+waypoint.\+Waypoint}} }{\pageref{classuuv__waypoints_1_1waypoint_1_1Waypoint}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet}{uuv\+\_\+waypoints.\+waypoint\+\_\+set.\+Waypoint\+Set}} }{\pageref{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet}}{} +\item\contentsline{section}{\mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator}{uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator}} }{\pageref{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmtdef_1_1XDIGroup}{mtdef.\+X\+D\+I\+Group}} }{\pageref{classmtdef_1_1XDIGroup}}{} +\item\contentsline{section}{\mbox{\hyperlink{classmtnode_1_1XSensDriver}{mtnode.\+X\+Sens\+Driver}} }{\pageref{classmtnode_1_1XSensDriver}}{} \end{DoxyCompactList} diff --git a/docs/latex/classAccelerationControl_1_1AccelerationControllerNode.tex b/docs/latex/classAccelerationControl_1_1AccelerationControllerNode.tex new file mode 100644 index 0000000..cf50d27 --- /dev/null +++ b/docs/latex/classAccelerationControl_1_1AccelerationControllerNode.tex @@ -0,0 +1,70 @@ +\hypertarget{classAccelerationControl_1_1AccelerationControllerNode}{}\doxysection{Acceleration\+Control.\+Acceleration\+Controller\+Node Class Reference} +\label{classAccelerationControl_1_1AccelerationControllerNode}\index{AccelerationControl.AccelerationControllerNode@{AccelerationControl.AccelerationControllerNode}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_ae0b6610b5eed0e295361a93377fe3f10}\label{classAccelerationControl_1_1AccelerationControllerNode_ae0b6610b5eed0e295361a93377fe3f10}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self) +\item +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_a78c603f42076650d9d232bb5b0abc5f3}\label{classAccelerationControl_1_1AccelerationControllerNode_a78c603f42076650d9d232bb5b0abc5f3}} +def {\bfseries force\+\_\+callback} (self, msg) +\item +def \mbox{\hyperlink{classAccelerationControl_1_1AccelerationControllerNode_ae3b309e67c7a8dc69b45c428407bb15f}{vel\+\_\+callback}} (self, msg) +\item +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_a2b610d76f57eacfe987a5a7ddde66f96}\label{classAccelerationControl_1_1AccelerationControllerNode_a2b610d76f57eacfe987a5a7ddde66f96}} +def {\bfseries accel\+\_\+callback} (self, msg) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_aab0b227ed06b4d4dc74f8a823047d8ce}\label{classAccelerationControl_1_1AccelerationControllerNode_aab0b227ed06b4d4dc74f8a823047d8ce}} +{\bfseries vehicle\+\_\+model} +\item +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_a23789d142d05bb9b7e49ce955c383912}\label{classAccelerationControl_1_1AccelerationControllerNode_a23789d142d05bb9b7e49ce955c383912}} +{\bfseries ready} +\item +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_a131977f0a48daaa372287aeaa8f03738}\label{classAccelerationControl_1_1AccelerationControllerNode_a131977f0a48daaa372287aeaa8f03738}} +{\bfseries mass} +\item +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_aa1197f0feb030c37acc3a75ec44ee35c}\label{classAccelerationControl_1_1AccelerationControllerNode_aa1197f0feb030c37acc3a75ec44ee35c}} +{\bfseries inertial\+\_\+tensor} +\item +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_a61e36fd4e7235dff5898b6bfc1102a0d}\label{classAccelerationControl_1_1AccelerationControllerNode_a61e36fd4e7235dff5898b6bfc1102a0d}} +{\bfseries mass\+\_\+inertial\+\_\+matrix} +\item +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_ae6d308a749eefa61c6b7069ec45397bc}\label{classAccelerationControl_1_1AccelerationControllerNode_ae6d308a749eefa61c6b7069ec45397bc}} +{\bfseries vel\+\_\+} +\item +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_a172fa98dabf64b7ec1ab396944372127}\label{classAccelerationControl_1_1AccelerationControllerNode_a172fa98dabf64b7ec1ab396944372127}} +{\bfseries acc\+\_\+} +\item +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_a7a28f3852e832f4a7a84fde7d384a7e4}\label{classAccelerationControl_1_1AccelerationControllerNode_a7a28f3852e832f4a7a84fde7d384a7e4}} +{\bfseries pub\+\_\+gen\+\_\+force} +\item +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_a326191f67ec682e33764948eb98a6e81}\label{classAccelerationControl_1_1AccelerationControllerNode_a326191f67ec682e33764948eb98a6e81}} +{\bfseries sub\+\_\+accel} +\item +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_a2b446b36088aac7811417b9e397d48a6}\label{classAccelerationControl_1_1AccelerationControllerNode_a2b446b36088aac7811417b9e397d48a6}} +{\bfseries sub\+\_\+vel} +\item +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_a4e94a4783429ca78d375c0852b62a8d2}\label{classAccelerationControl_1_1AccelerationControllerNode_a4e94a4783429ca78d375c0852b62a8d2}} +{\bfseries sub\+\_\+force} +\item +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_afdc7b40314e2105cee24edc94aaab794}\label{classAccelerationControl_1_1AccelerationControllerNode_afdc7b40314e2105cee24edc94aaab794}} +{\bfseries inertial} +\end{DoxyCompactItemize} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classAccelerationControl_1_1AccelerationControllerNode_ae3b309e67c7a8dc69b45c428407bb15f}\label{classAccelerationControl_1_1AccelerationControllerNode_ae3b309e67c7a8dc69b45c428407bb15f}} +\index{AccelerationControl.AccelerationControllerNode@{AccelerationControl.AccelerationControllerNode}!vel\_callback@{vel\_callback}} +\index{vel\_callback@{vel\_callback}!AccelerationControl.AccelerationControllerNode@{AccelerationControl.AccelerationControllerNode}} +\doxysubsubsection{\texorpdfstring{vel\_callback()}{vel\_callback()}} +{\footnotesize\ttfamily def Acceleration\+Control.\+Acceleration\+Controller\+Node.\+vel\+\_\+callback (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{msg }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Handle updated measured velocity callback.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+control\+\_\+cascaded\+\_\+pids/scripts/Acceleration\+Control.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classBase__class.eps b/docs/latex/classBase__class.eps new file mode 100644 index 0000000..97a694e --- /dev/null +++ b/docs/latex/classBase__class.eps @@ -0,0 +1,251 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 1388.888889 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 0.360000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 15 def +/cols 2 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(Base_class) cw +(Buoy) cw +(Crucifix) cw +(Gate) cw +(Grabber) cw +(Line) cw +(Marker) cw +(MarkerDropper) cw +(Octagon) cw +(PathMarker) cw +(Pinger) cw +(StartGate) cw +(TestGate) cw +(Torpedo) cw +(TriangularBuoy) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (Base_class) 0.000000 14.000000 box + (Buoy) 1.000000 13.000000 box + (Crucifix) 1.000000 12.000000 box + (Gate) 1.000000 11.000000 box + (Grabber) 1.000000 10.000000 box + (Line) 1.000000 9.000000 box + (Marker) 1.000000 8.000000 box + (MarkerDropper) 1.000000 7.000000 box + (Octagon) 1.000000 6.000000 box + (PathMarker) 1.000000 5.000000 box + (Pinger) 1.000000 4.000000 box + (StartGate) 1.000000 3.000000 box + (TestGate) 1.000000 2.000000 box + (Torpedo) 1.000000 1.000000 box + (TriangularBuoy) 1.000000 0.000000 box + +% ----- relations ----- + +solid +1 0.000000 13.250000 out +solid +0 0.000000 13.500000 hedge +solid +0 0.000000 12.500000 hedge +solid +0 0.000000 11.500000 hedge +solid +0 0.000000 10.500000 hedge +solid +0 0.000000 9.500000 hedge +solid +0 0.000000 8.500000 hedge +solid +0 0.000000 7.500000 hedge +solid +0 0.000000 6.500000 hedge +solid +0 0.000000 5.500000 hedge +solid +0 0.000000 4.500000 hedge +solid +0 0.000000 3.500000 hedge +solid +0 0.000000 2.500000 hedge +solid +0 0.000000 1.500000 hedge +solid +0 0.000000 0.500000 hedge +solid +0.000000 14.000000 0.500000 vedge diff --git a/docs/latex/classBase__class.tex b/docs/latex/classBase__class.tex new file mode 100644 index 0000000..6938670 --- /dev/null +++ b/docs/latex/classBase__class.tex @@ -0,0 +1,218 @@ +\hypertarget{classBase__class}{}\doxysection{Base\+\_\+class Class Reference} +\label{classBase__class}\index{Base\_class@{Base\_class}} +Inheritance diagram for Base\+\_\+class\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=12.000000cm]{classBase__class} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classBase__class_af6a0b08cc6b142bd06568953346a7510}\label{classBase__class_af6a0b08cc6b142bd06568953346a7510}} +virtual void {\bfseries spin\+Thread\+Front} () +\item +\mbox{\Hypertarget{classBase__class_a697ded45cee7fb2426458bb5b0105f00}\label{classBase__class_a697ded45cee7fb2426458bb5b0105f00}} +virtual void {\bfseries spin\+Thread\+Bottom} () +\item +\mbox{\Hypertarget{classBase__class_a5bda5f5f5716cc83558677c60a2c4bc6}\label{classBase__class_a5bda5f5f5716cc83558677c60a2c4bc6}} +void {\bfseries bottom\+Task\+Handling} (bool status) +\item +\mbox{\Hypertarget{classBase__class_abdfc7986221e6db12d267aa74736ca40}\label{classBase__class_abdfc7986221e6db12d267aa74736ca40}} +void {\bfseries front\+Task\+Handling} (bool status) +\item +\mbox{\Hypertarget{classBase__class_a609e2b04688ea241e3dc2a6c1be25b21}\label{classBase__class_a609e2b04688ea241e3dc2a6c1be25b21}} +void {\bfseries image\+Front\+Callback} (const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&msg) +\item +\mbox{\Hypertarget{classBase__class_a3d9f198134835742ca0bc332ca52be3a}\label{classBase__class_a3d9f198134835742ca0bc332ca52be3a}} +void {\bfseries image\+Bottom\+Callback} (const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&msg) +\item +\mbox{\Hypertarget{classBase__class_ada15311e090a1017747a2040b47b8430}\label{classBase__class_ada15311e090a1017747a2040b47b8430}} +void {\bfseries fusion\+Callback} (const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&msg) +\item +\mbox{\Hypertarget{classBase__class_a5c1d64c9bbbaa631396a2aea655df5a0}\label{classBase__class_a5c1d64c9bbbaa631396a2aea655df5a0}} +virtual void {\bfseries load\+Params} () +\item +\mbox{\Hypertarget{classBase__class_a5b23d53f25b7fc2fb20536b94a1e054e}\label{classBase__class_a5b23d53f25b7fc2fb20536b94a1e054e}} +void {\bfseries init} () +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classBase__class_a0c637b9d05ba44ce2d9b72325f55b93e}\label{classBase__class_a0c637b9d05ba44ce2d9b72325f55b93e}} +ros\+::\+Node\+Handle {\bfseries nh} +\item +\mbox{\Hypertarget{classBase__class_a220ef4029efe5d7f0e6a2f05ed243ca7}\label{classBase__class_a220ef4029efe5d7f0e6a2f05ed243ca7}} +image\+\_\+transport\+::\+Image\+Transport {\bfseries it} +\item +\mbox{\Hypertarget{classBase__class_a4dc6972ad9bc616b6430a631bd03defa}\label{classBase__class_a4dc6972ad9bc616b6430a631bd03defa}} +std\+\_\+msgs\+::\+Float32 {\bfseries front\+\_\+x\+\_\+coordinate} +\item +\mbox{\Hypertarget{classBase__class_a093214b7b4e70f5c5aa08acc9c650882}\label{classBase__class_a093214b7b4e70f5c5aa08acc9c650882}} +std\+\_\+msgs\+::\+Float32 {\bfseries front\+\_\+y\+\_\+coordinate} +\item +\mbox{\Hypertarget{classBase__class_a1dc276a367c03d2a54516613bc8005f4}\label{classBase__class_a1dc276a367c03d2a54516613bc8005f4}} +std\+\_\+msgs\+::\+Float32 {\bfseries front\+\_\+z\+\_\+coordinate} +\item +\mbox{\Hypertarget{classBase__class_a30acee1702ef9b5cb42032ba5c451276}\label{classBase__class_a30acee1702ef9b5cb42032ba5c451276}} +std\+\_\+msgs\+::\+Float32 {\bfseries bottom\+\_\+x\+\_\+coordinate} +\item +\mbox{\Hypertarget{classBase__class_a8ff5e8a73f05506118a9d442c1a8a99b}\label{classBase__class_a8ff5e8a73f05506118a9d442c1a8a99b}} +std\+\_\+msgs\+::\+Float32 {\bfseries bottom\+\_\+y\+\_\+coordinate} +\item +\mbox{\Hypertarget{classBase__class_ad1a1fcdaaa8103c14d66ad2d1efa00f2}\label{classBase__class_ad1a1fcdaaa8103c14d66ad2d1efa00f2}} +std\+\_\+msgs\+::\+Float32 {\bfseries bottom\+\_\+z\+\_\+coordinate} +\item +\mbox{\Hypertarget{classBase__class_a17f406063739c71815f4bbe990ef4df0}\label{classBase__class_a17f406063739c71815f4bbe990ef4df0}} +cv\+::\+Mat {\bfseries image\+\_\+front} +\item +\mbox{\Hypertarget{classBase__class_a093e57e2b6f567e565738c89964d3e24}\label{classBase__class_a093e57e2b6f567e565738c89964d3e24}} +cv\+::\+Mat {\bfseries image\+\_\+bottom} +\item +\mbox{\Hypertarget{classBase__class_a264c83f603564a202a99c92f2510f482}\label{classBase__class_a264c83f603564a202a99c92f2510f482}} +cv\+::\+Mat {\bfseries image\+\_\+front\+\_\+marked} +\item +\mbox{\Hypertarget{classBase__class_adfc9d9fff23510b891419d7c5f2d7827}\label{classBase__class_adfc9d9fff23510b891419d7c5f2d7827}} +cv\+::\+Mat {\bfseries image\+\_\+bottom\+\_\+marked} +\item +\mbox{\Hypertarget{classBase__class_a0e1bde28a76383990023456ae5ec7547}\label{classBase__class_a0e1bde28a76383990023456ae5ec7547}} +cv\+::\+Mat {\bfseries image\+\_\+front\+\_\+thresholded} +\item +\mbox{\Hypertarget{classBase__class_a317c340910484b105b50afeffa0d651c}\label{classBase__class_a317c340910484b105b50afeffa0d651c}} +cv\+::\+Mat {\bfseries image\+\_\+bottom\+\_\+thresholded} +\item +\mbox{\Hypertarget{classBase__class_a6ce39edcefc3ffa24874c7792b3b8893}\label{classBase__class_a6ce39edcefc3ffa24874c7792b3b8893}} +cv\+::\+Mat {\bfseries enhanced\+\_\+image} +\item +\mbox{\Hypertarget{classBase__class_a43259df646d0d87bfedc522d11f2fe3e}\label{classBase__class_a43259df646d0d87bfedc522d11f2fe3e}} +boost\+::thread $\ast$ {\bfseries spin\+\_\+thread\+\_\+bottom} +\item +\mbox{\Hypertarget{classBase__class_a2385294c29c4ddd09a9a212c1594af40}\label{classBase__class_a2385294c29c4ddd09a9a212c1594af40}} +boost\+::thread $\ast$ {\bfseries spin\+\_\+thread\+\_\+front} +\item +\mbox{\Hypertarget{classBase__class_a5b5116111776bd3e2d47bbcb80e2b0a0}\label{classBase__class_a5b5116111776bd3e2d47bbcb80e2b0a0}} +std\+::mutex {\bfseries vision\+\_\+mutex} +\end{DoxyCompactItemize} +\doxysubsection*{Protected Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classBase__class_a8f80b6bad9eee41faadc3fe618c9fbce}\label{classBase__class_a8f80b6bad9eee41faadc3fe618c9fbce}} +int {\bfseries front\+\_\+low\+\_\+g\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_aa325e45d069b2871559985dc59feeccc}\label{classBase__class_aa325e45d069b2871559985dc59feeccc}} +int {\bfseries front\+\_\+high\+\_\+g\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_ac9a0ac60d6392d2747bdbc11cbbedec4}\label{classBase__class_ac9a0ac60d6392d2747bdbc11cbbedec4}} +int {\bfseries front\+\_\+low\+\_\+r\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_adddda44e0a8e5983ca3918d4aa26636a}\label{classBase__class_adddda44e0a8e5983ca3918d4aa26636a}} +int {\bfseries front\+\_\+high\+\_\+r\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_a44d4c2ad6afa54c8d2dd382a9a67227c}\label{classBase__class_a44d4c2ad6afa54c8d2dd382a9a67227c}} +int {\bfseries front\+\_\+low\+\_\+b\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_a166bca19ec2cbba93190b7f5063ee43d}\label{classBase__class_a166bca19ec2cbba93190b7f5063ee43d}} +int {\bfseries front\+\_\+high\+\_\+b\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_aafa05dd2f63849129a9edc77eb827798}\label{classBase__class_aafa05dd2f63849129a9edc77eb827798}} +int {\bfseries front\+\_\+opening\+\_\+mat\+\_\+point\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_a673c6e2b5d99afa183bab9a86e8e03d3}\label{classBase__class_a673c6e2b5d99afa183bab9a86e8e03d3}} +int {\bfseries front\+\_\+opening\+\_\+iter\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_abf41eb7847f92747d8756e75a5fd16d2}\label{classBase__class_abf41eb7847f92747d8756e75a5fd16d2}} +int {\bfseries front\+\_\+closing\+\_\+mat\+\_\+point\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_a4a1fe1615bacad22704a3c7c6df24c6b}\label{classBase__class_a4a1fe1615bacad22704a3c7c6df24c6b}} +int {\bfseries front\+\_\+closing\+\_\+iter\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_a60ba75930ed3441e171fd33f468ab8f3}\label{classBase__class_a60ba75930ed3441e171fd33f468ab8f3}} +int {\bfseries front\+\_\+bilateral\+\_\+iter\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_ac34dae2ec32d35a295daa2a154d8ebc2}\label{classBase__class_ac34dae2ec32d35a295daa2a154d8ebc2}} +int {\bfseries bottom\+\_\+low\+\_\+g\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_a5577fab7b6d2905b1077d231a9427c78}\label{classBase__class_a5577fab7b6d2905b1077d231a9427c78}} +int {\bfseries bottom\+\_\+low\+\_\+r\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_a9f15b22c0795cd5c3321cbb6a319c852}\label{classBase__class_a9f15b22c0795cd5c3321cbb6a319c852}} +int {\bfseries bottom\+\_\+low\+\_\+b\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_a87ec3d96e723540665817ed9393d39f2}\label{classBase__class_a87ec3d96e723540665817ed9393d39f2}} +int {\bfseries bottom\+\_\+high\+\_\+g\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_a0dd97c1db7d7466db46a066a5a94c6f5}\label{classBase__class_a0dd97c1db7d7466db46a066a5a94c6f5}} +int {\bfseries bottom\+\_\+high\+\_\+r\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_a15b47c73142453acc22e8ef5fb7a4c31}\label{classBase__class_a15b47c73142453acc22e8ef5fb7a4c31}} +int {\bfseries bottom\+\_\+high\+\_\+b\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_ab8bf6aeb0e7e35cc2cbb78c748161dcd}\label{classBase__class_ab8bf6aeb0e7e35cc2cbb78c748161dcd}} +int {\bfseries bottom\+\_\+closing\+\_\+mat\+\_\+point\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_af1aed74bec81e65fbc49f508478d9402}\label{classBase__class_af1aed74bec81e65fbc49f508478d9402}} +int {\bfseries bottom\+\_\+closing\+\_\+iter\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_a26ad84dbcddebb9bfa86c60e20d420c4}\label{classBase__class_a26ad84dbcddebb9bfa86c60e20d420c4}} +int {\bfseries bottom\+\_\+opening\+\_\+iter\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_ade092108e623d30416d602cd5cae744f}\label{classBase__class_ade092108e623d30416d602cd5cae744f}} +int {\bfseries bottom\+\_\+opening\+\_\+mat\+\_\+point\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_a39d5fecdbca5b67275c5190e545b84d6}\label{classBase__class_a39d5fecdbca5b67275c5190e545b84d6}} +int {\bfseries bottom\+\_\+bilateral\+\_\+iter\+\_\+} +\item +\mbox{\Hypertarget{classBase__class_ae03833accc82e68126825245dc1982fa}\label{classBase__class_ae03833accc82e68126825245dc1982fa}} +bool {\bfseries close\+\_\+task} = false +\item +\mbox{\Hypertarget{classBase__class_a4e631c16dc345e509bdeeeefe7fea10c}\label{classBase__class_a4e631c16dc345e509bdeeeefe7fea10c}} +image\+\_\+transport\+::\+Subscriber {\bfseries front\+\_\+image\+\_\+sub} +\item +\mbox{\Hypertarget{classBase__class_a271cb980412b067997fc97d9693952c2}\label{classBase__class_a271cb980412b067997fc97d9693952c2}} +image\+\_\+transport\+::\+Subscriber {\bfseries bottom\+\_\+image\+\_\+sub} +\item +\mbox{\Hypertarget{classBase__class_a2597f44ae992acb9346c5236981dde8a}\label{classBase__class_a2597f44ae992acb9346c5236981dde8a}} +image\+\_\+transport\+::\+Subscriber {\bfseries enhanced\+\_\+image\+\_\+sub} +\item +\mbox{\Hypertarget{classBase__class_a39c380a01e7bd17d10feadb1422b3d32}\label{classBase__class_a39c380a01e7bd17d10feadb1422b3d32}} +image\+\_\+transport\+::\+Publisher {\bfseries bottom\+\_\+thresholded\+\_\+pub} +\item +\mbox{\Hypertarget{classBase__class_aa6ba450a5a291ca101a51767a6e8f9b7}\label{classBase__class_aa6ba450a5a291ca101a51767a6e8f9b7}} +image\+\_\+transport\+::\+Publisher {\bfseries bottom\+\_\+marked\+\_\+pub} +\item +\mbox{\Hypertarget{classBase__class_abd16a7279fdd1a28794cd6fd5750d9e7}\label{classBase__class_abd16a7279fdd1a28794cd6fd5750d9e7}} +image\+\_\+transport\+::\+Publisher {\bfseries front\+\_\+thresholded\+\_\+pub} +\item +\mbox{\Hypertarget{classBase__class_a658ae3fc1783f2cf7b2f58c0e9c83d94}\label{classBase__class_a658ae3fc1783f2cf7b2f58c0e9c83d94}} +image\+\_\+transport\+::\+Publisher {\bfseries front\+\_\+marked\+\_\+pub} +\item +\mbox{\Hypertarget{classBase__class_a04bfec1a0dd9622111cc9edcffa5b4ef}\label{classBase__class_a04bfec1a0dd9622111cc9edcffa5b4ef}} +image\+\_\+transport\+::\+Publisher {\bfseries front\+\_\+edges\+\_\+pub} +\item +\mbox{\Hypertarget{classBase__class_ab4a69be5b6876ccc175f252a8b914fd8}\label{classBase__class_ab4a69be5b6876ccc175f252a8b914fd8}} +ros\+::\+Publisher {\bfseries front\+\_\+x\+\_\+coordinate\+\_\+pub} +\item +\mbox{\Hypertarget{classBase__class_a06b6b24d43c36430aa9acbb5dff10bbc}\label{classBase__class_a06b6b24d43c36430aa9acbb5dff10bbc}} +ros\+::\+Publisher {\bfseries front\+\_\+y\+\_\+coordinate\+\_\+pub} +\item +\mbox{\Hypertarget{classBase__class_aedeb44746d27ca5977d17ad1faeb1f9a}\label{classBase__class_aedeb44746d27ca5977d17ad1faeb1f9a}} +ros\+::\+Publisher {\bfseries front\+\_\+z\+\_\+coordinate\+\_\+pub} +\item +\mbox{\Hypertarget{classBase__class_a6a7ef2fc8b0c86779d4c2f271b2d4c6f}\label{classBase__class_a6a7ef2fc8b0c86779d4c2f271b2d4c6f}} +ros\+::\+Publisher {\bfseries bottom\+\_\+x\+\_\+coordinate\+\_\+pub} +\item +\mbox{\Hypertarget{classBase__class_a125135126a1572aa2511aec025cfc9b6}\label{classBase__class_a125135126a1572aa2511aec025cfc9b6}} +ros\+::\+Publisher {\bfseries bottom\+\_\+y\+\_\+coordinate\+\_\+pub} +\item +\mbox{\Hypertarget{classBase__class_a61d6fa33aab9cc448a8cf40c2bddbc6d}\label{classBase__class_a61d6fa33aab9cc448a8cf40c2bddbc6d}} +ros\+::\+Publisher {\bfseries bottom\+\_\+z\+\_\+coordinate\+\_\+pub} +\item +\mbox{\Hypertarget{classBase__class_ad248659f61010ebd3c64965a2c70546f}\label{classBase__class_ad248659f61010ebd3c64965a2c70546f}} +ros\+::\+Publisher {\bfseries detection\+\_\+pub} +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+tasks/include/base\+\_\+class.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/src/base\+\_\+class.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classBuoy.eps b/docs/latex/classBuoy.eps new file mode 100644 index 0000000..73625d5 --- /dev/null +++ b/docs/latex/classBuoy.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 476.190476 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.050000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(Buoy) cw +(Base_class) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (Buoy) 0.000000 0.000000 box + (Base_class) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classBuoy.tex b/docs/latex/classBuoy.tex new file mode 100644 index 0000000..a61c237 --- /dev/null +++ b/docs/latex/classBuoy.tex @@ -0,0 +1,89 @@ +\hypertarget{classBuoy}{}\doxysection{Buoy Class Reference} +\label{classBuoy}\index{Buoy@{Buoy}} +Inheritance diagram for Buoy\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classBuoy} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classBuoy_aae6a7d935b45ae2d5aa10aa80d46e0d7}\label{classBuoy_aae6a7d935b45ae2d5aa10aa80d46e0d7}} +void {\bfseries switch\+Color} (int) +\item +\mbox{\Hypertarget{classBuoy_ae24b8d548c1f922122020c23d53c190b}\label{classBuoy_ae24b8d548c1f922122020c23d53c190b}} +void {\bfseries spin\+Thread\+Front} () +\item +\mbox{\Hypertarget{classBuoy_a787135abf00b8fff3e3cf96ccc9ba0ec}\label{classBuoy_a787135abf00b8fff3e3cf96ccc9ba0ec}} +void {\bfseries spin\+Thread} () +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classBuoy_a52630f83ade22809208e0050fd189bb0}\label{classBuoy_a52630f83ade22809208e0050fd189bb0}} +int {\bfseries current\+\_\+color} +\end{DoxyCompactItemize} +\doxysubsection*{Protected Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classBuoy_a7dde14ad16d6eae2612687a41d8a466c}\label{classBuoy_a7dde14ad16d6eae2612687a41d8a466c}} +void {\bfseries callback} (vision\+\_\+tasks\+::buoy\+Range\+Config \&config, double level) +\item +\mbox{\Hypertarget{classBuoy_add99f142a60bce53abe8cb6c6e224933}\label{classBuoy_add99f142a60bce53abe8cb6c6e224933}} +void {\bfseries image\+Callback} (const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&msg) +\end{DoxyCompactItemize} +\doxysubsection*{Protected Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classBuoy_ad94fe9e5a32dfbffbf5538277b28e809}\label{classBuoy_ad94fe9e5a32dfbffbf5538277b28e809}} +ros\+::\+Node\+Handle {\bfseries nh} +\item +\mbox{\Hypertarget{classBuoy_a391e658428c21fa5d7af57cd7a3fc664}\label{classBuoy_a391e658428c21fa5d7af57cd7a3fc664}} +image\+\_\+transport\+::\+Publisher {\bfseries blue\+\_\+filtered\+\_\+pub} +\item +\mbox{\Hypertarget{classBuoy_a1f023c4f4e8e92e97babd731d19c5901}\label{classBuoy_a1f023c4f4e8e92e97babd731d19c5901}} +image\+\_\+transport\+::\+Subscriber {\bfseries image\+\_\+raw\+\_\+sub} +\item +\mbox{\Hypertarget{classBuoy_ad8a61f22312a2af443d491f6d8a95c88}\label{classBuoy_ad8a61f22312a2af443d491f6d8a95c88}} +std\+::string {\bfseries camera\+\_\+frame\+\_\+} +\item +\mbox{\Hypertarget{classBuoy_a832c660d31a540d9fcc17c7f3d8f68d8}\label{classBuoy_a832c660d31a540d9fcc17c7f3d8f68d8}} +double {\bfseries clahe\+\_\+clip\+\_\+} +\item +\mbox{\Hypertarget{classBuoy_aa47cb1503c015132f210dfc713749a72}\label{classBuoy_aa47cb1503c015132f210dfc713749a72}} +int {\bfseries clahe\+\_\+grid\+\_\+size\+\_\+} +\item +\mbox{\Hypertarget{classBuoy_aca1a7c7645c39831707746a8b9bb6992}\label{classBuoy_aca1a7c7645c39831707746a8b9bb6992}} +int {\bfseries clahe\+\_\+bilateral\+\_\+iter\+\_\+} +\item +\mbox{\Hypertarget{classBuoy_a76c480b4d7d16f9ec58a50d99c64a46e}\label{classBuoy_a76c480b4d7d16f9ec58a50d99c64a46e}} +int {\bfseries balanced\+\_\+bilateral\+\_\+iter\+\_\+} +\item +\mbox{\Hypertarget{classBuoy_ab6587d9953014573ed5b89aebb989d61}\label{classBuoy_ab6587d9953014573ed5b89aebb989d61}} +double {\bfseries denoise\+\_\+h\+\_\+} +\item +\mbox{\Hypertarget{classBuoy_a481fc15e25346fd346a14f2bff84a55f}\label{classBuoy_a481fc15e25346fd346a14f2bff84a55f}} +int {\bfseries data\+\_\+low\+\_\+h} \mbox{[}3\mbox{]} = \{0, 12, 0\} +\item +\mbox{\Hypertarget{classBuoy_aabf668782fb78cd57c57935f5556f9a7}\label{classBuoy_aabf668782fb78cd57c57935f5556f9a7}} +int {\bfseries data\+\_\+high\+\_\+h} \mbox{[}3\mbox{]} = \{17, 40, 56\} +\item +\mbox{\Hypertarget{classBuoy_a46d4f0a04d9eec9f40086ced3e674679}\label{classBuoy_a46d4f0a04d9eec9f40086ced3e674679}} +int {\bfseries data\+\_\+low\+\_\+s} \mbox{[}3\mbox{]} = \{206, 183, 0\} +\item +\mbox{\Hypertarget{classBuoy_a488a83dc51aadd7ffc5f02e08f27728e}\label{classBuoy_a488a83dc51aadd7ffc5f02e08f27728e}} +int {\bfseries data\+\_\+high\+\_\+s} \mbox{[}3\mbox{]} = \{255, 255, 255\} +\item +\mbox{\Hypertarget{classBuoy_aea30660a61beb8dbff66ae13d8851bf9}\label{classBuoy_aea30660a61beb8dbff66ae13d8851bf9}} +int {\bfseries data\+\_\+low\+\_\+v} \mbox{[}3\mbox{]} = \{30, 3, 2\} +\item +\mbox{\Hypertarget{classBuoy_a8ec5f9ef0ebb0ddf8497d89b99f80b1c}\label{classBuoy_a8ec5f9ef0ebb0ddf8497d89b99f80b1c}} +int {\bfseries data\+\_\+high\+\_\+v} \mbox{[}3\mbox{]} = \{255, 255, 82\} +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+tasks/include/buoy.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/src/buoy.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classCrucifix.eps b/docs/latex/classCrucifix.eps new file mode 100644 index 0000000..18fd628 --- /dev/null +++ b/docs/latex/classCrucifix.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 476.190476 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.050000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(Crucifix) cw +(Base_class) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (Crucifix) 0.000000 0.000000 box + (Base_class) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classCrucifix.tex b/docs/latex/classCrucifix.tex new file mode 100644 index 0000000..94be295 --- /dev/null +++ b/docs/latex/classCrucifix.tex @@ -0,0 +1,27 @@ +\hypertarget{classCrucifix}{}\doxysection{Crucifix Class Reference} +\label{classCrucifix}\index{Crucifix@{Crucifix}} +Inheritance diagram for Crucifix\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classCrucifix} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classCrucifix_ae24529f27f24c27e7feb7032cf053a77}\label{classCrucifix_ae24529f27f24c27e7feb7032cf053a77}} +virtual void {\bfseries load\+Params} () override +\item +\mbox{\Hypertarget{classCrucifix_a0b540387c8f1ec0a35c72e9d5c2ca56b}\label{classCrucifix_a0b540387c8f1ec0a35c72e9d5c2ca56b}} +virtual void {\bfseries spin\+Thread\+Front} () override +\item +\mbox{\Hypertarget{classCrucifix_aa60e6db3bd7731a36b2ae166eb77f464}\label{classCrucifix_aa60e6db3bd7731a36b2ae166eb77f464}} +virtual void {\bfseries spin\+Thread\+Bottom} () override +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+tasks/include/crucifix.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/src/crucifix.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classDVLEthernet.tex b/docs/latex/classDVLEthernet.tex new file mode 100644 index 0000000..2d6fb7a --- /dev/null +++ b/docs/latex/classDVLEthernet.tex @@ -0,0 +1,20 @@ +\hypertarget{classDVLEthernet}{}\doxysection{D\+V\+L\+Ethernet Class Reference} +\label{classDVLEthernet}\index{DVLEthernet@{DVLEthernet}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classDVLEthernet_ad30402a8fe0eb3c717d77b2eed7084c1}\label{classDVLEthernet_ad30402a8fe0eb3c717d77b2eed7084c1}} +void {\bfseries Connect} (std\+::string address, int port) +\item +\mbox{\Hypertarget{classDVLEthernet_a3e9002198a62dbf53a5cd0e590915a1d}\label{classDVLEthernet_a3e9002198a62dbf53a5cd0e590915a1d}} +void {\bfseries Receive} () +\item +\mbox{\Hypertarget{classDVLEthernet_a9d797679645c1944672d4e94b415bfd0}\label{classDVLEthernet_a9d797679645c1944672d4e94b415bfd0}} +char $\ast$ {\bfseries Get\+Raw\+Data} () +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/hardware\+\_\+dvl\+\_\+ethernet/include/dvl\+\_\+ethernet.\+h\item +hardware\+\_\+layer/hardware\+\_\+dvl\+\_\+ethernet/src/driver/dvl\+\_\+ethernet.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classErrorDescriptor.tex b/docs/latex/classErrorDescriptor.tex new file mode 100644 index 0000000..dabc737 --- /dev/null +++ b/docs/latex/classErrorDescriptor.tex @@ -0,0 +1,32 @@ +\hypertarget{classErrorDescriptor}{}\doxysection{Error\+Descriptor Class Reference} +\label{classErrorDescriptor}\index{ErrorDescriptor@{ErrorDescriptor}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classErrorDescriptor_aa6873020ab6b06ed818163e21b32153d}\label{classErrorDescriptor_aa6873020ab6b06ed818163e21b32153d}} +{\bfseries Error\+Descriptor} (std\+::string \+\_\+name) +\item +\mbox{\Hypertarget{classErrorDescriptor_afc783570c3d68c62484d3d497c63611b}\label{classErrorDescriptor_afc783570c3d68c62484d3d497c63611b}} +void {\bfseries set\+P\+ID} (float new\+\_\+p, float new\+\_\+i, float new\+\_\+d, float new\+\_\+band) +\item +\mbox{\Hypertarget{classErrorDescriptor_a7843bd233c7fadd26654a42c8c447911}\label{classErrorDescriptor_a7843bd233c7fadd26654a42c8c447911}} +void {\bfseries set\+Type} (std\+::string \+\_\+name) +\item +\mbox{\Hypertarget{classErrorDescriptor_ab4bf6a37278e571abc09da8327625fd3}\label{classErrorDescriptor_ab4bf6a37278e571abc09da8327625fd3}} +void {\bfseries set\+Reference} (double \+\_\+value) +\item +\mbox{\Hypertarget{classErrorDescriptor_ac461f29a6baa8cbfda296d39e12fafb3}\label{classErrorDescriptor_ac461f29a6baa8cbfda296d39e12fafb3}} +void {\bfseries error\+To\+P\+WM} (double \+\_\+current\+\_\+value) +\item +\mbox{\Hypertarget{classErrorDescriptor_a0092487859383d38d70a2cf4c67cb42f}\label{classErrorDescriptor_a0092487859383d38d70a2cf4c67cb42f}} +int {\bfseries get\+P\+WM} () +\item +\mbox{\Hypertarget{classErrorDescriptor_aae79d462e543e29c61b5267558f4bdc4}\label{classErrorDescriptor_aae79d462e543e29c61b5267558f4bdc4}} +double {\bfseries get\+Current\+Value} () +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +debug\+\_\+layer/pid\+\_\+calibration/include/pid\+\_\+calibration/error\+To\+P\+W\+M.\+h\item +debug\+\_\+layer/pid\+\_\+calibration/src/error\+To\+P\+W\+M.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classGate.eps b/docs/latex/classGate.eps new file mode 100644 index 0000000..614702e --- /dev/null +++ b/docs/latex/classGate.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 476.190476 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.050000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(Gate) cw +(Base_class) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (Gate) 0.000000 0.000000 box + (Base_class) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classGate.tex b/docs/latex/classGate.tex new file mode 100644 index 0000000..8172259 --- /dev/null +++ b/docs/latex/classGate.tex @@ -0,0 +1,24 @@ +\hypertarget{classGate}{}\doxysection{Gate Class Reference} +\label{classGate}\index{Gate@{Gate}} +Inheritance diagram for Gate\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classGate} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classGate_a84014be339079ee8c26e5c627cf74172}\label{classGate_a84014be339079ee8c26e5c627cf74172}} +void {\bfseries load\+Params} () override +\item +\mbox{\Hypertarget{classGate_a91e5885a819d7155f4ee660126f0dc7e}\label{classGate_a91e5885a819d7155f4ee660126f0dc7e}} +void {\bfseries spin\+Thread\+Front} () override +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+tasks/include/gate.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/src/gate.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classGrabber.eps b/docs/latex/classGrabber.eps new file mode 100644 index 0000000..32f185f --- /dev/null +++ b/docs/latex/classGrabber.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 476.190476 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.050000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(Grabber) cw +(Base_class) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (Grabber) 0.000000 0.000000 box + (Base_class) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classGrabber.tex b/docs/latex/classGrabber.tex new file mode 100644 index 0000000..29b9dc5 --- /dev/null +++ b/docs/latex/classGrabber.tex @@ -0,0 +1,27 @@ +\hypertarget{classGrabber}{}\doxysection{Grabber Class Reference} +\label{classGrabber}\index{Grabber@{Grabber}} +Inheritance diagram for Grabber\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classGrabber} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classGrabber_a0f7dd26f3bf460ee2ac6aa31be2b69bd}\label{classGrabber_a0f7dd26f3bf460ee2ac6aa31be2b69bd}} +virtual void {\bfseries load\+Params} () override +\item +\mbox{\Hypertarget{classGrabber_ac37592916381aef27aecccef5a9d25aa}\label{classGrabber_ac37592916381aef27aecccef5a9d25aa}} +virtual void {\bfseries spin\+Thread\+Front} () override +\item +\mbox{\Hypertarget{classGrabber_a04796f63552146599ed5247bf65efe9d}\label{classGrabber_a04796f63552146599ed5247bf65efe9d}} +virtual void {\bfseries spin\+Thread\+Bottom} () override +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+tasks/include/grabber.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/src/grabber.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classLaplacianBlending.tex b/docs/latex/classLaplacianBlending.tex new file mode 100644 index 0000000..0297261 --- /dev/null +++ b/docs/latex/classLaplacianBlending.tex @@ -0,0 +1,17 @@ +\hypertarget{classLaplacianBlending}{}\doxysection{Laplacian\+Blending Class Reference} +\label{classLaplacianBlending}\index{LaplacianBlending@{LaplacianBlending}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classLaplacianBlending_a49d7f455a4c06eee3b8a0f328f6d7030}\label{classLaplacianBlending_a49d7f455a4c06eee3b8a0f328f6d7030}} +{\bfseries Laplacian\+Blending} (const Mat\+\_\+$<$ Vec3f $>$ \&\+\_\+left, const Mat\+\_\+$<$ Vec3f $>$ \&\+\_\+right, const Mat\+\_\+$<$ float $>$ \&\+\_\+left\+Mask, const Mat\+\_\+$<$ float $>$ \&\+\_\+right\+Mask, int \+\_\+levels) +\item +\mbox{\Hypertarget{classLaplacianBlending_aa700402157dc7ed848724f6edd0b5d4e}\label{classLaplacianBlending_aa700402157dc7ed848724f6edd0b5d4e}} +Mat\+\_\+$<$ Vec3f $>$ {\bfseries blend} () +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+fusion/include/fusion/laplacian\+Blend.\+hpp\item +vision\+\_\+layer/vision\+\_\+fusion/src/laplacian\+Blend.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classLine.eps b/docs/latex/classLine.eps new file mode 100644 index 0000000..d96c5fc --- /dev/null +++ b/docs/latex/classLine.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 476.190476 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.050000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(Line) cw +(Base_class) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (Line) 0.000000 0.000000 box + (Base_class) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classLine.tex b/docs/latex/classLine.tex new file mode 100644 index 0000000..35dd3a9 --- /dev/null +++ b/docs/latex/classLine.tex @@ -0,0 +1,54 @@ +\hypertarget{classLine}{}\doxysection{Line Class Reference} +\label{classLine}\index{Line@{Line}} +Inheritance diagram for Line\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classLine} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classLine_ae0baab0d7e417e7debb04ca7f1f3d0bd}\label{classLine_ae0baab0d7e417e7debb04ca7f1f3d0bd}} +void {\bfseries spin\+Thread\+Bottom} () +\end{DoxyCompactItemize} +\doxysubsection*{Protected Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classLine_adaec4c36ed87a85ef20dedae0dc64e3a}\label{classLine_adaec4c36ed87a85ef20dedae0dc64e3a}} +void {\bfseries callback} (vision\+\_\+tasks\+::line\+Range\+Config \&config, double level) +\item +\mbox{\Hypertarget{classLine_a4fd089a81700282003dc3b4f3a9c6ac4}\label{classLine_a4fd089a81700282003dc3b4f3a9c6ac4}} +void {\bfseries image\+Callback} (const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&msg) +\item +\mbox{\Hypertarget{classLine_a23aae96dede860bd33b5e57221701bfa}\label{classLine_a23aae96dede860bd33b5e57221701bfa}} +double {\bfseries compute\+Mean} (std\+::vector$<$ double $>$ \&new\+Angles) +\end{DoxyCompactItemize} +\doxysubsection*{Protected Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classLine_a7baec58f43b0596a630e086591e4e072}\label{classLine_a7baec58f43b0596a630e086591e4e072}} +image\+\_\+transport\+::\+Subscriber {\bfseries image\+\_\+raw\+\_\+sub} +\item +\mbox{\Hypertarget{classLine_ae41bf70d070b2abcca4e8d289a86b85a}\label{classLine_ae41bf70d070b2abcca4e8d289a86b85a}} +ros\+::\+Publisher {\bfseries detection\+\_\+pub} +\item +\mbox{\Hypertarget{classLine_adecc2f839c1de6c5e6f5baff29951db9}\label{classLine_adecc2f839c1de6c5e6f5baff29951db9}} +ros\+::\+Publisher {\bfseries coordinates\+\_\+pub} +\item +\mbox{\Hypertarget{classLine_a61ee6db6c19464de515c754cf8a99731}\label{classLine_a61ee6db6c19464de515c754cf8a99731}} +std\+::string {\bfseries camera\+\_\+frame\+\_\+} +\item +\mbox{\Hypertarget{classLine_a6139a8ba5889f7e4384dddf05b5f83d2}\label{classLine_a6139a8ba5889f7e4384dddf05b5f83d2}} +bool {\bfseries task\+\_\+done} = false +\item +\mbox{\Hypertarget{classLine_a6f522c0976cbe9b76bfbe89fa423ce25}\label{classLine_a6f522c0976cbe9b76bfbe89fa423ce25}} +ros\+::\+Publisher {\bfseries ang\+\_\+pub} +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+tasks/include/line.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/src/line.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classMS5837.tex b/docs/latex/classMS5837.tex new file mode 100644 index 0000000..b7d2cce --- /dev/null +++ b/docs/latex/classMS5837.tex @@ -0,0 +1,91 @@ +\hypertarget{classMS5837}{}\doxysection{M\+S5837 Class Reference} +\label{classMS5837}\index{MS5837@{MS5837}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classMS5837_accd5fa071ae977c796e4fb0648954499}\label{classMS5837_accd5fa071ae977c796e4fb0648954499}} +bool {\bfseries init} () +\item +void \mbox{\hyperlink{classMS5837_af8b0b1e168f39a9b99fa5918a6ef8f04}{set\+Model}} (uint8\+\_\+t model) +\item +void \mbox{\hyperlink{classMS5837_a40ad0394fa84d49afa62ae63c411aa8f}{set\+Fluid\+Density}} (float density) +\item +void \mbox{\hyperlink{classMS5837_a69b945b55b93c96173e8369fec1d9100}{read}} () +\item +float \mbox{\hyperlink{classMS5837_a14b4dd5598dc65e2d3f7c185e940af88}{pressure}} (float conversion=1.\+0f) +\item +float \mbox{\hyperlink{classMS5837_a554d181ffc4329c1e292ca87e0a810f0}{temperature}} () +\item +float \mbox{\hyperlink{classMS5837_af5ec680e29a8cdaed429b9fb91d813e6}{depth}} () +\item +float \mbox{\hyperlink{classMS5837_af3c24ba068ed52a2918c784b3d608c8a}{altitude}} () +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classMS5837_ae54d04a637682f68502e79d221bf00e3}\label{classMS5837_ae54d04a637682f68502e79d221bf00e3}} +static const float {\bfseries Pa} = 100.\+0f +\item +\mbox{\Hypertarget{classMS5837_afaf021ab4e8b402a642c383f35ff4258}\label{classMS5837_afaf021ab4e8b402a642c383f35ff4258}} +static const float {\bfseries bar} = 0.\+001f +\item +\mbox{\Hypertarget{classMS5837_a300724fab62674ab5e32a8b1861d3bba}\label{classMS5837_a300724fab62674ab5e32a8b1861d3bba}} +static const float {\bfseries mbar} = 1.\+0f +\item +\mbox{\Hypertarget{classMS5837_abc4a4367230b5ee53fbaf8060231a4bb}\label{classMS5837_abc4a4367230b5ee53fbaf8060231a4bb}} +static const uint8\+\_\+t {\bfseries M\+S5837\+\_\+30\+BA} = 0 +\item +\mbox{\Hypertarget{classMS5837_a5b94f94735c695d94882f689fc55e853}\label{classMS5837_a5b94f94735c695d94882f689fc55e853}} +static const uint8\+\_\+t {\bfseries M\+S5837\+\_\+02\+BA} = 1 +\end{DoxyCompactItemize} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classMS5837_af3c24ba068ed52a2918c784b3d608c8a}\label{classMS5837_af3c24ba068ed52a2918c784b3d608c8a}} +\index{MS5837@{MS5837}!altitude@{altitude}} +\index{altitude@{altitude}!MS5837@{MS5837}} +\doxysubsubsection{\texorpdfstring{altitude()}{altitude()}} +{\footnotesize\ttfamily float M\+S5837\+::altitude (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} + +Altitude returned in meters (valid for operation in air only). \mbox{\Hypertarget{classMS5837_af5ec680e29a8cdaed429b9fb91d813e6}\label{classMS5837_af5ec680e29a8cdaed429b9fb91d813e6}} +\index{MS5837@{MS5837}!depth@{depth}} +\index{depth@{depth}!MS5837@{MS5837}} +\doxysubsubsection{\texorpdfstring{depth()}{depth()}} +{\footnotesize\ttfamily float M\+S5837\+::depth (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} + +Depth returned in meters (valid for operation in incompressible liquids only. Uses density that is set for fresh or seawater. \mbox{\Hypertarget{classMS5837_a14b4dd5598dc65e2d3f7c185e940af88}\label{classMS5837_a14b4dd5598dc65e2d3f7c185e940af88}} +\index{MS5837@{MS5837}!pressure@{pressure}} +\index{pressure@{pressure}!MS5837@{MS5837}} +\doxysubsubsection{\texorpdfstring{pressure()}{pressure()}} +{\footnotesize\ttfamily float M\+S5837\+::pressure (\begin{DoxyParamCaption}\item[{float}]{conversion = {\ttfamily 1.0f} }\end{DoxyParamCaption})} + +Pressure returned in mbar or mbar$\ast$conversion rate. \mbox{\Hypertarget{classMS5837_a69b945b55b93c96173e8369fec1d9100}\label{classMS5837_a69b945b55b93c96173e8369fec1d9100}} +\index{MS5837@{MS5837}!read@{read}} +\index{read@{read}!MS5837@{MS5837}} +\doxysubsubsection{\texorpdfstring{read()}{read()}} +{\footnotesize\ttfamily void M\+S5837\+::read (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} + +The read from I2C takes up to 40 ms, so use sparingly is possible. \mbox{\Hypertarget{classMS5837_a40ad0394fa84d49afa62ae63c411aa8f}\label{classMS5837_a40ad0394fa84d49afa62ae63c411aa8f}} +\index{MS5837@{MS5837}!setFluidDensity@{setFluidDensity}} +\index{setFluidDensity@{setFluidDensity}!MS5837@{MS5837}} +\doxysubsubsection{\texorpdfstring{setFluidDensity()}{setFluidDensity()}} +{\footnotesize\ttfamily void M\+S5837\+::set\+Fluid\+Density (\begin{DoxyParamCaption}\item[{float}]{density }\end{DoxyParamCaption})} + +Provide the density of the working fluid in kg/m$^\wedge$3. Default is for seawater. Should be 997 for freshwater. \mbox{\Hypertarget{classMS5837_af8b0b1e168f39a9b99fa5918a6ef8f04}\label{classMS5837_af8b0b1e168f39a9b99fa5918a6ef8f04}} +\index{MS5837@{MS5837}!setModel@{setModel}} +\index{setModel@{setModel}!MS5837@{MS5837}} +\doxysubsubsection{\texorpdfstring{setModel()}{setModel()}} +{\footnotesize\ttfamily void M\+S5837\+::set\+Model (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{model }\end{DoxyParamCaption})} + +Set model of \mbox{\hyperlink{classMS5837}{M\+S5837}} sensor. Valid options are M\+S5837\+::\+M\+S5837\+\_\+30\+BA (default) and M\+S5837\+::\+M\+S5837\+\_\+02\+BA. \mbox{\Hypertarget{classMS5837_a554d181ffc4329c1e292ca87e0a810f0}\label{classMS5837_a554d181ffc4329c1e292ca87e0a810f0}} +\index{MS5837@{MS5837}!temperature@{temperature}} +\index{temperature@{temperature}!MS5837@{MS5837}} +\doxysubsubsection{\texorpdfstring{temperature()}{temperature()}} +{\footnotesize\ttfamily float M\+S5837\+::temperature (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} + +Temperature returned in deg C. + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/hardware\+\_\+arduino/include/M\+S5837.\+h\item +hardware\+\_\+layer/hardware\+\_\+arduino/src/M\+S5837.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classMarker.eps b/docs/latex/classMarker.eps new file mode 100644 index 0000000..b5200c9 --- /dev/null +++ b/docs/latex/classMarker.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 476.190476 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.050000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(Marker) cw +(Base_class) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (Marker) 0.000000 0.000000 box + (Base_class) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classMarker.tex b/docs/latex/classMarker.tex new file mode 100644 index 0000000..953a740 --- /dev/null +++ b/docs/latex/classMarker.tex @@ -0,0 +1,24 @@ +\hypertarget{classMarker}{}\doxysection{Marker Class Reference} +\label{classMarker}\index{Marker@{Marker}} +Inheritance diagram for Marker\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classMarker} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classMarker_abc52521edfd9dabe076335512ee7140c}\label{classMarker_abc52521edfd9dabe076335512ee7140c}} +virtual void {\bfseries load\+Params} () override +\item +\mbox{\Hypertarget{classMarker_a3be6e77f4a71adc218ad1a66973f2277}\label{classMarker_a3be6e77f4a71adc218ad1a66973f2277}} +virtual void {\bfseries spin\+Thread\+Front} () override +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+tasks/include/marker.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/src/marker.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classMarkerDropper.eps b/docs/latex/classMarkerDropper.eps new file mode 100644 index 0000000..c85fb62 --- /dev/null +++ b/docs/latex/classMarkerDropper.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 370.370370 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.350000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(MarkerDropper) cw +(Base_class) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (MarkerDropper) 0.000000 0.000000 box + (Base_class) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classMarkerDropper.tex b/docs/latex/classMarkerDropper.tex new file mode 100644 index 0000000..7d0da90 --- /dev/null +++ b/docs/latex/classMarkerDropper.tex @@ -0,0 +1,156 @@ +\hypertarget{classMarkerDropper}{}\doxysection{Marker\+Dropper Class Reference} +\label{classMarkerDropper}\index{MarkerDropper@{MarkerDropper}} +Inheritance diagram for Marker\+Dropper\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classMarkerDropper} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classMarkerDropper_a60c7e60403cdcbd33d50c9bae3309b65}\label{classMarkerDropper_a60c7e60403cdcbd33d50c9bae3309b65}} +virtual void {\bfseries load\+Params} () override +\item +\mbox{\Hypertarget{classMarkerDropper_abb62612d590e6ea50503d489cb1b41aa}\label{classMarkerDropper_abb62612d590e6ea50503d489cb1b41aa}} +virtual void {\bfseries spin\+Thread\+Bottom} () override +\item +\mbox{\Hypertarget{classMarkerDropper_aa9bf73390dc56ebe4827a6c27167fe9b}\label{classMarkerDropper_aa9bf73390dc56ebe4827a6c27167fe9b}} +void {\bfseries pre\+Process} (cv\+::\+Mat \&temp\+\_\+src) +\item +\mbox{\Hypertarget{classMarkerDropper_aff48227552a1737e8dd8591b61293233}\label{classMarkerDropper_aff48227552a1737e8dd8591b61293233}} +cv\+::\+Point {\bfseries find\+Center} () +\item +\mbox{\Hypertarget{classMarkerDropper_ab2707be25d4882e94838ec4a9ff2aba8}\label{classMarkerDropper_ab2707be25d4882e94838ec4a9ff2aba8}} +void {\bfseries spin\+Thread\+Bottom} () +\item +\mbox{\Hypertarget{classMarkerDropper_a1b9b487b4fc201977a35e35bdd083667}\label{classMarkerDropper_a1b9b487b4fc201977a35e35bdd083667}} +void {\bfseries spin\+Thread\+Front} () +\item +\mbox{\Hypertarget{classMarkerDropper_ab2707be25d4882e94838ec4a9ff2aba8}\label{classMarkerDropper_ab2707be25d4882e94838ec4a9ff2aba8}} +void {\bfseries spin\+Thread\+Bottom} () +\item +\mbox{\Hypertarget{classMarkerDropper_a1b9b487b4fc201977a35e35bdd083667}\label{classMarkerDropper_a1b9b487b4fc201977a35e35bdd083667}} +void {\bfseries spin\+Thread\+Front} () +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classMarkerDropper_a596c0798e6b5baf6afb72d0191cfa12c}\label{classMarkerDropper_a596c0798e6b5baf6afb72d0191cfa12c}} +cv\+::\+Mat {\bfseries image\+\_\+marked} +\end{DoxyCompactItemize} +\doxysubsection*{Protected Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classMarkerDropper_acdf8f8e4b2d8fde47651b3814f20d47d}\label{classMarkerDropper_acdf8f8e4b2d8fde47651b3814f20d47d}} +void {\bfseries front\+Callback} (vision\+\_\+tasks\+::marker\+Dropper\+Front\+Range\+Config \&config, double level) +\item +\mbox{\Hypertarget{classMarkerDropper_acbc9da12d06e0bdb7d659982d814c959}\label{classMarkerDropper_acbc9da12d06e0bdb7d659982d814c959}} +void {\bfseries bottom\+Callback} (vision\+\_\+tasks\+::marker\+Dropper\+Bottom\+Range\+Config \&config, double level) +\item +\mbox{\Hypertarget{classMarkerDropper_a65a611716c6e3f35510534e4c07080ef}\label{classMarkerDropper_a65a611716c6e3f35510534e4c07080ef}} +void {\bfseries image\+Front\+Callback} (const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&msg) +\item +\mbox{\Hypertarget{classMarkerDropper_af1d127a6a637b618cc71d42447a9e8c2}\label{classMarkerDropper_af1d127a6a637b618cc71d42447a9e8c2}} +void {\bfseries image\+Bottom\+Callback} (const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&msg) +\item +\mbox{\Hypertarget{classMarkerDropper_acdf8f8e4b2d8fde47651b3814f20d47d}\label{classMarkerDropper_acdf8f8e4b2d8fde47651b3814f20d47d}} +void {\bfseries front\+Callback} (vision\+\_\+tasks\+::marker\+Dropper\+Front\+Range\+Config \&config, double level) +\item +\mbox{\Hypertarget{classMarkerDropper_acbc9da12d06e0bdb7d659982d814c959}\label{classMarkerDropper_acbc9da12d06e0bdb7d659982d814c959}} +void {\bfseries bottom\+Callback} (vision\+\_\+tasks\+::marker\+Dropper\+Bottom\+Range\+Config \&config, double level) +\item +\mbox{\Hypertarget{classMarkerDropper_a65a611716c6e3f35510534e4c07080ef}\label{classMarkerDropper_a65a611716c6e3f35510534e4c07080ef}} +void {\bfseries image\+Front\+Callback} (const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&msg) +\item +\mbox{\Hypertarget{classMarkerDropper_af1d127a6a637b618cc71d42447a9e8c2}\label{classMarkerDropper_af1d127a6a637b618cc71d42447a9e8c2}} +void {\bfseries image\+Bottom\+Callback} (const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&msg) +\end{DoxyCompactItemize} +\doxysubsection*{Protected Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classMarkerDropper_a46f35c9468e60bbf6b0804daee3b501b}\label{classMarkerDropper_a46f35c9468e60bbf6b0804daee3b501b}} +image\+\_\+transport\+::\+Publisher {\bfseries bottom\+\_\+blue\+\_\+filtered\+\_\+pub} +\item +\mbox{\Hypertarget{classMarkerDropper_af48c1237b7c61106f7e86c947ef7e0e8}\label{classMarkerDropper_af48c1237b7c61106f7e86c947ef7e0e8}} +image\+\_\+transport\+::\+Publisher {\bfseries front\+\_\+blue\+\_\+filtered\+\_\+pub} +\item +\mbox{\Hypertarget{classMarkerDropper_a4a5cd2eee6cda56ce177632b446a21cc}\label{classMarkerDropper_a4a5cd2eee6cda56ce177632b446a21cc}} +image\+\_\+transport\+::\+Subscriber {\bfseries front\+\_\+image\+\_\+raw\+\_\+sub} +\item +\mbox{\Hypertarget{classMarkerDropper_ab05e2f71e55e15d2d40bec83aec09e5c}\label{classMarkerDropper_ab05e2f71e55e15d2d40bec83aec09e5c}} +image\+\_\+transport\+::\+Subscriber {\bfseries bottom\+\_\+image\+\_\+raw\+\_\+sub} +\item +\mbox{\Hypertarget{classMarkerDropper_a4bda362c08b94bc38433f430c8dce643}\label{classMarkerDropper_a4bda362c08b94bc38433f430c8dce643}} +ros\+::\+Publisher {\bfseries detection\+\_\+pub} +\item +\mbox{\Hypertarget{classMarkerDropper_a12e2db834779b18197b7c5d541f5f566}\label{classMarkerDropper_a12e2db834779b18197b7c5d541f5f566}} +std\+::string {\bfseries camera\+\_\+frame\+\_\+} +\item +\mbox{\Hypertarget{classMarkerDropper_aa98a4125b058fcf57bbed17ee12678e2}\label{classMarkerDropper_aa98a4125b058fcf57bbed17ee12678e2}} +double {\bfseries front\+\_\+clahe\+\_\+clip\+\_\+} = 4.\+0 +\item +\mbox{\Hypertarget{classMarkerDropper_a23c3cd5e393d5fca8d76f7eaf596804d}\label{classMarkerDropper_a23c3cd5e393d5fca8d76f7eaf596804d}} +int {\bfseries front\+\_\+clahe\+\_\+grid\+\_\+size\+\_\+} = 8 +\item +\mbox{\Hypertarget{classMarkerDropper_a69a9bd6730222d56dee1707c2e5dd599}\label{classMarkerDropper_a69a9bd6730222d56dee1707c2e5dd599}} +int {\bfseries front\+\_\+clahe\+\_\+bilateral\+\_\+iter\+\_\+} = 8 +\item +\mbox{\Hypertarget{classMarkerDropper_a2c7cf4b4b24406a7d684f276fe02b763}\label{classMarkerDropper_a2c7cf4b4b24406a7d684f276fe02b763}} +int {\bfseries front\+\_\+balanced\+\_\+bilateral\+\_\+iter\+\_\+} = 4 +\item +\mbox{\Hypertarget{classMarkerDropper_a576351ceb624124a9f177e4aa10e72b0}\label{classMarkerDropper_a576351ceb624124a9f177e4aa10e72b0}} +double {\bfseries front\+\_\+denoise\+\_\+h\+\_\+} = 10.\+0 +\item +\mbox{\Hypertarget{classMarkerDropper_a97e708ac1dc23f14efe48c64e3eb0496}\label{classMarkerDropper_a97e708ac1dc23f14efe48c64e3eb0496}} +int {\bfseries front\+\_\+canny\+\_\+threshold\+\_\+low\+\_\+} = 0 +\item +\mbox{\Hypertarget{classMarkerDropper_ada1f7cb1f635913c6b9612fa890526af}\label{classMarkerDropper_ada1f7cb1f635913c6b9612fa890526af}} +int {\bfseries front\+\_\+canny\+\_\+threshold\+\_\+high\+\_\+} = 1000 +\item +\mbox{\Hypertarget{classMarkerDropper_aa3d54dfdca7a35d676e0036f085bf14f}\label{classMarkerDropper_aa3d54dfdca7a35d676e0036f085bf14f}} +int {\bfseries front\+\_\+canny\+\_\+kernel\+\_\+size\+\_\+} = 3 +\item +\mbox{\Hypertarget{classMarkerDropper_abca1ba7eace809915a9c674cc9134a28}\label{classMarkerDropper_abca1ba7eace809915a9c674cc9134a28}} +int {\bfseries front\+\_\+hough\+\_\+threshold\+\_\+} = 0 +\item +\mbox{\Hypertarget{classMarkerDropper_a96fb9649f9d3c5d94e99705ec8c70f52}\label{classMarkerDropper_a96fb9649f9d3c5d94e99705ec8c70f52}} +int {\bfseries front\+\_\+hough\+\_\+minline\+\_\+} = 0 +\item +\mbox{\Hypertarget{classMarkerDropper_aba7342ce88e06358356298b4fd4c797f}\label{classMarkerDropper_aba7342ce88e06358356298b4fd4c797f}} +int {\bfseries front\+\_\+hough\+\_\+maxgap\+\_\+} = 0 +\item +\mbox{\Hypertarget{classMarkerDropper_a5cce65c39a401bd6d966d3449c990960}\label{classMarkerDropper_a5cce65c39a401bd6d966d3449c990960}} +double {\bfseries front\+\_\+hough\+\_\+angle\+\_\+tolerance\+\_\+} = 0.\+0 +\item +\mbox{\Hypertarget{classMarkerDropper_a01d2f9bee667f199b5bc2e8f55ef0ca9}\label{classMarkerDropper_a01d2f9bee667f199b5bc2e8f55ef0ca9}} +double {\bfseries front\+\_\+gate\+\_\+distance\+\_\+tolerance\+\_\+} = 50.\+0 +\item +\mbox{\Hypertarget{classMarkerDropper_a5c2afc4167d551e1854fcad96398703f}\label{classMarkerDropper_a5c2afc4167d551e1854fcad96398703f}} +double {\bfseries front\+\_\+gate\+\_\+angle\+\_\+tolerance\+\_\+} = 0.\+0 +\item +\mbox{\Hypertarget{classMarkerDropper_ab1f4f4ed6a0691eaaf24e1f0bb8c20ed}\label{classMarkerDropper_ab1f4f4ed6a0691eaaf24e1f0bb8c20ed}} +double {\bfseries bottom\+\_\+clahe\+\_\+clip\+\_\+} = 4.\+0 +\item +\mbox{\Hypertarget{classMarkerDropper_a97f2c6dd6b1cffa4ac7ee3a03c42edd0}\label{classMarkerDropper_a97f2c6dd6b1cffa4ac7ee3a03c42edd0}} +int {\bfseries bottom\+\_\+clahe\+\_\+grid\+\_\+size\+\_\+} = 8 +\item +\mbox{\Hypertarget{classMarkerDropper_a1b87c6207ae2f9b5be1252c80f6a2f29}\label{classMarkerDropper_a1b87c6207ae2f9b5be1252c80f6a2f29}} +int {\bfseries bottom\+\_\+clahe\+\_\+bilateral\+\_\+iter\+\_\+} = 8 +\item +\mbox{\Hypertarget{classMarkerDropper_a8ec68edd01310878f1313c6d5c26ae12}\label{classMarkerDropper_a8ec68edd01310878f1313c6d5c26ae12}} +int {\bfseries bottom\+\_\+balanced\+\_\+bilateral\+\_\+iter\+\_\+} = 4 +\item +\mbox{\Hypertarget{classMarkerDropper_ab73c9b6e3cc690545ab81a47595ccc89}\label{classMarkerDropper_ab73c9b6e3cc690545ab81a47595ccc89}} +double {\bfseries bottom\+\_\+denoise\+\_\+h\+\_\+} = 10.\+0 +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+tasks/include/marker\+\_\+dropper.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/include/marker\+Dropper.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/include/marker\+Dropper\+\_\+niot.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/src/marker\+\_\+dropper.\+cpp\item +vision\+\_\+layer/vision\+\_\+tasks/src/marker\+Dropper.\+cpp\item +vision\+\_\+layer/vision\+\_\+tasks/src/marker\+Dropper\+\_\+niot.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classOctagon.eps b/docs/latex/classOctagon.eps new file mode 100644 index 0000000..c420978 --- /dev/null +++ b/docs/latex/classOctagon.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 476.190476 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.050000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(Octagon) cw +(Base_class) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (Octagon) 0.000000 0.000000 box + (Base_class) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classOctagon.tex b/docs/latex/classOctagon.tex new file mode 100644 index 0000000..644e2fb --- /dev/null +++ b/docs/latex/classOctagon.tex @@ -0,0 +1,111 @@ +\hypertarget{classOctagon}{}\doxysection{Octagon Class Reference} +\label{classOctagon}\index{Octagon@{Octagon}} +Inheritance diagram for Octagon\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classOctagon} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classOctagon_ae6a83e650bae938f9ab63abcfd58a398}\label{classOctagon_ae6a83e650bae938f9ab63abcfd58a398}} +void {\bfseries spin\+Thread\+Bottom} () +\item +\mbox{\Hypertarget{classOctagon_a4a7d77e22163d6ee6c1f11210ed2a61d}\label{classOctagon_a4a7d77e22163d6ee6c1f11210ed2a61d}} +void {\bfseries spin\+Thread\+Front} () +\end{DoxyCompactItemize} +\doxysubsection*{Protected Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classOctagon_a7a1450a53ab430cbdf013159e837c848}\label{classOctagon_a7a1450a53ab430cbdf013159e837c848}} +void {\bfseries front\+Callback} (vision\+\_\+tasks\+::octagon\+Front\+Range\+Config \&config, double level) +\item +\mbox{\Hypertarget{classOctagon_ad953bf1ace4c8a2d09f364a096030df4}\label{classOctagon_ad953bf1ace4c8a2d09f364a096030df4}} +void {\bfseries bottom\+Callback} (vision\+\_\+tasks\+::octagon\+Bottom\+Range\+Config \&config, double level) +\item +\mbox{\Hypertarget{classOctagon_a3840f97fdb1c59d6a9015e7502a94a4d}\label{classOctagon_a3840f97fdb1c59d6a9015e7502a94a4d}} +void {\bfseries image\+Front\+Callback} (const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&msg) +\item +\mbox{\Hypertarget{classOctagon_a4c98afeabdf2d48a7a794cf58dba3e93}\label{classOctagon_a4c98afeabdf2d48a7a794cf58dba3e93}} +void {\bfseries image\+Bottom\+Callback} (const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&msg) +\end{DoxyCompactItemize} +\doxysubsection*{Protected Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classOctagon_ad81ad65b8cfd994d4c8e9ff920cbbc72}\label{classOctagon_ad81ad65b8cfd994d4c8e9ff920cbbc72}} +image\+\_\+transport\+::\+Publisher {\bfseries blue\+\_\+filtered\+\_\+pub} +\item +\mbox{\Hypertarget{classOctagon_ac730f845f82658b1cad679699d492878}\label{classOctagon_ac730f845f82658b1cad679699d492878}} +image\+\_\+transport\+::\+Subscriber {\bfseries image\+\_\+raw\+\_\+sub} +\item +\mbox{\Hypertarget{classOctagon_a134b4a5d27fa1f771c928a2cf2441eac}\label{classOctagon_a134b4a5d27fa1f771c928a2cf2441eac}} +std\+::string {\bfseries camera\+\_\+frame\+\_\+} +\item +\mbox{\Hypertarget{classOctagon_a18101d0809a701a880a71da13a867c32}\label{classOctagon_a18101d0809a701a880a71da13a867c32}} +double {\bfseries front\+\_\+clahe\+\_\+clip\+\_\+} = 4.\+0 +\item +\mbox{\Hypertarget{classOctagon_a7ac3f3216b3b65a631e2966d9fe947d6}\label{classOctagon_a7ac3f3216b3b65a631e2966d9fe947d6}} +int {\bfseries front\+\_\+clahe\+\_\+grid\+\_\+size\+\_\+} = 8 +\item +\mbox{\Hypertarget{classOctagon_a37e874f2b6b0defbadf34637e655d462}\label{classOctagon_a37e874f2b6b0defbadf34637e655d462}} +int {\bfseries front\+\_\+clahe\+\_\+bilateral\+\_\+iter\+\_\+} = 8 +\item +\mbox{\Hypertarget{classOctagon_a6526833743c9afd65cbed7e5b2f54168}\label{classOctagon_a6526833743c9afd65cbed7e5b2f54168}} +int {\bfseries front\+\_\+balanced\+\_\+bilateral\+\_\+iter\+\_\+} = 4 +\item +\mbox{\Hypertarget{classOctagon_a71822dfc8d160896ff4193935ec78a0e}\label{classOctagon_a71822dfc8d160896ff4193935ec78a0e}} +double {\bfseries front\+\_\+denoise\+\_\+h\+\_\+} = 10.\+0 +\item +\mbox{\Hypertarget{classOctagon_a65a3ea1eb703a5c45abcac586e190bbc}\label{classOctagon_a65a3ea1eb703a5c45abcac586e190bbc}} +int {\bfseries front\+\_\+canny\+\_\+threshold\+\_\+low\+\_\+} = 0 +\item +\mbox{\Hypertarget{classOctagon_a588fd8490c6e59ba0c59b8c0c0def6dc}\label{classOctagon_a588fd8490c6e59ba0c59b8c0c0def6dc}} +int {\bfseries front\+\_\+canny\+\_\+threshold\+\_\+high\+\_\+} = 1000 +\item +\mbox{\Hypertarget{classOctagon_ae20ae84d732e1d108b9f9ebef17a15e0}\label{classOctagon_ae20ae84d732e1d108b9f9ebef17a15e0}} +int {\bfseries front\+\_\+canny\+\_\+kernel\+\_\+size\+\_\+} = 3 +\item +\mbox{\Hypertarget{classOctagon_a38dc6d16117d852010885329488f2c22}\label{classOctagon_a38dc6d16117d852010885329488f2c22}} +int {\bfseries front\+\_\+hough\+\_\+threshold\+\_\+} = 0 +\item +\mbox{\Hypertarget{classOctagon_afd0747af826ceb68845a97e5845c6474}\label{classOctagon_afd0747af826ceb68845a97e5845c6474}} +int {\bfseries front\+\_\+hough\+\_\+minline\+\_\+} = 0 +\item +\mbox{\Hypertarget{classOctagon_a5784640d78bd54b9d3f804e6971485bb}\label{classOctagon_a5784640d78bd54b9d3f804e6971485bb}} +int {\bfseries front\+\_\+hough\+\_\+maxgap\+\_\+} = 0 +\item +\mbox{\Hypertarget{classOctagon_af676c0a43e9a80e80e6594afbefca004}\label{classOctagon_af676c0a43e9a80e80e6594afbefca004}} +double {\bfseries front\+\_\+hough\+\_\+angle\+\_\+tolerance\+\_\+} = 0.\+0 +\item +\mbox{\Hypertarget{classOctagon_a06d4848d0fa2f540bcebb40af1d96dda}\label{classOctagon_a06d4848d0fa2f540bcebb40af1d96dda}} +double {\bfseries front\+\_\+gate\+\_\+distance\+\_\+tolerance\+\_\+} = 50.\+0 +\item +\mbox{\Hypertarget{classOctagon_a8603b04b031ae06fb38e51306a05e8ba}\label{classOctagon_a8603b04b031ae06fb38e51306a05e8ba}} +double {\bfseries front\+\_\+gate\+\_\+angle\+\_\+tolerance\+\_\+} = 0.\+0 +\item +\mbox{\Hypertarget{classOctagon_a7bfa15dbbdf5f98fecc84d32ea88ab6c}\label{classOctagon_a7bfa15dbbdf5f98fecc84d32ea88ab6c}} +double {\bfseries bottom\+\_\+clahe\+\_\+clip\+\_\+} = 4.\+0 +\item +\mbox{\Hypertarget{classOctagon_a8a4311d54b59371229c84ce0b30fb9eb}\label{classOctagon_a8a4311d54b59371229c84ce0b30fb9eb}} +int {\bfseries bottom\+\_\+clahe\+\_\+grid\+\_\+size\+\_\+} = 8 +\item +\mbox{\Hypertarget{classOctagon_aa393f9dec40f6f21d4a49db75d0d30aa}\label{classOctagon_aa393f9dec40f6f21d4a49db75d0d30aa}} +int {\bfseries bottom\+\_\+clahe\+\_\+bilateral\+\_\+iter\+\_\+} = 8 +\item +\mbox{\Hypertarget{classOctagon_ae61cbe0134eed2dac3ef1ac66ebb919b}\label{classOctagon_ae61cbe0134eed2dac3ef1ac66ebb919b}} +int {\bfseries bottom\+\_\+balanced\+\_\+bilateral\+\_\+iter\+\_\+} = 4 +\item +\mbox{\Hypertarget{classOctagon_a359e6996f9cf84c6938d36f96fa12ded}\label{classOctagon_a359e6996f9cf84c6938d36f96fa12ded}} +double {\bfseries bottom\+\_\+denoise\+\_\+h\+\_\+} = 10.\+0 +\item +\mbox{\Hypertarget{classOctagon_ad9021e5849858697ae198c657ea268ae}\label{classOctagon_ad9021e5849858697ae198c657ea268ae}} +bool {\bfseries task\+\_\+done} = false +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+tasks/include/octagon.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/src/octagon.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classPID_1_1PIDRegulator_1_1PIDRegulator.tex b/docs/latex/classPID_1_1PIDRegulator_1_1PIDRegulator.tex new file mode 100644 index 0000000..df24caa --- /dev/null +++ b/docs/latex/classPID_1_1PIDRegulator_1_1PIDRegulator.tex @@ -0,0 +1,47 @@ +\hypertarget{classPID_1_1PIDRegulator_1_1PIDRegulator}{}\doxysection{P\+I\+D.\+P\+I\+D\+Regulator.\+P\+I\+D\+Regulator Class Reference} +\label{classPID_1_1PIDRegulator_1_1PIDRegulator}\index{PID.PIDRegulator.PIDRegulator@{PID.PIDRegulator.PIDRegulator}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classPID_1_1PIDRegulator_1_1PIDRegulator_abf8d015d547f834e2293cd3ca591e3a7}\label{classPID_1_1PIDRegulator_1_1PIDRegulator_abf8d015d547f834e2293cd3ca591e3a7}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, p, i, d, sat) +\item +\mbox{\Hypertarget{classPID_1_1PIDRegulator_1_1PIDRegulator_ae4f2b919b19afe0edf9d469cda43d303}\label{classPID_1_1PIDRegulator_1_1PIDRegulator_ae4f2b919b19afe0edf9d469cda43d303}} +def {\bfseries \+\_\+\+\_\+str\+\_\+\+\_\+} (self) +\item +\mbox{\Hypertarget{classPID_1_1PIDRegulator_1_1PIDRegulator_a8be4d249b1edaa77e91c0a3d447e8969}\label{classPID_1_1PIDRegulator_1_1PIDRegulator_a8be4d249b1edaa77e91c0a3d447e8969}} +def {\bfseries regulate} (self, err, t) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classPID_1_1PIDRegulator_1_1PIDRegulator_ae3b3ed4f0fbbd8ef3ce775608be8c64c}\label{classPID_1_1PIDRegulator_1_1PIDRegulator_ae3b3ed4f0fbbd8ef3ce775608be8c64c}} +{\bfseries p} +\item +\mbox{\Hypertarget{classPID_1_1PIDRegulator_1_1PIDRegulator_a88b051812a2f822dadd8cb6d076c6971}\label{classPID_1_1PIDRegulator_1_1PIDRegulator_a88b051812a2f822dadd8cb6d076c6971}} +{\bfseries i} +\item +\mbox{\Hypertarget{classPID_1_1PIDRegulator_1_1PIDRegulator_aa4167e0afee8abf759336ccee876ad07}\label{classPID_1_1PIDRegulator_1_1PIDRegulator_aa4167e0afee8abf759336ccee876ad07}} +{\bfseries d} +\item +\mbox{\Hypertarget{classPID_1_1PIDRegulator_1_1PIDRegulator_a1cb71bbed5a6e242bbc5c929e1831649}\label{classPID_1_1PIDRegulator_1_1PIDRegulator_a1cb71bbed5a6e242bbc5c929e1831649}} +{\bfseries sat} +\item +\mbox{\Hypertarget{classPID_1_1PIDRegulator_1_1PIDRegulator_a30b6739527271cc1946dd285d88d02f4}\label{classPID_1_1PIDRegulator_1_1PIDRegulator_a30b6739527271cc1946dd285d88d02f4}} +{\bfseries integral} +\item +\mbox{\Hypertarget{classPID_1_1PIDRegulator_1_1PIDRegulator_a84df376f2bf158640e3dd56ccd18be22}\label{classPID_1_1PIDRegulator_1_1PIDRegulator_a84df376f2bf158640e3dd56ccd18be22}} +{\bfseries prev\+\_\+err} +\item +\mbox{\Hypertarget{classPID_1_1PIDRegulator_1_1PIDRegulator_a1efa8a1d92942669963ddeee76688bea}\label{classPID_1_1PIDRegulator_1_1PIDRegulator_a1efa8a1d92942669963ddeee76688bea}} +{\bfseries prev\+\_\+t} +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}A very basic 1D PID Regulator.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+control\+\_\+cascaded\+\_\+pids/src/\+P\+I\+D/P\+I\+D\+Regulator.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classPathMarker.eps b/docs/latex/classPathMarker.eps new file mode 100644 index 0000000..807354b --- /dev/null +++ b/docs/latex/classPathMarker.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 465.116279 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.075000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(PathMarker) cw +(Base_class) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (PathMarker) 0.000000 0.000000 box + (Base_class) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classPathMarker.tex b/docs/latex/classPathMarker.tex new file mode 100644 index 0000000..e6c3599 --- /dev/null +++ b/docs/latex/classPathMarker.tex @@ -0,0 +1,27 @@ +\hypertarget{classPathMarker}{}\doxysection{Path\+Marker Class Reference} +\label{classPathMarker}\index{PathMarker@{PathMarker}} +Inheritance diagram for Path\+Marker\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classPathMarker} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classPathMarker_ab86f122f0f0c5481c2601590330e7159}\label{classPathMarker_ab86f122f0f0c5481c2601590330e7159}} +virtual void {\bfseries load\+Params} () override +\item +\mbox{\Hypertarget{classPathMarker_ae1ba30c7fc34f815d047eb47a390be13}\label{classPathMarker_ae1ba30c7fc34f815d047eb47a390be13}} +virtual void {\bfseries spin\+Thread\+Bottom} () override +\item +\mbox{\Hypertarget{classPathMarker_a338b0c9ef7f117cc4e7ca0316da2d9f2}\label{classPathMarker_a338b0c9ef7f117cc4e7ca0316da2d9f2}} +bool {\bfseries marker\+Angle} (master\+\_\+layer\+::\+Request\+Marker\+Angle\+::\+Request \&req, master\+\_\+layer\+::\+Request\+Marker\+Angle\+::\+Response \&res) +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+tasks/include/path\+\_\+marker.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/src/path\+\_\+marker (copy).\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classPinger.eps b/docs/latex/classPinger.eps new file mode 100644 index 0000000..3a49773 --- /dev/null +++ b/docs/latex/classPinger.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 476.190476 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.050000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(Pinger) cw +(Base_class) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (Pinger) 0.000000 0.000000 box + (Base_class) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classPinger.tex b/docs/latex/classPinger.tex new file mode 100644 index 0000000..372a07b --- /dev/null +++ b/docs/latex/classPinger.tex @@ -0,0 +1,36 @@ +\hypertarget{classPinger}{}\doxysection{Pinger Class Reference} +\label{classPinger}\index{Pinger@{Pinger}} +Inheritance diagram for Pinger\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classPinger} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classPinger_ae278a0225ba745088e5b50e2d6f5fd9a}\label{classPinger_ae278a0225ba745088e5b50e2d6f5fd9a}} +void {\bfseries load\+Params} () override +\item +\mbox{\Hypertarget{classPinger_a7aa53b5cbb26629489f8496423b5545b}\label{classPinger_a7aa53b5cbb26629489f8496423b5545b}} +void {\bfseries spin\+Thread\+Front} () override +\item +\mbox{\Hypertarget{classPinger_a7c97db853b58ae6820d035cf725c7ef5}\label{classPinger_a7c97db853b58ae6820d035cf725c7ef5}} +void {\bfseries spin\+Thread\+Bottom} () override +\item +\mbox{\Hypertarget{classPinger_ac45be62a1492fa5f8edbbed7aab4e7d3}\label{classPinger_ac45be62a1492fa5f8edbbed7aab4e7d3}} +cv\+::\+Point {\bfseries get\+Contour\+Center} (const std\+::vector$<$ cv\+::\+Point $>$ \&contour) +\item +\mbox{\Hypertarget{classPinger_a7de00bb1fc39dcccf9c7e7fc05f19614}\label{classPinger_a7de00bb1fc39dcccf9c7e7fc05f19614}} +bool {\bfseries bottom\+Target} (master\+\_\+layer\+::\+Pinger\+Bottom\+Target\+::\+Request \&req, master\+\_\+layer\+::\+Pinger\+Bottom\+Target\+::\+Response \&resp) +\item +\mbox{\Hypertarget{classPinger_aa6b09770f9406dca2287a7299e76df5f}\label{classPinger_aa6b09770f9406dca2287a7299e76df5f}} +bool {\bfseries front\+Target} (master\+\_\+layer\+::\+Pinger\+Front\+Target\+::\+Request \&req, master\+\_\+layer\+::\+Pinger\+Front\+Target\+::\+Response \&resp) +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+tasks/include/pinger.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/src/pinger.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classPositionControlUnderactuated_1_1PositionControllerNode.tex b/docs/latex/classPositionControlUnderactuated_1_1PositionControllerNode.tex new file mode 100644 index 0000000..a20610b --- /dev/null +++ b/docs/latex/classPositionControlUnderactuated_1_1PositionControllerNode.tex @@ -0,0 +1,82 @@ +\hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode}{}\doxysection{Position\+Control\+Underactuated.\+Position\+Controller\+Node Class Reference} +\label{classPositionControlUnderactuated_1_1PositionControllerNode}\index{PositionControlUnderactuated.PositionControllerNode@{PositionControlUnderactuated.PositionControllerNode}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_acb2f578b4fe1ac6c946984fc872f766b}\label{classPositionControlUnderactuated_1_1PositionControllerNode_acb2f578b4fe1ac6c946984fc872f766b}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self) +\item +def \mbox{\hyperlink{classPositionControlUnderactuated_1_1PositionControllerNode_a0b97b85e7356c21f63a83005268d2d41}{cmd\+\_\+pose\+\_\+callback}} (self, msg) +\item +def \mbox{\hyperlink{classPositionControlUnderactuated_1_1PositionControllerNode_a33466241b66a2b487f2def659093a605}{odometry\+\_\+callback}} (self, msg) +\item +def \mbox{\hyperlink{classPositionControlUnderactuated_1_1PositionControllerNode_aae800b3fd982ab0b87a0fbc4f7c543f8}{config\+\_\+callback}} (self, config, level) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_a658ce81c36a27e80f8559db8035ccc7c}\label{classPositionControlUnderactuated_1_1PositionControllerNode_a658ce81c36a27e80f8559db8035ccc7c}} +{\bfseries config} +\item +\mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_a1e670ce71ad245b75a9ad8d2c13b8c99}\label{classPositionControlUnderactuated_1_1PositionControllerNode_a1e670ce71ad245b75a9ad8d2c13b8c99}} +{\bfseries pos\+\_\+des} +\item +\mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_a9b30af7ac8801fe793bd8a434fb07ac0}\label{classPositionControlUnderactuated_1_1PositionControllerNode_a9b30af7ac8801fe793bd8a434fb07ac0}} +{\bfseries quat\+\_\+des} +\item +\mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_acb617786f770984bdb02a44208b68f04}\label{classPositionControlUnderactuated_1_1PositionControllerNode_acb617786f770984bdb02a44208b68f04}} +{\bfseries initialized} +\item +\mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_ad405dd1049f15bde3820f914b4b6512a}\label{classPositionControlUnderactuated_1_1PositionControllerNode_ad405dd1049f15bde3820f914b4b6512a}} +{\bfseries pid\+\_\+depth} +\item +\mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_a297b09fbbd8c4c3df35e04351e5f0fac}\label{classPositionControlUnderactuated_1_1PositionControllerNode_a297b09fbbd8c4c3df35e04351e5f0fac}} +{\bfseries pid\+\_\+heading} +\item +\mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_aea3b64c4f28265c04ee9f455f1f9d657}\label{classPositionControlUnderactuated_1_1PositionControllerNode_aea3b64c4f28265c04ee9f455f1f9d657}} +{\bfseries pid\+\_\+forward} +\item +\mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_af7cd31f2dcb44320fe0d963ec5fe0fd0}\label{classPositionControlUnderactuated_1_1PositionControllerNode_af7cd31f2dcb44320fe0d963ec5fe0fd0}} +{\bfseries listener} +\item +\mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_a6c2bb2f7554c6df455a455f3ba40e864}\label{classPositionControlUnderactuated_1_1PositionControllerNode_a6c2bb2f7554c6df455a455f3ba40e864}} +{\bfseries sub\+\_\+cmd\+\_\+pose} +\item +\mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_a2e65085d0242830943273c9cde52718d}\label{classPositionControlUnderactuated_1_1PositionControllerNode_a2e65085d0242830943273c9cde52718d}} +{\bfseries sub\+\_\+odometry} +\item +\mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_aa321fcdadb0628df364615a893845b1f}\label{classPositionControlUnderactuated_1_1PositionControllerNode_aa321fcdadb0628df364615a893845b1f}} +{\bfseries pub\+\_\+cmd\+\_\+vel} +\item +\mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_a4ea40317c2d4f25a5e731863be8f5b94}\label{classPositionControlUnderactuated_1_1PositionControllerNode_a4ea40317c2d4f25a5e731863be8f5b94}} +{\bfseries srv\+\_\+reconfigure} +\end{DoxyCompactItemize} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_a0b97b85e7356c21f63a83005268d2d41}\label{classPositionControlUnderactuated_1_1PositionControllerNode_a0b97b85e7356c21f63a83005268d2d41}} +\index{PositionControlUnderactuated.PositionControllerNode@{PositionControlUnderactuated.PositionControllerNode}!cmd\_pose\_callback@{cmd\_pose\_callback}} +\index{cmd\_pose\_callback@{cmd\_pose\_callback}!PositionControlUnderactuated.PositionControllerNode@{PositionControlUnderactuated.PositionControllerNode}} +\doxysubsubsection{\texorpdfstring{cmd\_pose\_callback()}{cmd\_pose\_callback()}} +{\footnotesize\ttfamily def Position\+Control\+Underactuated.\+Position\+Controller\+Node.\+cmd\+\_\+pose\+\_\+callback (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{msg }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Handle updated set pose callback.\end{DoxyVerb} + \mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_aae800b3fd982ab0b87a0fbc4f7c543f8}\label{classPositionControlUnderactuated_1_1PositionControllerNode_aae800b3fd982ab0b87a0fbc4f7c543f8}} +\index{PositionControlUnderactuated.PositionControllerNode@{PositionControlUnderactuated.PositionControllerNode}!config\_callback@{config\_callback}} +\index{config\_callback@{config\_callback}!PositionControlUnderactuated.PositionControllerNode@{PositionControlUnderactuated.PositionControllerNode}} +\doxysubsubsection{\texorpdfstring{config\_callback()}{config\_callback()}} +{\footnotesize\ttfamily def Position\+Control\+Underactuated.\+Position\+Controller\+Node.\+config\+\_\+callback (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{config, }\item[{}]{level }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Handle updated configuration values.\end{DoxyVerb} + \mbox{\Hypertarget{classPositionControlUnderactuated_1_1PositionControllerNode_a33466241b66a2b487f2def659093a605}\label{classPositionControlUnderactuated_1_1PositionControllerNode_a33466241b66a2b487f2def659093a605}} +\index{PositionControlUnderactuated.PositionControllerNode@{PositionControlUnderactuated.PositionControllerNode}!odometry\_callback@{odometry\_callback}} +\index{odometry\_callback@{odometry\_callback}!PositionControlUnderactuated.PositionControllerNode@{PositionControlUnderactuated.PositionControllerNode}} +\doxysubsubsection{\texorpdfstring{odometry\_callback()}{odometry\_callback()}} +{\footnotesize\ttfamily def Position\+Control\+Underactuated.\+Position\+Controller\+Node.\+odometry\+\_\+callback (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{msg }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Handle updated measured velocity callback.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+control\+\_\+cascaded\+\_\+pids/scripts/Position\+Control\+Underactuated.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classPositionControl_1_1PositionControllerNode.tex b/docs/latex/classPositionControl_1_1PositionControllerNode.tex new file mode 100644 index 0000000..e8065ca --- /dev/null +++ b/docs/latex/classPositionControl_1_1PositionControllerNode.tex @@ -0,0 +1,76 @@ +\hypertarget{classPositionControl_1_1PositionControllerNode}{}\doxysection{Position\+Control.\+Position\+Controller\+Node Class Reference} +\label{classPositionControl_1_1PositionControllerNode}\index{PositionControl.PositionControllerNode@{PositionControl.PositionControllerNode}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classPositionControl_1_1PositionControllerNode_a996a74f89982afc15c512f8943738c31}\label{classPositionControl_1_1PositionControllerNode_a996a74f89982afc15c512f8943738c31}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self) +\item +def \mbox{\hyperlink{classPositionControl_1_1PositionControllerNode_ac55340595848d176904ffd288557f315}{cmd\+\_\+pose\+\_\+callback}} (self, msg) +\item +def \mbox{\hyperlink{classPositionControl_1_1PositionControllerNode_aa8a67e3bf22291ac2954fde652427037}{odometry\+\_\+callback}} (self, msg) +\item +def \mbox{\hyperlink{classPositionControl_1_1PositionControllerNode_a28dae08a4d6942f9ffb0878e61c2cef6}{config\+\_\+callback}} (self, config, level) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classPositionControl_1_1PositionControllerNode_a3e21c2dc3379bc23aac9600f8811e940}\label{classPositionControl_1_1PositionControllerNode_a3e21c2dc3379bc23aac9600f8811e940}} +{\bfseries config} +\item +\mbox{\Hypertarget{classPositionControl_1_1PositionControllerNode_a3779437e52c65974a2bd383ba29460bf}\label{classPositionControl_1_1PositionControllerNode_a3779437e52c65974a2bd383ba29460bf}} +{\bfseries pos\+\_\+des} +\item +\mbox{\Hypertarget{classPositionControl_1_1PositionControllerNode_a2d88628d69017e79b9287381ade99417}\label{classPositionControl_1_1PositionControllerNode_a2d88628d69017e79b9287381ade99417}} +{\bfseries quat\+\_\+des} +\item +\mbox{\Hypertarget{classPositionControl_1_1PositionControllerNode_a5eadbe063ec157ac506c75917e55e264}\label{classPositionControl_1_1PositionControllerNode_a5eadbe063ec157ac506c75917e55e264}} +{\bfseries initialized} +\item +\mbox{\Hypertarget{classPositionControl_1_1PositionControllerNode_ab941514f8a5b1cbce8e286a65308b87d}\label{classPositionControl_1_1PositionControllerNode_ab941514f8a5b1cbce8e286a65308b87d}} +{\bfseries pid\+\_\+rot} +\item +\mbox{\Hypertarget{classPositionControl_1_1PositionControllerNode_ac724facd747b87d8d3115c5c6c565dea}\label{classPositionControl_1_1PositionControllerNode_ac724facd747b87d8d3115c5c6c565dea}} +{\bfseries pid\+\_\+pos} +\item +\mbox{\Hypertarget{classPositionControl_1_1PositionControllerNode_a938c989bf241d7ad6823ff5136d3c7d9}\label{classPositionControl_1_1PositionControllerNode_a938c989bf241d7ad6823ff5136d3c7d9}} +{\bfseries sub\+\_\+cmd\+\_\+pose} +\item +\mbox{\Hypertarget{classPositionControl_1_1PositionControllerNode_a8b6d24d21d5155564cf8e22c31202603}\label{classPositionControl_1_1PositionControllerNode_a8b6d24d21d5155564cf8e22c31202603}} +{\bfseries sub\+\_\+odometry} +\item +\mbox{\Hypertarget{classPositionControl_1_1PositionControllerNode_affa9865387ece1269e250dc24ab3cccd}\label{classPositionControl_1_1PositionControllerNode_affa9865387ece1269e250dc24ab3cccd}} +{\bfseries pub\+\_\+cmd\+\_\+vel} +\item +\mbox{\Hypertarget{classPositionControl_1_1PositionControllerNode_a36c5d8919d90878178dc7bd2ccff7c62}\label{classPositionControl_1_1PositionControllerNode_a36c5d8919d90878178dc7bd2ccff7c62}} +{\bfseries srv\+\_\+reconfigure} +\end{DoxyCompactItemize} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classPositionControl_1_1PositionControllerNode_ac55340595848d176904ffd288557f315}\label{classPositionControl_1_1PositionControllerNode_ac55340595848d176904ffd288557f315}} +\index{PositionControl.PositionControllerNode@{PositionControl.PositionControllerNode}!cmd\_pose\_callback@{cmd\_pose\_callback}} +\index{cmd\_pose\_callback@{cmd\_pose\_callback}!PositionControl.PositionControllerNode@{PositionControl.PositionControllerNode}} +\doxysubsubsection{\texorpdfstring{cmd\_pose\_callback()}{cmd\_pose\_callback()}} +{\footnotesize\ttfamily def Position\+Control.\+Position\+Controller\+Node.\+cmd\+\_\+pose\+\_\+callback (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{msg }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Handle updated set pose callback.\end{DoxyVerb} + \mbox{\Hypertarget{classPositionControl_1_1PositionControllerNode_a28dae08a4d6942f9ffb0878e61c2cef6}\label{classPositionControl_1_1PositionControllerNode_a28dae08a4d6942f9ffb0878e61c2cef6}} +\index{PositionControl.PositionControllerNode@{PositionControl.PositionControllerNode}!config\_callback@{config\_callback}} +\index{config\_callback@{config\_callback}!PositionControl.PositionControllerNode@{PositionControl.PositionControllerNode}} +\doxysubsubsection{\texorpdfstring{config\_callback()}{config\_callback()}} +{\footnotesize\ttfamily def Position\+Control.\+Position\+Controller\+Node.\+config\+\_\+callback (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{config, }\item[{}]{level }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Handle updated configuration values.\end{DoxyVerb} + \mbox{\Hypertarget{classPositionControl_1_1PositionControllerNode_aa8a67e3bf22291ac2954fde652427037}\label{classPositionControl_1_1PositionControllerNode_aa8a67e3bf22291ac2954fde652427037}} +\index{PositionControl.PositionControllerNode@{PositionControl.PositionControllerNode}!odometry\_callback@{odometry\_callback}} +\index{odometry\_callback@{odometry\_callback}!PositionControl.PositionControllerNode@{PositionControl.PositionControllerNode}} +\doxysubsubsection{\texorpdfstring{odometry\_callback()}{odometry\_callback()}} +{\footnotesize\ttfamily def Position\+Control.\+Position\+Controller\+Node.\+odometry\+\_\+callback (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{msg }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Handle updated measured velocity callback.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+control\+\_\+cascaded\+\_\+pids/scripts/Position\+Control.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classStartGate.eps b/docs/latex/classStartGate.eps new file mode 100644 index 0000000..ff0cdf1 --- /dev/null +++ b/docs/latex/classStartGate.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 476.190476 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.050000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(StartGate) cw +(Base_class) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (StartGate) 0.000000 0.000000 box + (Base_class) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classStartGate.tex b/docs/latex/classStartGate.tex new file mode 100644 index 0000000..5951f34 --- /dev/null +++ b/docs/latex/classStartGate.tex @@ -0,0 +1,27 @@ +\hypertarget{classStartGate}{}\doxysection{Start\+Gate Class Reference} +\label{classStartGate}\index{StartGate@{StartGate}} +Inheritance diagram for Start\+Gate\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classStartGate} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classStartGate_a8655684868e818d99e7df9c452a946df}\label{classStartGate_a8655684868e818d99e7df9c452a946df}} +void {\bfseries load\+Params} () override +\item +\mbox{\Hypertarget{classStartGate_ad65a9a16086048b0ca9ee46545db19db}\label{classStartGate_ad65a9a16086048b0ca9ee46545db19db}} +void {\bfseries spin\+Thread\+Front} () override +\item +\mbox{\Hypertarget{classStartGate_ae52a67ee740e298056b332aec8e4a159}\label{classStartGate_ae52a67ee740e298056b332aec8e4a159}} +cv\+::\+Point {\bfseries find\+Gate\+Center} (cv\+::\+Mat \&thres\+\_\+img) +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+tasks/include/start\+\_\+gate.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/src/start\+\_\+gate.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classTest.tex b/docs/latex/classTest.tex new file mode 100644 index 0000000..d7903fb --- /dev/null +++ b/docs/latex/classTest.tex @@ -0,0 +1,50 @@ +\hypertarget{classTest}{}\doxysection{Test Class Reference} +\label{classTest}\index{Test@{Test}} + + +This is a test class. $\ast$. + + + + +\doxysubsection{Detailed Description} +This is a test class. $\ast$. + + +\begin{DoxyItemize} +\item $\ast$ Some details about the \mbox{\hyperlink{classTest}{Test}} class. $\ast$/ class A\+BC\{\}; +\end{DoxyItemize} + +starts brief description + +starts detailed description + + +\begin{DoxyParams}[1]{Parameters} + & {\em \textquotesingle{}\mbox{[}\textquotesingle{}dir\textquotesingle{}\mbox{]}\textquotesingle{}} & $<$parameter-\/name$>$ \{ parameter description \} Starts a parameter description for a function parameter with name $<$parameter-\/name$>$, followed by a description of the parameter. The\\ +\hline + & {\em command} & has an optional attribute, dir, specifying the direction of the parameter. Possible values are \char`\"{}\mbox{[}in\mbox{]}\char`\"{}, \char`\"{}\mbox{[}in,out\mbox{]}\char`\"{}, and \char`\"{}\mbox{[}out\mbox{]}\char`\"{}, note the \mbox{[}square\mbox{]} brackets in this description. When a parameter is both input and output, \mbox{[}in,out\mbox{]} is used as attribute. Ex-\/ /$\ast$! +\begin{DoxyItemize} +\item Copies bytes from a source memory area to a destination memory area, +\item where both areas may not overlap. +\item +\end{DoxyItemize}\\ +\hline +\mbox{\texttt{ out}} & {\em dest} & The memory area to copy to. +\begin{DoxyItemize} +\item +\end{DoxyItemize}\\ +\hline +\mbox{\texttt{ in}} & {\em src} & The memory area to copy from. +\begin{DoxyItemize} +\item +\end{DoxyItemize}\\ +\hline +\mbox{\texttt{ in}} & {\em n} & The number of bytes to copy $\ast$/ void memcpy(void $\ast$dest, const void $\ast$src, size\+\_\+t n);\\ +\hline +\end{DoxyParams} +Link to official documentation of all the commands \href{http://www.doxygen.nl/manual/commands.html}{\texttt{ http\+://www.\+doxygen.\+nl/manual/commands.\+html}} + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +coding\+\_\+docs/documentation.\+md\end{DoxyCompactItemize} diff --git a/docs/latex/classTestGate.eps b/docs/latex/classTestGate.eps new file mode 100644 index 0000000..73e5559 --- /dev/null +++ b/docs/latex/classTestGate.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 476.190476 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.050000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(TestGate) cw +(Base_class) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (TestGate) 0.000000 0.000000 box + (Base_class) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classTestGate.tex b/docs/latex/classTestGate.tex new file mode 100644 index 0000000..87a1a53 --- /dev/null +++ b/docs/latex/classTestGate.tex @@ -0,0 +1,30 @@ +\hypertarget{classTestGate}{}\doxysection{Test\+Gate Class Reference} +\label{classTestGate}\index{TestGate@{TestGate}} +Inheritance diagram for Test\+Gate\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classTestGate} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classTestGate_a19ec359e708edfd7898bd675fb76f6e9}\label{classTestGate_a19ec359e708edfd7898bd675fb76f6e9}} +void {\bfseries load\+Params} () override +\item +\mbox{\Hypertarget{classTestGate_a26e537037c1f2be5ed47311871ff17f9}\label{classTestGate_a26e537037c1f2be5ed47311871ff17f9}} +void {\bfseries spin\+Thread\+Front} () override +\item +\mbox{\Hypertarget{classTestGate_acba3279746f684c8217c3e50275f75ab}\label{classTestGate_acba3279746f684c8217c3e50275f75ab}} +void {\bfseries rect\+CB} (const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&msg) +\item +\mbox{\Hypertarget{classTestGate_a5882cb045c129adaf0e66cf87bc35d1b}\label{classTestGate_a5882cb045c129adaf0e66cf87bc35d1b}} +bool {\bfseries get\+Normal} (master\+\_\+layer\+::\+Target\+Normal\+::\+Request \&req, master\+\_\+layer\+::\+Target\+Normal\+::\+Response \&resp) +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+tasks/include/testgate.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/src/testgate.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classTorpedo.eps b/docs/latex/classTorpedo.eps new file mode 100644 index 0000000..6765d43 --- /dev/null +++ b/docs/latex/classTorpedo.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 476.190476 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.050000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(Torpedo) cw +(Base_class) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (Torpedo) 0.000000 0.000000 box + (Base_class) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classTorpedo.tex b/docs/latex/classTorpedo.tex new file mode 100644 index 0000000..1da7bc1 --- /dev/null +++ b/docs/latex/classTorpedo.tex @@ -0,0 +1,46 @@ +\hypertarget{classTorpedo}{}\doxysection{Torpedo Class Reference} +\label{classTorpedo}\index{Torpedo@{Torpedo}} +Inheritance diagram for Torpedo\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classTorpedo} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classTorpedo_aa7080c7f22c85dc381eb83b547b619e5}\label{classTorpedo_aa7080c7f22c85dc381eb83b547b619e5}} +virtual void {\bfseries load\+Params} () override +\item +\mbox{\Hypertarget{classTorpedo_a0b9be299d42d31a8eda90f0322fc1325}\label{classTorpedo_a0b9be299d42d31a8eda90f0322fc1325}} +virtual void {\bfseries spin\+Thread\+Front} () override +\item +\mbox{\Hypertarget{classTorpedo_a034e99a1d14fd16b174f15d12c579075}\label{classTorpedo_a034e99a1d14fd16b174f15d12c579075}} +void {\bfseries find\+Circles} (cv\+::\+Mat \&src\+\_\+img, cv\+::\+Mat \&thres\+\_\+img, double circle\+\_\+threshold) +\item +\mbox{\Hypertarget{classTorpedo_a2010f06ca24b6ebfcd10b05346a889da}\label{classTorpedo_a2010f06ca24b6ebfcd10b05346a889da}} +void {\bfseries Init\+Tracker} (cv\+::\+Mat \&src\+\_\+img, cv\+::\+Mat \&thres\+\_\+img, double circle\+\_\+threshold) +\item +\mbox{\Hypertarget{classTorpedo_a7f0bdf8a23ae27e30177ce27fbd1488d}\label{classTorpedo_a7f0bdf8a23ae27e30177ce27fbd1488d}} +void {\bfseries update\+Tracker} (cv\+::\+Mat \&src\+\_\+img) +\item +\mbox{\Hypertarget{classTorpedo_ad5e92180089075ecb42f3cea1bd79e4c}\label{classTorpedo_ad5e92180089075ecb42f3cea1bd79e4c}} +cv\+::\+Point2f {\bfseries thresh\+R\+OI} (const cv\+::\+Rect2d \&bounding\+\_\+rect, const cv\+::\+Mat \&img, int padding) +\item +\mbox{\Hypertarget{classTorpedo_a12ba525a4852334b7216f497e2cc0582}\label{classTorpedo_a12ba525a4852334b7216f497e2cc0582}} +void {\bfseries recognise\+Holes} (cv\+::\+Mat \&thres\+\_\+img) +\item +\mbox{\Hypertarget{classTorpedo_a3b398b866dc7f1de82e88104bc02279a}\label{classTorpedo_a3b398b866dc7f1de82e88104bc02279a}} +void {\bfseries update\+Coordinates} (std\+::vector$<$ cv\+::\+Point $>$ points) +\item +\mbox{\Hypertarget{classTorpedo_a1ba524abe3d67879957236006b7dd026}\label{classTorpedo_a1ba524abe3d67879957236006b7dd026}} +bool {\bfseries change\+Torpedo\+Hole} (master\+\_\+layer\+::\+Change\+Torpedo\+Hole\+::\+Request \&req, master\+\_\+layer\+::\+Change\+Torpedo\+Hole\+::\+Response \&resp) +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+tasks/include/torpedo.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/src/torpedo.\+cpp\item +vision\+\_\+layer/vision\+\_\+tasks/src/torpedo\+\_\+niot.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classTriangularBuoy.eps b/docs/latex/classTriangularBuoy.eps new file mode 100644 index 0000000..be3a901 --- /dev/null +++ b/docs/latex/classTriangularBuoy.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 373.831776 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.337500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(TriangularBuoy) cw +(Base_class) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (TriangularBuoy) 0.000000 0.000000 box + (Base_class) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classTriangularBuoy.tex b/docs/latex/classTriangularBuoy.tex new file mode 100644 index 0000000..7aac9c2 --- /dev/null +++ b/docs/latex/classTriangularBuoy.tex @@ -0,0 +1,42 @@ +\hypertarget{classTriangularBuoy}{}\doxysection{Triangular\+Buoy Class Reference} +\label{classTriangularBuoy}\index{TriangularBuoy@{TriangularBuoy}} +Inheritance diagram for Triangular\+Buoy\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classTriangularBuoy} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classTriangularBuoy_a828edf15be63e5aa4268963eb9f80c2e}\label{classTriangularBuoy_a828edf15be63e5aa4268963eb9f80c2e}} +void {\bfseries load\+Params} () override +\item +\mbox{\Hypertarget{classTriangularBuoy_a68fcbd32c061db9674e7dd8e3e21052c}\label{classTriangularBuoy_a68fcbd32c061db9674e7dd8e3e21052c}} +void {\bfseries spin\+Thread\+Front} () override +\item +\mbox{\Hypertarget{classTriangularBuoy_af6afe6c2e359ab2d211826144325095a}\label{classTriangularBuoy_af6afe6c2e359ab2d211826144325095a}} +void {\bfseries pre\+Process} (cv\+::\+Mat \&temp\+\_\+src) +\item +\mbox{\Hypertarget{classTriangularBuoy_a58ce109b094f08f2d5dadc0e6e8071a1}\label{classTriangularBuoy_a58ce109b094f08f2d5dadc0e6e8071a1}} +cv\+::\+Point {\bfseries find\+Center} () +\item +\mbox{\Hypertarget{classTriangularBuoy_a6679005a7fa78c4e76bebc5f78b8cb90}\label{classTriangularBuoy_a6679005a7fa78c4e76bebc5f78b8cb90}} +void {\bfseries depth\+Callback} (const geometry\+\_\+msgs\+::\+Point msg) +\item +\mbox{\Hypertarget{classTriangularBuoy_ab73d1e3ef0a1c9d217cc7ebef20b966f}\label{classTriangularBuoy_ab73d1e3ef0a1c9d217cc7ebef20b966f}} +bool {\bfseries depth\+Request} (master\+\_\+layer\+::\+Get\+Max\+Depth\+::\+Request \&req, master\+\_\+layer\+::\+Get\+Max\+Depth\+::\+Response \&res) +\item +\mbox{\Hypertarget{classTriangularBuoy_abfa97d165629a27ed4af44553b53aceb}\label{classTriangularBuoy_abfa97d165629a27ed4af44553b53aceb}} +bool {\bfseries blackout\+CB} (master\+\_\+layer\+::\+Get\+Blackout\+Time\+::\+Request \&req, master\+\_\+layer\+::\+Get\+Blackout\+Time\+::\+Response \&res) +\item +\mbox{\Hypertarget{classTriangularBuoy_aba45313f809b8bd27b2ad46dfbd35cb7}\label{classTriangularBuoy_aba45313f809b8bd27b2ad46dfbd35cb7}} +void {\bfseries rect\+CB} (const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&msg) +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+tasks/include/triangular\+\_\+buoy.\+h\item +vision\+\_\+layer/vision\+\_\+tasks/src/triangular\+\_\+buoy.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classVelocityControl_1_1VelocityControllerNode.tex b/docs/latex/classVelocityControl_1_1VelocityControllerNode.tex new file mode 100644 index 0000000..177066f --- /dev/null +++ b/docs/latex/classVelocityControl_1_1VelocityControllerNode.tex @@ -0,0 +1,73 @@ +\hypertarget{classVelocityControl_1_1VelocityControllerNode}{}\doxysection{Velocity\+Control.\+Velocity\+Controller\+Node Class Reference} +\label{classVelocityControl_1_1VelocityControllerNode}\index{VelocityControl.VelocityControllerNode@{VelocityControl.VelocityControllerNode}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classVelocityControl_1_1VelocityControllerNode_aa39b6cabe2a67601568114d46a083321}\label{classVelocityControl_1_1VelocityControllerNode_aa39b6cabe2a67601568114d46a083321}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self) +\item +def \mbox{\hyperlink{classVelocityControl_1_1VelocityControllerNode_a14a17c208508b85af5d7149ffea4bf96}{cmd\+\_\+vel\+\_\+callback}} (self, msg) +\item +def \mbox{\hyperlink{classVelocityControl_1_1VelocityControllerNode_afbacd39bef58879044d31ad2934bd2dc}{odometry\+\_\+callback}} (self, msg) +\item +def \mbox{\hyperlink{classVelocityControl_1_1VelocityControllerNode_a39d29d51fd97aec62b1f4cb4666c31b1}{config\+\_\+callback}} (self, config, level) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classVelocityControl_1_1VelocityControllerNode_a5cada1860ee95806b16ef75617e9302f}\label{classVelocityControl_1_1VelocityControllerNode_a5cada1860ee95806b16ef75617e9302f}} +{\bfseries config} +\item +\mbox{\Hypertarget{classVelocityControl_1_1VelocityControllerNode_a947b9d2ef2fdebbc0801712209c53036}\label{classVelocityControl_1_1VelocityControllerNode_a947b9d2ef2fdebbc0801712209c53036}} +{\bfseries v\+\_\+linear\+\_\+des} +\item +\mbox{\Hypertarget{classVelocityControl_1_1VelocityControllerNode_ab7c9e420541e896c857568c801b34f1a}\label{classVelocityControl_1_1VelocityControllerNode_ab7c9e420541e896c857568c801b34f1a}} +{\bfseries v\+\_\+angular\+\_\+des} +\item +\mbox{\Hypertarget{classVelocityControl_1_1VelocityControllerNode_ad824bca89e46131fcfa4595ba46dcaca}\label{classVelocityControl_1_1VelocityControllerNode_ad824bca89e46131fcfa4595ba46dcaca}} +{\bfseries pid\+\_\+angular} +\item +\mbox{\Hypertarget{classVelocityControl_1_1VelocityControllerNode_a1305b7653f40d80e7ce86a6d583be075}\label{classVelocityControl_1_1VelocityControllerNode_a1305b7653f40d80e7ce86a6d583be075}} +{\bfseries pid\+\_\+linear} +\item +\mbox{\Hypertarget{classVelocityControl_1_1VelocityControllerNode_a34a80f8495287bee9bb0d03197112e93}\label{classVelocityControl_1_1VelocityControllerNode_a34a80f8495287bee9bb0d03197112e93}} +{\bfseries sub\+\_\+cmd\+\_\+vel} +\item +\mbox{\Hypertarget{classVelocityControl_1_1VelocityControllerNode_aaf65c34ef8abcb1ac17ec5598101bdba}\label{classVelocityControl_1_1VelocityControllerNode_aaf65c34ef8abcb1ac17ec5598101bdba}} +{\bfseries sub\+\_\+odometry} +\item +\mbox{\Hypertarget{classVelocityControl_1_1VelocityControllerNode_a3924cf9cba641c282fd51fd0b31b2edd}\label{classVelocityControl_1_1VelocityControllerNode_a3924cf9cba641c282fd51fd0b31b2edd}} +{\bfseries pub\+\_\+cmd\+\_\+accel} +\item +\mbox{\Hypertarget{classVelocityControl_1_1VelocityControllerNode_a840da7aa8788392f3701ca8f5d540244}\label{classVelocityControl_1_1VelocityControllerNode_a840da7aa8788392f3701ca8f5d540244}} +{\bfseries srv\+\_\+reconfigure} +\end{DoxyCompactItemize} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classVelocityControl_1_1VelocityControllerNode_a14a17c208508b85af5d7149ffea4bf96}\label{classVelocityControl_1_1VelocityControllerNode_a14a17c208508b85af5d7149ffea4bf96}} +\index{VelocityControl.VelocityControllerNode@{VelocityControl.VelocityControllerNode}!cmd\_vel\_callback@{cmd\_vel\_callback}} +\index{cmd\_vel\_callback@{cmd\_vel\_callback}!VelocityControl.VelocityControllerNode@{VelocityControl.VelocityControllerNode}} +\doxysubsubsection{\texorpdfstring{cmd\_vel\_callback()}{cmd\_vel\_callback()}} +{\footnotesize\ttfamily def Velocity\+Control.\+Velocity\+Controller\+Node.\+cmd\+\_\+vel\+\_\+callback (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{msg }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Handle updated set velocity callback.\end{DoxyVerb} + \mbox{\Hypertarget{classVelocityControl_1_1VelocityControllerNode_a39d29d51fd97aec62b1f4cb4666c31b1}\label{classVelocityControl_1_1VelocityControllerNode_a39d29d51fd97aec62b1f4cb4666c31b1}} +\index{VelocityControl.VelocityControllerNode@{VelocityControl.VelocityControllerNode}!config\_callback@{config\_callback}} +\index{config\_callback@{config\_callback}!VelocityControl.VelocityControllerNode@{VelocityControl.VelocityControllerNode}} +\doxysubsubsection{\texorpdfstring{config\_callback()}{config\_callback()}} +{\footnotesize\ttfamily def Velocity\+Control.\+Velocity\+Controller\+Node.\+config\+\_\+callback (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{config, }\item[{}]{level }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Handle updated configuration values.\end{DoxyVerb} + \mbox{\Hypertarget{classVelocityControl_1_1VelocityControllerNode_afbacd39bef58879044d31ad2934bd2dc}\label{classVelocityControl_1_1VelocityControllerNode_afbacd39bef58879044d31ad2934bd2dc}} +\index{VelocityControl.VelocityControllerNode@{VelocityControl.VelocityControllerNode}!odometry\_callback@{odometry\_callback}} +\index{odometry\_callback@{odometry\_callback}!VelocityControl.VelocityControllerNode@{VelocityControl.VelocityControllerNode}} +\doxysubsubsection{\texorpdfstring{odometry\_callback()}{odometry\_callback()}} +{\footnotesize\ttfamily def Velocity\+Control.\+Velocity\+Controller\+Node.\+odometry\+\_\+callback (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{msg }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Handle updated measured velocity callback.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+control\+\_\+cascaded\+\_\+pids/scripts/Velocity\+Control.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classcascaded__pid__dp__controller_1_1ROV__CascadedController.eps b/docs/latex/classcascaded__pid__dp__controller_1_1ROV__CascadedController.eps new file mode 100644 index 0000000..af7cc8e --- /dev/null +++ b/docs/latex/classcascaded__pid__dp__controller_1_1ROV__CascadedController.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 120.481928 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 4.150000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(cascaded_pid_dp_controller.ROV_CascadedController) cw +(DPControllerBase) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (cascaded_pid_dp_controller.ROV_CascadedController) 0.000000 0.000000 box + (DPControllerBase) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classcascaded__pid__dp__controller_1_1ROV__CascadedController.tex b/docs/latex/classcascaded__pid__dp__controller_1_1ROV__CascadedController.tex new file mode 100644 index 0000000..e9e699f --- /dev/null +++ b/docs/latex/classcascaded__pid__dp__controller_1_1ROV__CascadedController.tex @@ -0,0 +1,49 @@ +\hypertarget{classcascaded__pid__dp__controller_1_1ROV__CascadedController}{}\doxysection{cascaded\+\_\+pid\+\_\+dp\+\_\+controller.\+R\+O\+V\+\_\+\+Cascaded\+Controller Class Reference} +\label{classcascaded__pid__dp__controller_1_1ROV__CascadedController}\index{cascaded\_pid\_dp\_controller.ROV\_CascadedController@{cascaded\_pid\_dp\_controller.ROV\_CascadedController}} +Inheritance diagram for cascaded\+\_\+pid\+\_\+dp\+\_\+controller.\+R\+O\+V\+\_\+\+Cascaded\+Controller\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classcascaded__pid__dp__controller_1_1ROV__CascadedController} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classcascaded__pid__dp__controller_1_1ROV__CascadedController_a277d2e07b81594de07aa3477e6ae261d}\label{classcascaded__pid__dp__controller_1_1ROV__CascadedController_a277d2e07b81594de07aa3477e6ae261d}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self) +\item +\mbox{\Hypertarget{classcascaded__pid__dp__controller_1_1ROV__CascadedController_a1cc82f283935755f8266a99306db7630}\label{classcascaded__pid__dp__controller_1_1ROV__CascadedController_a1cc82f283935755f8266a99306db7630}} +def {\bfseries update\+\_\+controller} (self) +\item +\mbox{\Hypertarget{classcascaded__pid__dp__controller_1_1ROV__CascadedController_ac1af04339761dccbdf63e221f7810a4e}\label{classcascaded__pid__dp__controller_1_1ROV__CascadedController_ac1af04339761dccbdf63e221f7810a4e}} +def {\bfseries saturate} (self) +\item +\mbox{\Hypertarget{classcascaded__pid__dp__controller_1_1ROV__CascadedController_a5daec29e7c845db15a95be7b242cdbd1}\label{classcascaded__pid__dp__controller_1_1ROV__CascadedController_a5daec29e7c845db15a95be7b242cdbd1}} +def {\bfseries o\+\_\+callback} (self, msg) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classcascaded__pid__dp__controller_1_1ROV__CascadedController_a199ffc40ee1dbd1c6dadca20e0d690cd}\label{classcascaded__pid__dp__controller_1_1ROV__CascadedController_a199ffc40ee1dbd1c6dadca20e0d690cd}} +{\bfseries odom\+\_\+pos} +\item +\mbox{\Hypertarget{classcascaded__pid__dp__controller_1_1ROV__CascadedController_a348c0d5a74bde9ecf12928a4b38e8f02}\label{classcascaded__pid__dp__controller_1_1ROV__CascadedController_a348c0d5a74bde9ecf12928a4b38e8f02}} +{\bfseries odom\+\_\+quat} +\item +\mbox{\Hypertarget{classcascaded__pid__dp__controller_1_1ROV__CascadedController_a2b73c018c5cb44a6e43aab5427b9df25}\label{classcascaded__pid__dp__controller_1_1ROV__CascadedController_a2b73c018c5cb44a6e43aab5427b9df25}} +{\bfseries odom\+\_\+vel\+\_\+ang} +\item +\mbox{\Hypertarget{classcascaded__pid__dp__controller_1_1ROV__CascadedController_a7c4a6de81e5194dd0de93a21ab8987f3}\label{classcascaded__pid__dp__controller_1_1ROV__CascadedController_a7c4a6de81e5194dd0de93a21ab8987f3}} +{\bfseries odom\+\_\+vel\+\_\+lin} +\item +\mbox{\Hypertarget{classcascaded__pid__dp__controller_1_1ROV__CascadedController_ac98e7a59ce1f5879a4fd55c0e9fe4def}\label{classcascaded__pid__dp__controller_1_1ROV__CascadedController_ac98e7a59ce1f5879a4fd55c0e9fe4def}} +{\bfseries sub\+\_\+odometry} +\item +\mbox{\Hypertarget{classcascaded__pid__dp__controller_1_1ROV__CascadedController_ae2a7f92e9366173d311c3d0e076f9f3b}\label{classcascaded__pid__dp__controller_1_1ROV__CascadedController_ae2a7f92e9366173d311c3d0e076f9f3b}} +{\bfseries cmd\+\_\+pose\+\_\+pub} +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/scripts/cascaded\+\_\+pid\+\_\+dp\+\_\+controller.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classcolor__correction.tex b/docs/latex/classcolor__correction.tex new file mode 100644 index 0000000..0ee57dc --- /dev/null +++ b/docs/latex/classcolor__correction.tex @@ -0,0 +1,32 @@ +\hypertarget{classcolor__correction}{}\doxysection{color\+\_\+correction Class Reference} +\label{classcolor__correction}\index{color\_correction@{color\_correction}} + + +class defining generic interfaces and methods common for color correction methods + + + + +{\ttfamily \#include $<$color\+\_\+constancy.\+hpp$>$} + +\doxysubsection*{Classes} +\begin{DoxyCompactItemize} +\item +class \mbox{\hyperlink{classcolor__correction_1_1contrast__stretching}{contrast\+\_\+stretching}} +\begin{DoxyCompactList}\small\item\em class defining methods to perform color correction using modified contrast stretching \end{DoxyCompactList}\item +class \mbox{\hyperlink{classcolor__correction_1_1gray__edge}{gray\+\_\+edge}} +\item +class \mbox{\hyperlink{classcolor__correction_1_1gray__world}{gray\+\_\+world}} +\item +class \mbox{\hyperlink{classcolor__correction_1_1max__edge}{max\+\_\+edge}} +\item +class \mbox{\hyperlink{classcolor__correction_1_1maxRGB}{max\+R\+GB}} +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +class defining generic interfaces and methods common for color correction methods + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+fusion/include/fusion/color\+\_\+constancy.\+hpp\end{DoxyCompactItemize} diff --git a/docs/latex/classcolor__correction_1_1contrast__stretching.tex b/docs/latex/classcolor__correction_1_1contrast__stretching.tex new file mode 100644 index 0000000..4aee8dc --- /dev/null +++ b/docs/latex/classcolor__correction_1_1contrast__stretching.tex @@ -0,0 +1,44 @@ +\hypertarget{classcolor__correction_1_1contrast__stretching}{}\doxysection{color\+\_\+correction\+::contrast\+\_\+stretching Class Reference} +\label{classcolor__correction_1_1contrast__stretching}\index{color\_correction::contrast\_stretching@{color\_correction::contrast\_stretching}} + + +class defining methods to perform color correction using modified contrast stretching + + + + +{\ttfamily \#include $<$color\+\_\+constancy.\+hpp$>$} + +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +Mat \mbox{\hyperlink{classcolor__correction_1_1contrast__stretching_a034f45ac1d117193c70e87104a2ee82c}{run}} (Mat) +\item +Mat \mbox{\hyperlink{classcolor__correction_1_1contrast__stretching_a059efe3142744d161a0022ffeff5b79c}{run1}} (Mat src) +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +class defining methods to perform color correction using modified contrast stretching + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classcolor__correction_1_1contrast__stretching_a034f45ac1d117193c70e87104a2ee82c}\label{classcolor__correction_1_1contrast__stretching_a034f45ac1d117193c70e87104a2ee82c}} +\index{color\_correction::contrast\_stretching@{color\_correction::contrast\_stretching}!run@{run}} +\index{run@{run}!color\_correction::contrast\_stretching@{color\_correction::contrast\_stretching}} +\doxysubsubsection{\texorpdfstring{run()}{run()}} +{\footnotesize\ttfamily Mat color\+\_\+correction\+::contrast\+\_\+stretching\+::run (\begin{DoxyParamCaption}\item[{Mat}]{src }\end{DoxyParamCaption})} + +The main method called to perform color correction using modified contrast stretching The only input required is the input image The method computes the lower and higher threshold pixel values and then calls the \mbox{\hyperlink{classcolor__correction_1_1contrast__stretching}{contrast\+\_\+stretching}} method \mbox{\Hypertarget{classcolor__correction_1_1contrast__stretching_a059efe3142744d161a0022ffeff5b79c}\label{classcolor__correction_1_1contrast__stretching_a059efe3142744d161a0022ffeff5b79c}} +\index{color\_correction::contrast\_stretching@{color\_correction::contrast\_stretching}!run1@{run1}} +\index{run1@{run1}!color\_correction::contrast\_stretching@{color\_correction::contrast\_stretching}} +\doxysubsubsection{\texorpdfstring{run1()}{run1()}} +{\footnotesize\ttfamily Mat color\+\_\+correction\+::contrast\+\_\+stretching\+::run1 (\begin{DoxyParamCaption}\item[{Mat}]{src }\end{DoxyParamCaption})} + +Establish the number of bins + +Set the ranges ( for B,G,R) ) + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+fusion/include/fusion/color\+\_\+constancy.\+hpp\item +vision\+\_\+layer/vision\+\_\+fusion/src/color\+\_\+constancy.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classcolor__correction_1_1gray__edge.tex b/docs/latex/classcolor__correction_1_1gray__edge.tex new file mode 100644 index 0000000..bfd9367 --- /dev/null +++ b/docs/latex/classcolor__correction_1_1gray__edge.tex @@ -0,0 +1,22 @@ +\hypertarget{classcolor__correction_1_1gray__edge}{}\doxysection{color\+\_\+correction\+::gray\+\_\+edge Class Reference} +\label{classcolor__correction_1_1gray__edge}\index{color\_correction::gray\_edge@{color\_correction::gray\_edge}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +Mat \mbox{\hyperlink{classcolor__correction_1_1gray__edge_a7a8b5fbda7e19f8e48b1ba299e630c3c}{run}} (Mat, int p, int m) +\end{DoxyCompactItemize} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classcolor__correction_1_1gray__edge_a7a8b5fbda7e19f8e48b1ba299e630c3c}\label{classcolor__correction_1_1gray__edge_a7a8b5fbda7e19f8e48b1ba299e630c3c}} +\index{color\_correction::gray\_edge@{color\_correction::gray\_edge}!run@{run}} +\index{run@{run}!color\_correction::gray\_edge@{color\_correction::gray\_edge}} +\doxysubsubsection{\texorpdfstring{run()}{run()}} +{\footnotesize\ttfamily Mat color\+\_\+correction\+::gray\+\_\+edge\+::run (\begin{DoxyParamCaption}\item[{Mat}]{src1, }\item[{int}]{p, }\item[{int}]{m }\end{DoxyParamCaption})} + +this is a main function to call to perform color correction using gray edge algorithm in R\+GB color space + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+fusion/include/fusion/color\+\_\+constancy.\+hpp\item +vision\+\_\+layer/vision\+\_\+fusion/src/color\+\_\+constancy.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classcolor__correction_1_1gray__world.tex b/docs/latex/classcolor__correction_1_1gray__world.tex new file mode 100644 index 0000000..186a4e1 --- /dev/null +++ b/docs/latex/classcolor__correction_1_1gray__world.tex @@ -0,0 +1,53 @@ +\hypertarget{classcolor__correction_1_1gray__world}{}\doxysection{color\+\_\+correction\+::gray\+\_\+world Class Reference} +\label{classcolor__correction_1_1gray__world}\index{color\_correction::gray\_world@{color\_correction::gray\_world}} + + +{\ttfamily \#include $<$color\+\_\+constancy.\+hpp$>$} + +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +void \mbox{\hyperlink{classcolor__correction_1_1gray__world_a5d5afd72d6d11a1ea1e396b9a71da767}{process}} (Mat src1, int p, float $\ast$ml, float $\ast$ma, float $\ast$mb) +\item +void \mbox{\hyperlink{classcolor__correction_1_1gray__world_a4a0d5ba6b9e4ae8d15a664f6e60b4a24}{process}} (Mat src1, float $\ast$ml, float $\ast$ma, float $\ast$mb, int p, int m) +\item +Mat \mbox{\hyperlink{classcolor__correction_1_1gray__world_afe9a7e290fa94f8b0c5d67e88b4f206e}{run2}} (Mat, int p, int m) +\item +Mat \mbox{\hyperlink{classcolor__correction_1_1gray__world_a5d522f9b4cbc22b417463e8542164364}{run1}} (Mat, int p) +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +class containing methods to perform gray world and shades of gray color correction in R\+GB and Lab Color space + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classcolor__correction_1_1gray__world_a4a0d5ba6b9e4ae8d15a664f6e60b4a24}\label{classcolor__correction_1_1gray__world_a4a0d5ba6b9e4ae8d15a664f6e60b4a24}} +\index{color\_correction::gray\_world@{color\_correction::gray\_world}!process@{process}} +\index{process@{process}!color\_correction::gray\_world@{color\_correction::gray\_world}} +\doxysubsubsection{\texorpdfstring{process()}{process()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}} +{\footnotesize\ttfamily void color\+\_\+correction\+::gray\+\_\+world\+::process (\begin{DoxyParamCaption}\item[{Mat}]{src1, }\item[{float $\ast$}]{ml, }\item[{float $\ast$}]{ma, }\item[{float $\ast$}]{mb, }\item[{int}]{p, }\item[{int}]{m }\end{DoxyParamCaption})} + +function to estimate the illumination vector or scaling factor for R\+GB color space computation inputs are the sourc image, minkownski norm factor (p), and three normalization defined by (m = 0, 1, 2) the outputs are the factor ml,ma,mb for each of the color channel \mbox{\Hypertarget{classcolor__correction_1_1gray__world_a5d5afd72d6d11a1ea1e396b9a71da767}\label{classcolor__correction_1_1gray__world_a5d5afd72d6d11a1ea1e396b9a71da767}} +\index{color\_correction::gray\_world@{color\_correction::gray\_world}!process@{process}} +\index{process@{process}!color\_correction::gray\_world@{color\_correction::gray\_world}} +\doxysubsubsection{\texorpdfstring{process()}{process()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}} +{\footnotesize\ttfamily void color\+\_\+correction\+::gray\+\_\+world\+::process (\begin{DoxyParamCaption}\item[{Mat}]{src1, }\item[{int}]{p, }\item[{float $\ast$}]{ml, }\item[{float $\ast$}]{ma, }\item[{float $\ast$}]{mb }\end{DoxyParamCaption})} + +The method to compute the estimate of illumination vector. Inputs are image and norm and outputs are ml, ma, mb the estimate of illumination vector/scaling factors \mbox{\Hypertarget{classcolor__correction_1_1gray__world_a5d522f9b4cbc22b417463e8542164364}\label{classcolor__correction_1_1gray__world_a5d522f9b4cbc22b417463e8542164364}} +\index{color\_correction::gray\_world@{color\_correction::gray\_world}!run1@{run1}} +\index{run1@{run1}!color\_correction::gray\_world@{color\_correction::gray\_world}} +\doxysubsubsection{\texorpdfstring{run1()}{run1()}} +{\footnotesize\ttfamily Mat color\+\_\+correction\+::gray\+\_\+world\+::run1 (\begin{DoxyParamCaption}\item[{Mat}]{src, }\item[{int}]{p }\end{DoxyParamCaption})} + +This is the main method which to call for color correction in Lab Color space.\+This performs basic pre-\/processing and calls the gray world function \mbox{\Hypertarget{classcolor__correction_1_1gray__world_afe9a7e290fa94f8b0c5d67e88b4f206e}\label{classcolor__correction_1_1gray__world_afe9a7e290fa94f8b0c5d67e88b4f206e}} +\index{color\_correction::gray\_world@{color\_correction::gray\_world}!run2@{run2}} +\index{run2@{run2}!color\_correction::gray\_world@{color\_correction::gray\_world}} +\doxysubsubsection{\texorpdfstring{run2()}{run2()}} +{\footnotesize\ttfamily Mat color\+\_\+correction\+::gray\+\_\+world\+::run2 (\begin{DoxyParamCaption}\item[{Mat}]{src, }\item[{int}]{p, }\item[{int}]{m }\end{DoxyParamCaption})} + +this is a main function to call to perform color correction in R\+GB color space + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+fusion/include/fusion/color\+\_\+constancy.\+hpp\item +vision\+\_\+layer/vision\+\_\+fusion/src/color\+\_\+constancy.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classcolor__correction_1_1maxRGB.tex b/docs/latex/classcolor__correction_1_1maxRGB.tex new file mode 100644 index 0000000..74ff68e --- /dev/null +++ b/docs/latex/classcolor__correction_1_1maxRGB.tex @@ -0,0 +1,30 @@ +\hypertarget{classcolor__correction_1_1maxRGB}{}\doxysection{color\+\_\+correction\+::max\+R\+GB Class Reference} +\label{classcolor__correction_1_1maxRGB}\index{color\_correction::maxRGB@{color\_correction::maxRGB}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +Mat \mbox{\hyperlink{classcolor__correction_1_1maxRGB_acf7ab1043e266c02f54d83b8c5625284}{run}} (Mat, int p, int m) +\item +void \mbox{\hyperlink{classcolor__correction_1_1maxRGB_a7da874962b27949e521c065d56354264}{process}} (Mat src1, float $\ast$ml, float $\ast$ma, float $\ast$mb, int p, int m) +\end{DoxyCompactItemize} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classcolor__correction_1_1maxRGB_a7da874962b27949e521c065d56354264}\label{classcolor__correction_1_1maxRGB_a7da874962b27949e521c065d56354264}} +\index{color\_correction::maxRGB@{color\_correction::maxRGB}!process@{process}} +\index{process@{process}!color\_correction::maxRGB@{color\_correction::maxRGB}} +\doxysubsubsection{\texorpdfstring{process()}{process()}} +{\footnotesize\ttfamily void color\+\_\+correction\+::max\+R\+G\+B\+::process (\begin{DoxyParamCaption}\item[{Mat}]{src1, }\item[{float $\ast$}]{ml, }\item[{float $\ast$}]{ma, }\item[{float $\ast$}]{mb, }\item[{int}]{p, }\item[{int}]{m }\end{DoxyParamCaption})} + +function coputes the illumination estimate max R\+GB algorithm.\+The function takes input image,minkowski norm and normalization method . the output are ml,,ma,mb for each of the color channels \mbox{\Hypertarget{classcolor__correction_1_1maxRGB_acf7ab1043e266c02f54d83b8c5625284}\label{classcolor__correction_1_1maxRGB_acf7ab1043e266c02f54d83b8c5625284}} +\index{color\_correction::maxRGB@{color\_correction::maxRGB}!run@{run}} +\index{run@{run}!color\_correction::maxRGB@{color\_correction::maxRGB}} +\doxysubsubsection{\texorpdfstring{run()}{run()}} +{\footnotesize\ttfamily Mat color\+\_\+correction\+::max\+R\+G\+B\+::run (\begin{DoxyParamCaption}\item[{Mat}]{src1, }\item[{int}]{p, }\item[{int}]{m }\end{DoxyParamCaption})} + +main function to call for \mbox{\hyperlink{classcolor__correction_1_1maxRGB}{max\+R\+GB}} color correction + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+fusion/include/fusion/color\+\_\+constancy.\+hpp\item +vision\+\_\+layer/vision\+\_\+fusion/src/color\+\_\+constancy.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classcolor__correction_1_1max__edge.tex b/docs/latex/classcolor__correction_1_1max__edge.tex new file mode 100644 index 0000000..24d4e17 --- /dev/null +++ b/docs/latex/classcolor__correction_1_1max__edge.tex @@ -0,0 +1,55 @@ +\hypertarget{classcolor__correction_1_1max__edge}{}\doxysection{color\+\_\+correction\+::max\+\_\+edge Class Reference} +\label{classcolor__correction_1_1max__edge}\index{color\_correction::max\_edge@{color\_correction::max\_edge}} +\doxysubsection*{Public Types} +\begin{DoxyCompactItemize} +\item +enum \mbox{\hyperlink{classcolor__correction_1_1max__edge_af83c7bb6554486a755ba5133a427acc0}{Convolution\+Type}} \{ {\bfseries C\+O\+N\+V\+O\+L\+U\+T\+I\+O\+N\+\_\+\+F\+U\+LL}, +{\bfseries C\+O\+N\+V\+O\+L\+U\+T\+I\+O\+N\+\_\+\+S\+A\+ME}, +{\bfseries C\+O\+N\+V\+O\+L\+U\+T\+I\+O\+N\+\_\+\+V\+A\+L\+ID} + \} +\end{DoxyCompactItemize} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +Mat \mbox{\hyperlink{classcolor__correction_1_1max__edge_ab986a6eeda0ae54621f48b1a3acde38d}{run}} (Mat, int p, int m) +\item +void \mbox{\hyperlink{classcolor__correction_1_1max__edge_af9ab5e0868c8e3d667ed63c03f6cf850}{conv2}} (const Mat \&img, const Mat \&kernel, \mbox{\hyperlink{classcolor__correction_1_1max__edge_af83c7bb6554486a755ba5133a427acc0}{Convolution\+Type}} type, Mat \&dest) +\item +void \mbox{\hyperlink{classcolor__correction_1_1max__edge_a1d72dd0a81e84d809dd2da19342f42a8}{process}} (Mat src1, float $\ast$ml, float $\ast$ma, float $\ast$mb, int p, int m) +\end{DoxyCompactItemize} + + +\doxysubsection{Member Enumeration Documentation} +\mbox{\Hypertarget{classcolor__correction_1_1max__edge_af83c7bb6554486a755ba5133a427acc0}\label{classcolor__correction_1_1max__edge_af83c7bb6554486a755ba5133a427acc0}} +\index{color\_correction::max\_edge@{color\_correction::max\_edge}!ConvolutionType@{ConvolutionType}} +\index{ConvolutionType@{ConvolutionType}!color\_correction::max\_edge@{color\_correction::max\_edge}} +\doxysubsubsection{\texorpdfstring{ConvolutionType}{ConvolutionType}} +{\footnotesize\ttfamily enum \mbox{\hyperlink{classcolor__correction_1_1max__edge_af83c7bb6554486a755ba5133a427acc0}{color\+\_\+correction\+::max\+\_\+edge\+::\+Convolution\+Type}}} + +defines convolution type + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classcolor__correction_1_1max__edge_af9ab5e0868c8e3d667ed63c03f6cf850}\label{classcolor__correction_1_1max__edge_af9ab5e0868c8e3d667ed63c03f6cf850}} +\index{color\_correction::max\_edge@{color\_correction::max\_edge}!conv2@{conv2}} +\index{conv2@{conv2}!color\_correction::max\_edge@{color\_correction::max\_edge}} +\doxysubsubsection{\texorpdfstring{conv2()}{conv2()}} +{\footnotesize\ttfamily void color\+\_\+correction\+::max\+\_\+edge\+::conv2 (\begin{DoxyParamCaption}\item[{const Mat \&}]{img, }\item[{const Mat \&}]{kernel, }\item[{\mbox{\hyperlink{classcolor__correction_1_1max__edge_af83c7bb6554486a755ba5133a427acc0}{Convolution\+Type}}}]{type, }\item[{Mat \&}]{dest }\end{DoxyParamCaption})} + +method to perform 2D convolution \mbox{\Hypertarget{classcolor__correction_1_1max__edge_a1d72dd0a81e84d809dd2da19342f42a8}\label{classcolor__correction_1_1max__edge_a1d72dd0a81e84d809dd2da19342f42a8}} +\index{color\_correction::max\_edge@{color\_correction::max\_edge}!process@{process}} +\index{process@{process}!color\_correction::max\_edge@{color\_correction::max\_edge}} +\doxysubsubsection{\texorpdfstring{process()}{process()}} +{\footnotesize\ttfamily void color\+\_\+correction\+::max\+\_\+edge\+::process (\begin{DoxyParamCaption}\item[{Mat}]{src1, }\item[{float $\ast$}]{ml, }\item[{float $\ast$}]{ma, }\item[{float $\ast$}]{mb, }\item[{int}]{p, }\item[{int}]{m }\end{DoxyParamCaption})} + +function that computes illumination vector for \mbox{\hyperlink{classcolor__correction_1_1max__edge}{max\+\_\+edge}} algorithm \mbox{\Hypertarget{classcolor__correction_1_1max__edge_ab986a6eeda0ae54621f48b1a3acde38d}\label{classcolor__correction_1_1max__edge_ab986a6eeda0ae54621f48b1a3acde38d}} +\index{color\_correction::max\_edge@{color\_correction::max\_edge}!run@{run}} +\index{run@{run}!color\_correction::max\_edge@{color\_correction::max\_edge}} +\doxysubsubsection{\texorpdfstring{run()}{run()}} +{\footnotesize\ttfamily Mat color\+\_\+correction\+::max\+\_\+edge\+::run (\begin{DoxyParamCaption}\item[{Mat}]{src1, }\item[{int}]{p, }\item[{int}]{m }\end{DoxyParamCaption})} + +main function to call to perform max-\/edge color correction + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+fusion/include/fusion/color\+\_\+constancy.\+hpp\item +vision\+\_\+layer/vision\+\_\+fusion/src/color\+\_\+constancy.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classdisturbance__manager_1_1DisturbanceManager.tex b/docs/latex/classdisturbance__manager_1_1DisturbanceManager.tex new file mode 100644 index 0000000..9e442e2 --- /dev/null +++ b/docs/latex/classdisturbance__manager_1_1DisturbanceManager.tex @@ -0,0 +1,28 @@ +\hypertarget{classdisturbance__manager_1_1DisturbanceManager}{}\doxysection{disturbance\+\_\+manager.\+Disturbance\+Manager Class Reference} +\label{classdisturbance__manager_1_1DisturbanceManager}\index{disturbance\_manager.DisturbanceManager@{disturbance\_manager.DisturbanceManager}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classdisturbance__manager_1_1DisturbanceManager_a0a5fb846386cbfd860c433826635ff7f}\label{classdisturbance__manager_1_1DisturbanceManager_a0a5fb846386cbfd860c433826635ff7f}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self) +\item +\mbox{\Hypertarget{classdisturbance__manager_1_1DisturbanceManager_a15ae6c934d37756579f397bbed789927}\label{classdisturbance__manager_1_1DisturbanceManager_a15ae6c934d37756579f397bbed789927}} +def {\bfseries set\+\_\+current} (self, velocity, horizontal\+\_\+angle, vertical\+\_\+angle) +\item +\mbox{\Hypertarget{classdisturbance__manager_1_1DisturbanceManager_ae7e8a162ed42d8fa1835e6585cf27d4a}\label{classdisturbance__manager_1_1DisturbanceManager_ae7e8a162ed42d8fa1835e6585cf27d4a}} +def {\bfseries set\+\_\+body\+\_\+wrench} (self, force, torque, duration, starting\+\_\+time) +\item +\mbox{\Hypertarget{classdisturbance__manager_1_1DisturbanceManager_a3cfab35f2cfb1464c67baf6ac105c569}\label{classdisturbance__manager_1_1DisturbanceManager_a3cfab35f2cfb1464c67baf6ac105c569}} +def {\bfseries set\+\_\+thruster\+\_\+state} (self, thruster\+\_\+id, is\+\_\+on) +\item +\mbox{\Hypertarget{classdisturbance__manager_1_1DisturbanceManager_ad92f7bd8ecfb5b1e7db1bff8d040ae09}\label{classdisturbance__manager_1_1DisturbanceManager_ad92f7bd8ecfb5b1e7db1bff8d040ae09}} +def {\bfseries set\+\_\+propeller\+\_\+efficiency} (self, thruster\+\_\+id, eff) +\item +\mbox{\Hypertarget{classdisturbance__manager_1_1DisturbanceManager_a243a781bba7506bfc754c3890511a910}\label{classdisturbance__manager_1_1DisturbanceManager_a243a781bba7506bfc754c3890511a910}} +def {\bfseries set\+\_\+thrust\+\_\+efficiency} (self, thruster\+\_\+id, eff) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+control\+\_\+utils/scripts/disturbance\+\_\+manager.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classhardware__dvl_1_1DVLNode.tex b/docs/latex/classhardware__dvl_1_1DVLNode.tex new file mode 100644 index 0000000..9cd70ea --- /dev/null +++ b/docs/latex/classhardware__dvl_1_1DVLNode.tex @@ -0,0 +1,17 @@ +\hypertarget{classhardware__dvl_1_1DVLNode}{}\doxysection{hardware\+\_\+dvl\+::D\+V\+L\+Node Class Reference} +\label{classhardware__dvl_1_1DVLNode}\index{hardware\_dvl::DVLNode@{hardware\_dvl::DVLNode}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classhardware__dvl_1_1DVLNode_aa91c4da13e96fd56c72efba5c17bce21}\label{classhardware__dvl_1_1DVLNode_aa91c4da13e96fd56c72efba5c17bce21}} +{\bfseries D\+V\+L\+Node} (const ros\+::\+Node\+Handle\+Ptr \&nh) +\item +\mbox{\Hypertarget{classhardware__dvl_1_1DVLNode_abf3be4e29c2226d6e37e3cbb25e11909}\label{classhardware__dvl_1_1DVLNode_abf3be4e29c2226d6e37e3cbb25e11909}} +void {\bfseries Spin} () +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/hardware\+\_\+dvl\+\_\+ethernet/include/dvl\+\_\+connection.\+h\item +hardware\+\_\+layer/hardware\+\_\+dvl\+\_\+ethernet/src/hardware\+\_\+dvl\+\_\+ethernet/dvl\+\_\+connection.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1BaseCameraParameters.eps b/docs/latex/classimage__undistort_1_1BaseCameraParameters.eps new file mode 100644 index 0000000..578d5d8 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1BaseCameraParameters.eps @@ -0,0 +1,203 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 77.220077 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 6.475000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 2 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(image_undistort::BaseCameraParameters) cw +(image_undistort::InputCameraParameters) cw +(image_undistort::OutputCameraParameters) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (image_undistort::BaseCameraParameters) 0.500000 1.000000 box + (image_undistort::InputCameraParameters) 0.000000 0.000000 box + (image_undistort::OutputCameraParameters) 1.000000 0.000000 box + +% ----- relations ----- + +solid +1 0.500000 0.250000 out +solid +0.000000 1.000000 1.000000 conn +solid +0 0.000000 0.750000 in +solid +0 1.000000 0.750000 in diff --git a/docs/latex/classimage__undistort_1_1BaseCameraParameters.tex b/docs/latex/classimage__undistort_1_1BaseCameraParameters.tex new file mode 100644 index 0000000..6fc6d2c --- /dev/null +++ b/docs/latex/classimage__undistort_1_1BaseCameraParameters.tex @@ -0,0 +1,50 @@ +\hypertarget{classimage__undistort_1_1BaseCameraParameters}{}\doxysection{image\+\_\+undistort\+::Base\+Camera\+Parameters Class Reference} +\label{classimage__undistort_1_1BaseCameraParameters}\index{image\_undistort::BaseCameraParameters@{image\_undistort::BaseCameraParameters}} +Inheritance diagram for image\+\_\+undistort\+::Base\+Camera\+Parameters\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classimage__undistort_1_1BaseCameraParameters} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classimage__undistort_1_1BaseCameraParameters_a88a33425ade97a10aabdae322da2b72b}\label{classimage__undistort_1_1BaseCameraParameters_a88a33425ade97a10aabdae322da2b72b}} +{\bfseries Base\+Camera\+Parameters} (const ros\+::\+Node\+Handle \&nh, const std\+::string \&camera\+\_\+namespace, const bool invert\+\_\+T) +\item +\mbox{\Hypertarget{classimage__undistort_1_1BaseCameraParameters_a542e183ba91d54f0ec7f7e5aef5b41c4}\label{classimage__undistort_1_1BaseCameraParameters_a542e183ba91d54f0ec7f7e5aef5b41c4}} +{\bfseries Base\+Camera\+Parameters} (const sensor\+\_\+msgs\+::\+Camera\+Info \&camera\+\_\+info) +\item +\mbox{\Hypertarget{classimage__undistort_1_1BaseCameraParameters_a1da0c8f547d638bd1ca788210fd60618}\label{classimage__undistort_1_1BaseCameraParameters_a1da0c8f547d638bd1ca788210fd60618}} +{\bfseries Base\+Camera\+Parameters} (const cv\+::\+Size \&resolution\+\_\+in, const Eigen\+::\+Matrix$<$ double, 4, 4 $>$ \&T\+\_\+in, const Eigen\+::\+Matrix$<$ double, 3, 3 $>$ \&K\+\_\+in) +\item +\mbox{\Hypertarget{classimage__undistort_1_1BaseCameraParameters_a9697fe34201dbeedd04cc13050481888}\label{classimage__undistort_1_1BaseCameraParameters_a9697fe34201dbeedd04cc13050481888}} +const cv\+::\+Size \& {\bfseries resolution} () const +\item +\mbox{\Hypertarget{classimage__undistort_1_1BaseCameraParameters_a319b23014e690f86f82e8c3c29d9b587}\label{classimage__undistort_1_1BaseCameraParameters_a319b23014e690f86f82e8c3c29d9b587}} +const Eigen\+::\+Matrix$<$ double, 4, 4 $>$ \& {\bfseries T} () const +\item +\mbox{\Hypertarget{classimage__undistort_1_1BaseCameraParameters_a3f5a0a253d9db617fa9f83a6be317349}\label{classimage__undistort_1_1BaseCameraParameters_a3f5a0a253d9db617fa9f83a6be317349}} +const Eigen\+::\+Ref$<$ const Eigen\+::\+Matrix$<$ double, 3, 3 $>$ $>$ {\bfseries R} () const +\item +\mbox{\Hypertarget{classimage__undistort_1_1BaseCameraParameters_a922498c38ea5853135cfc2445171696d}\label{classimage__undistort_1_1BaseCameraParameters_a922498c38ea5853135cfc2445171696d}} +const Eigen\+::\+Ref$<$ const Eigen\+::\+Matrix$<$ double, 3, 1 $>$ $>$ {\bfseries p} () const +\item +\mbox{\Hypertarget{classimage__undistort_1_1BaseCameraParameters_a7c063dab97e59ebaed14f20e6bdf3642}\label{classimage__undistort_1_1BaseCameraParameters_a7c063dab97e59ebaed14f20e6bdf3642}} +const Eigen\+::\+Matrix$<$ double, 3, 4 $>$ \& {\bfseries P} () const +\item +\mbox{\Hypertarget{classimage__undistort_1_1BaseCameraParameters_a6de1cedb0186ccd043acd91358763f7e}\label{classimage__undistort_1_1BaseCameraParameters_a6de1cedb0186ccd043acd91358763f7e}} +const Eigen\+::\+Matrix$<$ double, 3, 3 $>$ \& {\bfseries K} () const +\item +\mbox{\Hypertarget{classimage__undistort_1_1BaseCameraParameters_a6b2ba6bbe947efe13db70d6ab0700d72}\label{classimage__undistort_1_1BaseCameraParameters_a6b2ba6bbe947efe13db70d6ab0700d72}} +bool {\bfseries operator==} (const \mbox{\hyperlink{classimage__undistort_1_1BaseCameraParameters}{Base\+Camera\+Parameters}} \&B) const +\item +\mbox{\Hypertarget{classimage__undistort_1_1BaseCameraParameters_a0e743b0b242034fbfeddecdabb94594f}\label{classimage__undistort_1_1BaseCameraParameters_a0e743b0b242034fbfeddecdabb94594f}} +bool {\bfseries operator!=} (const \mbox{\hyperlink{classimage__undistort_1_1BaseCameraParameters}{Base\+Camera\+Parameters}} \&B) const +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/include/image\+\_\+undistort/camera\+\_\+parameters.\+h\item +vision\+\_\+layer/image\+\_\+undistort/src/camera\+\_\+parameters.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1CameraParametersPair.tex b/docs/latex/classimage__undistort_1_1CameraParametersPair.tex new file mode 100644 index 0000000..f5be4e8 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1CameraParametersPair.tex @@ -0,0 +1,56 @@ +\hypertarget{classimage__undistort_1_1CameraParametersPair}{}\doxysection{image\+\_\+undistort\+::Camera\+Parameters\+Pair Class Reference} +\label{classimage__undistort_1_1CameraParametersPair}\index{image\_undistort::CameraParametersPair@{image\_undistort::CameraParametersPair}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classimage__undistort_1_1CameraParametersPair_ad4261cd5f63ee7f798bfce0e348e9070}\label{classimage__undistort_1_1CameraParametersPair_ad4261cd5f63ee7f798bfce0e348e9070}} +{\bfseries Camera\+Parameters\+Pair} (const Distortion\+Processing distortion\+\_\+processing=Distortion\+Processing\+::\+U\+N\+D\+I\+S\+T\+O\+RT) +\item +\mbox{\Hypertarget{classimage__undistort_1_1CameraParametersPair_ae80f2f5b17cceb4c2584578bc1045ea1}\label{classimage__undistort_1_1CameraParametersPair_ae80f2f5b17cceb4c2584578bc1045ea1}} +bool {\bfseries set\+Camera\+Parameters} (const ros\+::\+Node\+Handle \&nh, const std\+::string \&camera\+\_\+namespace, const Camera\+IO \&io, const bool invert\+\_\+T=false) +\item +\mbox{\Hypertarget{classimage__undistort_1_1CameraParametersPair_a1984650bd098e6081d45f68ac59fcacb}\label{classimage__undistort_1_1CameraParametersPair_a1984650bd098e6081d45f68ac59fcacb}} +bool {\bfseries set\+Camera\+Parameters} (const sensor\+\_\+msgs\+::\+Camera\+Info \&camera\+\_\+info, const Camera\+IO \&io) +\item +\mbox{\Hypertarget{classimage__undistort_1_1CameraParametersPair_a3f7b17993f586f0a3862b48622f5e274}\label{classimage__undistort_1_1CameraParametersPair_a3f7b17993f586f0a3862b48622f5e274}} +bool {\bfseries set\+Input\+Camera\+Parameters} (const cv\+::\+Size \&resolution, const Eigen\+::\+Matrix$<$ double, 4, 4 $>$ \&T, const Eigen\+::\+Matrix$<$ double, 3, 3 $>$ \&K, const std\+::vector$<$ double $>$ \&D, const Distortion\+Model \&distortion\+\_\+model) +\item +\mbox{\Hypertarget{classimage__undistort_1_1CameraParametersPair_a69fbca3593a0dca84fa098cfbb767f78}\label{classimage__undistort_1_1CameraParametersPair_a69fbca3593a0dca84fa098cfbb767f78}} +bool {\bfseries set\+Output\+Camera\+Parameters} (const cv\+::\+Size \&resolution, const Eigen\+::\+Matrix$<$ double, 4, 4 $>$ \&T, const Eigen\+::\+Matrix$<$ double, 3, 3 $>$ \&K) +\item +\mbox{\Hypertarget{classimage__undistort_1_1CameraParametersPair_a76f1696eb8e468dc26f9cd60893d1eca}\label{classimage__undistort_1_1CameraParametersPair_a76f1696eb8e468dc26f9cd60893d1eca}} +bool {\bfseries set\+Output\+From\+Input} (const double scale) +\item +\mbox{\Hypertarget{classimage__undistort_1_1CameraParametersPair_ab1392597334cbe8286cbc1903b197d5f}\label{classimage__undistort_1_1CameraParametersPair_ab1392597334cbe8286cbc1903b197d5f}} +bool {\bfseries set\+Optimal\+Output\+Camera\+Parameters} (const double scale) +\item +\mbox{\Hypertarget{classimage__undistort_1_1CameraParametersPair_ad54793186833d6a8b8f5834f73305b40}\label{classimage__undistort_1_1CameraParametersPair_ad54793186833d6a8b8f5834f73305b40}} +const Distortion\+Processing \& {\bfseries distortion\+Processing} () const +\item +\mbox{\Hypertarget{classimage__undistort_1_1CameraParametersPair_a5dc61d00a297a78d2be1bc49eace3736}\label{classimage__undistort_1_1CameraParametersPair_a5dc61d00a297a78d2be1bc49eace3736}} +void {\bfseries generate\+Camera\+Info\+Message} (const Camera\+IO \&io, sensor\+\_\+msgs\+::\+Camera\+Info $\ast$camera\+\_\+info) const +\item +\mbox{\Hypertarget{classimage__undistort_1_1CameraParametersPair_ac874db6136c57afb3ab30e818d501975}\label{classimage__undistort_1_1CameraParametersPair_ac874db6136c57afb3ab30e818d501975}} +const std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classimage__undistort_1_1InputCameraParameters}{Input\+Camera\+Parameters}} $>$ \& {\bfseries get\+Input\+Ptr} () const +\item +\mbox{\Hypertarget{classimage__undistort_1_1CameraParametersPair_ac9d8e14065c1e8b98eecaea4a209253e}\label{classimage__undistort_1_1CameraParametersPair_ac9d8e14065c1e8b98eecaea4a209253e}} +const std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classimage__undistort_1_1OutputCameraParameters}{Output\+Camera\+Parameters}} $>$ \& {\bfseries get\+Output\+Ptr} () const +\item +\mbox{\Hypertarget{classimage__undistort_1_1CameraParametersPair_a11bd354b0961ecf37939dcc9668c9e69}\label{classimage__undistort_1_1CameraParametersPair_a11bd354b0961ecf37939dcc9668c9e69}} +bool {\bfseries valid} () const +\item +\mbox{\Hypertarget{classimage__undistort_1_1CameraParametersPair_ab80fb96d3419762f23a6f10a67e848c7}\label{classimage__undistort_1_1CameraParametersPair_ab80fb96d3419762f23a6f10a67e848c7}} +bool {\bfseries valid} (const Camera\+IO \&io) const +\item +\mbox{\Hypertarget{classimage__undistort_1_1CameraParametersPair_a8eca6daae8442e95a6612f76543a1de9}\label{classimage__undistort_1_1CameraParametersPair_a8eca6daae8442e95a6612f76543a1de9}} +bool {\bfseries operator==} (const \mbox{\hyperlink{classimage__undistort_1_1CameraParametersPair}{Camera\+Parameters\+Pair}} \&B) const +\item +\mbox{\Hypertarget{classimage__undistort_1_1CameraParametersPair_a1e905f613d6a26a8a0f816e2aff61496}\label{classimage__undistort_1_1CameraParametersPair_a1e905f613d6a26a8a0f816e2aff61496}} +bool {\bfseries operator!=} (const \mbox{\hyperlink{classimage__undistort_1_1CameraParametersPair}{Camera\+Parameters\+Pair}} \&B) const +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/include/image\+\_\+undistort/camera\+\_\+parameters.\+h\item +vision\+\_\+layer/image\+\_\+undistort/src/camera\+\_\+parameters.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1Depth.tex b/docs/latex/classimage__undistort_1_1Depth.tex new file mode 100644 index 0000000..6a572dd --- /dev/null +++ b/docs/latex/classimage__undistort_1_1Depth.tex @@ -0,0 +1,17 @@ +\hypertarget{classimage__undistort_1_1Depth}{}\doxysection{image\+\_\+undistort\+::Depth Class Reference} +\label{classimage__undistort_1_1Depth}\index{image\_undistort::Depth@{image\_undistort::Depth}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classimage__undistort_1_1Depth_a26bd724e80c82d7fe75c321b191b9cc0}\label{classimage__undistort_1_1Depth_a26bd724e80c82d7fe75c321b191b9cc0}} +{\bfseries Depth} (const ros\+::\+Node\+Handle \&nh, const ros\+::\+Node\+Handle \&nh\+\_\+private) +\item +\mbox{\Hypertarget{classimage__undistort_1_1Depth_a9a8f3bc5b26f64c3ebbd549cf25bb029}\label{classimage__undistort_1_1Depth_a9a8f3bc5b26f64c3ebbd549cf25bb029}} +void {\bfseries cameras\+Callback} (const sensor\+\_\+msgs\+::\+Image\+Const\+Ptr \&first\+\_\+image\+\_\+msg\+\_\+in, const sensor\+\_\+msgs\+::\+Image\+Const\+Ptr \&second\+\_\+image\+\_\+msg\+\_\+in, const sensor\+\_\+msgs\+::\+Camera\+Info\+Const\+Ptr \&first\+\_\+camera\+\_\+info\+\_\+msg\+\_\+in, const sensor\+\_\+msgs\+::\+Camera\+Info\+Const\+Ptr \&second\+\_\+camera\+\_\+info\+\_\+msg\+\_\+in) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/include/image\+\_\+undistort/depth.\+h\item +vision\+\_\+layer/image\+\_\+undistort/src/depth.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1DepthNodelet.eps b/docs/latex/classimage__undistort_1_1DepthNodelet.eps new file mode 100644 index 0000000..b334ac4 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1DepthNodelet.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 210.526316 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 2.375000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(image_undistort::DepthNodelet) cw +(Nodelet) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (image_undistort::DepthNodelet) 0.000000 0.000000 box + (Nodelet) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classimage__undistort_1_1DepthNodelet.tex b/docs/latex/classimage__undistort_1_1DepthNodelet.tex new file mode 100644 index 0000000..760fd61 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1DepthNodelet.tex @@ -0,0 +1,13 @@ +\hypertarget{classimage__undistort_1_1DepthNodelet}{}\doxysection{image\+\_\+undistort\+::Depth\+Nodelet Class Reference} +\label{classimage__undistort_1_1DepthNodelet}\index{image\_undistort::DepthNodelet@{image\_undistort::DepthNodelet}} +Inheritance diagram for image\+\_\+undistort\+::Depth\+Nodelet\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classimage__undistort_1_1DepthNodelet} +\end{center} +\end{figure} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/src/nodelets/depth\+\_\+nodelet.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1ImageUndistort.tex b/docs/latex/classimage__undistort_1_1ImageUndistort.tex new file mode 100644 index 0000000..82f418c --- /dev/null +++ b/docs/latex/classimage__undistort_1_1ImageUndistort.tex @@ -0,0 +1,14 @@ +\hypertarget{classimage__undistort_1_1ImageUndistort}{}\doxysection{image\+\_\+undistort\+::Image\+Undistort Class Reference} +\label{classimage__undistort_1_1ImageUndistort}\index{image\_undistort::ImageUndistort@{image\_undistort::ImageUndistort}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classimage__undistort_1_1ImageUndistort_ab3b6622d4eaee133af34a4b786cccc38}\label{classimage__undistort_1_1ImageUndistort_ab3b6622d4eaee133af34a4b786cccc38}} +{\bfseries Image\+Undistort} (const ros\+::\+Node\+Handle \&nh\+\_\+, const ros\+::\+Node\+Handle \&nh\+\_\+private\+\_\+) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/include/image\+\_\+undistort/image\+\_\+undistort.\+h\item +vision\+\_\+layer/image\+\_\+undistort/src/image\+\_\+undistort.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1ImageUndistortNodelet.eps b/docs/latex/classimage__undistort_1_1ImageUndistortNodelet.eps new file mode 100644 index 0000000..61b2469 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1ImageUndistortNodelet.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 167.364017 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 2.987500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(image_undistort::ImageUndistortNodelet) cw +(Nodelet) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (image_undistort::ImageUndistortNodelet) 0.000000 0.000000 box + (Nodelet) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classimage__undistort_1_1ImageUndistortNodelet.tex b/docs/latex/classimage__undistort_1_1ImageUndistortNodelet.tex new file mode 100644 index 0000000..b56b3a0 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1ImageUndistortNodelet.tex @@ -0,0 +1,13 @@ +\hypertarget{classimage__undistort_1_1ImageUndistortNodelet}{}\doxysection{image\+\_\+undistort\+::Image\+Undistort\+Nodelet Class Reference} +\label{classimage__undistort_1_1ImageUndistortNodelet}\index{image\_undistort::ImageUndistortNodelet@{image\_undistort::ImageUndistortNodelet}} +Inheritance diagram for image\+\_\+undistort\+::Image\+Undistort\+Nodelet\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classimage__undistort_1_1ImageUndistortNodelet} +\end{center} +\end{figure} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/src/nodelets/image\+\_\+undistort\+\_\+nodelet.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1InputCameraParameters.eps b/docs/latex/classimage__undistort_1_1InputCameraParameters.eps new file mode 100644 index 0000000..24874fe --- /dev/null +++ b/docs/latex/classimage__undistort_1_1InputCameraParameters.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 160.000000 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.125000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(image_undistort::InputCameraParameters) cw +(image_undistort::BaseCameraParameters) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (image_undistort::InputCameraParameters) 0.000000 0.000000 box + (image_undistort::BaseCameraParameters) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classimage__undistort_1_1InputCameraParameters.tex b/docs/latex/classimage__undistort_1_1InputCameraParameters.tex new file mode 100644 index 0000000..8451a42 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1InputCameraParameters.tex @@ -0,0 +1,38 @@ +\hypertarget{classimage__undistort_1_1InputCameraParameters}{}\doxysection{image\+\_\+undistort\+::Input\+Camera\+Parameters Class Reference} +\label{classimage__undistort_1_1InputCameraParameters}\index{image\_undistort::InputCameraParameters@{image\_undistort::InputCameraParameters}} +Inheritance diagram for image\+\_\+undistort\+::Input\+Camera\+Parameters\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classimage__undistort_1_1InputCameraParameters} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classimage__undistort_1_1InputCameraParameters_a33bd851feb1a1eb1bd16243f06c200dc}\label{classimage__undistort_1_1InputCameraParameters_a33bd851feb1a1eb1bd16243f06c200dc}} +{\bfseries Input\+Camera\+Parameters} (const ros\+::\+Node\+Handle \&nh, const std\+::string \&camera\+\_\+namespace, const bool invert\+\_\+T=false) +\item +\mbox{\Hypertarget{classimage__undistort_1_1InputCameraParameters_a547a641f1838cf2039107f4e2ee12807}\label{classimage__undistort_1_1InputCameraParameters_a547a641f1838cf2039107f4e2ee12807}} +{\bfseries Input\+Camera\+Parameters} (const sensor\+\_\+msgs\+::\+Camera\+Info \&camera\+\_\+info) +\item +\mbox{\Hypertarget{classimage__undistort_1_1InputCameraParameters_af6b25a0e4ae5dbe0b1ca2281ad47fc9f}\label{classimage__undistort_1_1InputCameraParameters_af6b25a0e4ae5dbe0b1ca2281ad47fc9f}} +{\bfseries Input\+Camera\+Parameters} (const cv\+::\+Size \&resolution\+\_\+in, const Eigen\+::\+Matrix$<$ double, 4, 4 $>$ \&T\+\_\+in, const Eigen\+::\+Matrix$<$ double, 3, 3 $>$ \&K\+\_\+in, const std\+::vector$<$ double $>$ \&D\+\_\+in, const Distortion\+Model \&distortion\+\_\+model) +\item +\mbox{\Hypertarget{classimage__undistort_1_1InputCameraParameters_a04944a2e3227ca7c1c2fd45f24fca350}\label{classimage__undistort_1_1InputCameraParameters_a04944a2e3227ca7c1c2fd45f24fca350}} +const std\+::vector$<$ double $>$ \& {\bfseries D} () const +\item +\mbox{\Hypertarget{classimage__undistort_1_1InputCameraParameters_ac5ea174097c615b5b49ffa6df47d7c4b}\label{classimage__undistort_1_1InputCameraParameters_ac5ea174097c615b5b49ffa6df47d7c4b}} +const Distortion\+Model \& {\bfseries distortion\+Model} () const +\item +\mbox{\Hypertarget{classimage__undistort_1_1InputCameraParameters_a5c9c728eb090a6a7836434be0a45f612}\label{classimage__undistort_1_1InputCameraParameters_a5c9c728eb090a6a7836434be0a45f612}} +bool {\bfseries operator==} (const \mbox{\hyperlink{classimage__undistort_1_1InputCameraParameters}{Input\+Camera\+Parameters}} \&B) const +\item +\mbox{\Hypertarget{classimage__undistort_1_1InputCameraParameters_ae89f73ebec8690dfff2061c04131ad02}\label{classimage__undistort_1_1InputCameraParameters_ae89f73ebec8690dfff2061c04131ad02}} +bool {\bfseries operator!=} (const \mbox{\hyperlink{classimage__undistort_1_1InputCameraParameters}{Input\+Camera\+Parameters}} \&B) const +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/include/image\+\_\+undistort/camera\+\_\+parameters.\+h\item +vision\+\_\+layer/image\+\_\+undistort/src/camera\+\_\+parameters.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1OutputCameraParameters.eps b/docs/latex/classimage__undistort_1_1OutputCameraParameters.eps new file mode 100644 index 0000000..950cee9 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1OutputCameraParameters.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 154.440154 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.237500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(image_undistort::OutputCameraParameters) cw +(image_undistort::BaseCameraParameters) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (image_undistort::OutputCameraParameters) 0.000000 0.000000 box + (image_undistort::BaseCameraParameters) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classimage__undistort_1_1OutputCameraParameters.tex b/docs/latex/classimage__undistort_1_1OutputCameraParameters.tex new file mode 100644 index 0000000..abd2dd9 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1OutputCameraParameters.tex @@ -0,0 +1,25 @@ +\hypertarget{classimage__undistort_1_1OutputCameraParameters}{}\doxysection{image\+\_\+undistort\+::Output\+Camera\+Parameters Class Reference} +\label{classimage__undistort_1_1OutputCameraParameters}\index{image\_undistort::OutputCameraParameters@{image\_undistort::OutputCameraParameters}} +Inheritance diagram for image\+\_\+undistort\+::Output\+Camera\+Parameters\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classimage__undistort_1_1OutputCameraParameters} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classimage__undistort_1_1OutputCameraParameters_a88a33425ade97a10aabdae322da2b72b}\label{classimage__undistort_1_1OutputCameraParameters_a88a33425ade97a10aabdae322da2b72b}} +{\bfseries Base\+Camera\+Parameters} (const ros\+::\+Node\+Handle \&nh, const std\+::string \&camera\+\_\+namespace, const bool invert\+\_\+T) +\item +\mbox{\Hypertarget{classimage__undistort_1_1OutputCameraParameters_a542e183ba91d54f0ec7f7e5aef5b41c4}\label{classimage__undistort_1_1OutputCameraParameters_a542e183ba91d54f0ec7f7e5aef5b41c4}} +{\bfseries Base\+Camera\+Parameters} (const sensor\+\_\+msgs\+::\+Camera\+Info \&camera\+\_\+info) +\item +\mbox{\Hypertarget{classimage__undistort_1_1OutputCameraParameters_a1da0c8f547d638bd1ca788210fd60618}\label{classimage__undistort_1_1OutputCameraParameters_a1da0c8f547d638bd1ca788210fd60618}} +{\bfseries Base\+Camera\+Parameters} (const cv\+::\+Size \&resolution\+\_\+in, const Eigen\+::\+Matrix$<$ double, 4, 4 $>$ \&T\+\_\+in, const Eigen\+::\+Matrix$<$ double, 3, 3 $>$ \&K\+\_\+in) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/include/image\+\_\+undistort/camera\+\_\+parameters.\+h\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1PointToBearing.tex b/docs/latex/classimage__undistort_1_1PointToBearing.tex new file mode 100644 index 0000000..a6497a3 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1PointToBearing.tex @@ -0,0 +1,23 @@ +\hypertarget{classimage__undistort_1_1PointToBearing}{}\doxysection{image\+\_\+undistort\+::Point\+To\+Bearing Class Reference} +\label{classimage__undistort_1_1PointToBearing}\index{image\_undistort::PointToBearing@{image\_undistort::PointToBearing}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classimage__undistort_1_1PointToBearing_a600a5046d6a0951c8c49c4529ac5cb4e}\label{classimage__undistort_1_1PointToBearing_a600a5046d6a0951c8c49c4529ac5cb4e}} +{\bfseries Point\+To\+Bearing} (const ros\+::\+Node\+Handle \&nh, const ros\+::\+Node\+Handle \&nh\+\_\+private) +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classimage__undistort_1_1PointToBearing_ad1b979ad6cf875832e05aef2212c2d9b}\label{classimage__undistort_1_1PointToBearing_ad1b979ad6cf875832e05aef2212c2d9b}} +static void {\bfseries optimize\+For\+Bearing\+Vector} (const \mbox{\hyperlink{classimage__undistort_1_1InputCameraParameters}{Input\+Camera\+Parameters}} \&camera\+\_\+parameters, const Eigen\+::\+Vector2d \&pixel\+\_\+location, Eigen\+::\+Vector3d $\ast$bearing) +\item +\mbox{\Hypertarget{classimage__undistort_1_1PointToBearing_a4350a8a1675011e62511241fee50f892}\label{classimage__undistort_1_1PointToBearing_a4350a8a1675011e62511241fee50f892}} +static double {\bfseries bearing\+Projection\+Error} (const std\+::vector$<$ double $>$ \&values, std\+::vector$<$ double $>$ \&grad, void $\ast$data) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/include/image\+\_\+undistort/point\+\_\+to\+\_\+bearing.\+h\item +vision\+\_\+layer/image\+\_\+undistort/src/point\+\_\+to\+\_\+bearing.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1PointToBearingNodelet.eps b/docs/latex/classimage__undistort_1_1PointToBearingNodelet.eps new file mode 100644 index 0000000..a2fa0e5 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1PointToBearingNodelet.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 164.609053 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.037500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(image_undistort::PointToBearingNodelet) cw +(Nodelet) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (image_undistort::PointToBearingNodelet) 0.000000 0.000000 box + (Nodelet) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classimage__undistort_1_1PointToBearingNodelet.tex b/docs/latex/classimage__undistort_1_1PointToBearingNodelet.tex new file mode 100644 index 0000000..12c8001 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1PointToBearingNodelet.tex @@ -0,0 +1,13 @@ +\hypertarget{classimage__undistort_1_1PointToBearingNodelet}{}\doxysection{image\+\_\+undistort\+::Point\+To\+Bearing\+Nodelet Class Reference} +\label{classimage__undistort_1_1PointToBearingNodelet}\index{image\_undistort::PointToBearingNodelet@{image\_undistort::PointToBearingNodelet}} +Inheritance diagram for image\+\_\+undistort\+::Point\+To\+Bearing\+Nodelet\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classimage__undistort_1_1PointToBearingNodelet} +\end{center} +\end{figure} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/src/nodelets/point\+\_\+to\+\_\+bearing\+\_\+nodelet.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1StereoCameraParameters.tex b/docs/latex/classimage__undistort_1_1StereoCameraParameters.tex new file mode 100644 index 0000000..20fb166 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1StereoCameraParameters.tex @@ -0,0 +1,38 @@ +\hypertarget{classimage__undistort_1_1StereoCameraParameters}{}\doxysection{image\+\_\+undistort\+::Stereo\+Camera\+Parameters Class Reference} +\label{classimage__undistort_1_1StereoCameraParameters}\index{image\_undistort::StereoCameraParameters@{image\_undistort::StereoCameraParameters}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoCameraParameters_a22876c8f89132297fe41d2e99b35f231}\label{classimage__undistort_1_1StereoCameraParameters_a22876c8f89132297fe41d2e99b35f231}} +{\bfseries Stereo\+Camera\+Parameters} (const double scale=1.\+0) +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoCameraParameters_a010ab6f2db2ef20fc9d3d420c4c27c0c}\label{classimage__undistort_1_1StereoCameraParameters_a010ab6f2db2ef20fc9d3d420c4c27c0c}} +bool {\bfseries set\+Input\+Camera\+Parameters} (const ros\+::\+Node\+Handle \&nh, const std\+::string \&camera\+\_\+namespace, const Camera\+Side \&side, const bool invert\+\_\+T) +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoCameraParameters_a444a557b5868e2cf61dbe1deea99ae4f}\label{classimage__undistort_1_1StereoCameraParameters_a444a557b5868e2cf61dbe1deea99ae4f}} +bool {\bfseries set\+Input\+Camera\+Parameters} (const sensor\+\_\+msgs\+::\+Camera\+Info \&camera\+\_\+info, const Camera\+Side \&side) +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoCameraParameters_ac14d07d342d4dae4668711b00360643b}\label{classimage__undistort_1_1StereoCameraParameters_ac14d07d342d4dae4668711b00360643b}} +bool {\bfseries set\+Input\+Camera\+Parameters} (const cv\+::\+Size \&resolution, const Eigen\+::\+Matrix$<$ double, 4, 4 $>$ \&T, const Eigen\+::\+Matrix$<$ double, 3, 3 $>$ \&K, const std\+::vector$<$ double $>$ \&D, const Distortion\+Model \&distortion\+\_\+model, const Camera\+Side \&side) +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoCameraParameters_a65100054bd0ce1297488a639e1632388}\label{classimage__undistort_1_1StereoCameraParameters_a65100054bd0ce1297488a639e1632388}} +void {\bfseries generate\+Camera\+Info\+Message} (const Camera\+Side \&side, const Camera\+IO \&io, sensor\+\_\+msgs\+::\+Camera\+Info $\ast$camera\+\_\+info) const +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoCameraParameters_affa22daa2fa2b4e3a21db48742b2657e}\label{classimage__undistort_1_1StereoCameraParameters_affa22daa2fa2b4e3a21db48742b2657e}} +const \mbox{\hyperlink{classimage__undistort_1_1CameraParametersPair}{Camera\+Parameters\+Pair}} \& {\bfseries get\+First} () const +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoCameraParameters_a41f953558ea5dba26aaa702d85e2c561}\label{classimage__undistort_1_1StereoCameraParameters_a41f953558ea5dba26aaa702d85e2c561}} +const \mbox{\hyperlink{classimage__undistort_1_1CameraParametersPair}{Camera\+Parameters\+Pair}} \& {\bfseries get\+Second} () const +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoCameraParameters_ab877d6cd7f0d29ed7cab8cf7467a7a01}\label{classimage__undistort_1_1StereoCameraParameters_ab877d6cd7f0d29ed7cab8cf7467a7a01}} +bool {\bfseries valid} () const +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoCameraParameters_afc84c670ced12a5714bcf788b700d69d}\label{classimage__undistort_1_1StereoCameraParameters_afc84c670ced12a5714bcf788b700d69d}} +bool {\bfseries valid} (const Camera\+Side \&side, const Camera\+IO \&io) const +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/include/image\+\_\+undistort/camera\+\_\+parameters.\+h\item +vision\+\_\+layer/image\+\_\+undistort/src/camera\+\_\+parameters.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1StereoInfo.tex b/docs/latex/classimage__undistort_1_1StereoInfo.tex new file mode 100644 index 0000000..b5d93ad --- /dev/null +++ b/docs/latex/classimage__undistort_1_1StereoInfo.tex @@ -0,0 +1,26 @@ +\hypertarget{classimage__undistort_1_1StereoInfo}{}\doxysection{image\+\_\+undistort\+::Stereo\+Info Class Reference} +\label{classimage__undistort_1_1StereoInfo}\index{image\_undistort::StereoInfo@{image\_undistort::StereoInfo}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoInfo_a62fe2530de49425feb14e31c919829a1}\label{classimage__undistort_1_1StereoInfo_a62fe2530de49425feb14e31c919829a1}} +{\bfseries Stereo\+Info} (const ros\+::\+Node\+Handle \&nh, const ros\+::\+Node\+Handle \&nh\+\_\+private) +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoInfo_a0492c68954953faed640876642beb341}\label{classimage__undistort_1_1StereoInfo_a0492c68954953faed640876642beb341}} +void {\bfseries first\+Image\+Callback} (const sensor\+\_\+msgs\+::\+Image\+Const\+Ptr \&image\+\_\+msg) +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoInfo_a63fa342a6a4889568a5b7cb2a1177e2c}\label{classimage__undistort_1_1StereoInfo_a63fa342a6a4889568a5b7cb2a1177e2c}} +void {\bfseries second\+Image\+Callback} (const sensor\+\_\+msgs\+::\+Image\+Const\+Ptr \&image\+\_\+msg) +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoInfo_adcd2c1d11c7ab55f689de1f785490721}\label{classimage__undistort_1_1StereoInfo_adcd2c1d11c7ab55f689de1f785490721}} +void {\bfseries first\+Camera\+Info\+Callback} (const sensor\+\_\+msgs\+::\+Camera\+Info\+Const\+Ptr \&camera\+\_\+info) +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoInfo_a692996ab79c0b27d7c747b65d3f13bba}\label{classimage__undistort_1_1StereoInfo_a692996ab79c0b27d7c747b65d3f13bba}} +void {\bfseries second\+Camera\+Info\+Callback} (const sensor\+\_\+msgs\+::\+Camera\+Info\+Const\+Ptr \&camera\+\_\+info) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/include/image\+\_\+undistort/stereo\+\_\+info.\+h\item +vision\+\_\+layer/image\+\_\+undistort/src/stereo\+\_\+info.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1StereoInfoNodelet.eps b/docs/latex/classimage__undistort_1_1StereoInfoNodelet.eps new file mode 100644 index 0000000..965d394 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1StereoInfoNodelet.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 186.046512 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 2.687500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(image_undistort::StereoInfoNodelet) cw +(Nodelet) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (image_undistort::StereoInfoNodelet) 0.000000 0.000000 box + (Nodelet) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classimage__undistort_1_1StereoInfoNodelet.tex b/docs/latex/classimage__undistort_1_1StereoInfoNodelet.tex new file mode 100644 index 0000000..a07f696 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1StereoInfoNodelet.tex @@ -0,0 +1,13 @@ +\hypertarget{classimage__undistort_1_1StereoInfoNodelet}{}\doxysection{image\+\_\+undistort\+::Stereo\+Info\+Nodelet Class Reference} +\label{classimage__undistort_1_1StereoInfoNodelet}\index{image\_undistort::StereoInfoNodelet@{image\_undistort::StereoInfoNodelet}} +Inheritance diagram for image\+\_\+undistort\+::Stereo\+Info\+Nodelet\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classimage__undistort_1_1StereoInfoNodelet} +\end{center} +\end{figure} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/src/nodelets/stereo\+\_\+info\+\_\+nodelet.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1StereoUndistort.tex b/docs/latex/classimage__undistort_1_1StereoUndistort.tex new file mode 100644 index 0000000..6b5fdba --- /dev/null +++ b/docs/latex/classimage__undistort_1_1StereoUndistort.tex @@ -0,0 +1,20 @@ +\hypertarget{classimage__undistort_1_1StereoUndistort}{}\doxysection{image\+\_\+undistort\+::Stereo\+Undistort Class Reference} +\label{classimage__undistort_1_1StereoUndistort}\index{image\_undistort::StereoUndistort@{image\_undistort::StereoUndistort}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoUndistort_af3bf32a77407c7215207924a162977bc}\label{classimage__undistort_1_1StereoUndistort_af3bf32a77407c7215207924a162977bc}} +{\bfseries Stereo\+Undistort} (const ros\+::\+Node\+Handle \&nh, const ros\+::\+Node\+Handle \&nh\+\_\+private) +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoUndistort_a9abf2fc33ca143e07050be7743b2c88f}\label{classimage__undistort_1_1StereoUndistort_a9abf2fc33ca143e07050be7743b2c88f}} +void {\bfseries images\+Callback} (const sensor\+\_\+msgs\+::\+Image\+Const\+Ptr \&first\+\_\+image\+\_\+msg\+\_\+in, const sensor\+\_\+msgs\+::\+Image\+Const\+Ptr \&second\+\_\+image\+\_\+msg\+\_\+in) +\item +\mbox{\Hypertarget{classimage__undistort_1_1StereoUndistort_a2f77ff134b9e21b00732c4747b007739}\label{classimage__undistort_1_1StereoUndistort_a2f77ff134b9e21b00732c4747b007739}} +void {\bfseries cameras\+Callback} (const sensor\+\_\+msgs\+::\+Image\+Const\+Ptr \&first\+\_\+image\+\_\+msg\+\_\+in, const sensor\+\_\+msgs\+::\+Image\+Const\+Ptr \&second\+\_\+image\+\_\+msg\+\_\+in, const sensor\+\_\+msgs\+::\+Camera\+Info\+Const\+Ptr \&first\+\_\+camera\+\_\+info\+\_\+msg\+\_\+in, const sensor\+\_\+msgs\+::\+Camera\+Info\+Const\+Ptr \&second\+\_\+camera\+\_\+info\+\_\+msg\+\_\+in) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/include/image\+\_\+undistort/stereo\+\_\+undistort.\+h\item +vision\+\_\+layer/image\+\_\+undistort/src/stereo\+\_\+undistort.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1StereoUndistortNodelet.eps b/docs/latex/classimage__undistort_1_1StereoUndistortNodelet.eps new file mode 100644 index 0000000..fa0534b --- /dev/null +++ b/docs/latex/classimage__undistort_1_1StereoUndistortNodelet.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 164.609053 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.037500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(image_undistort::StereoUndistortNodelet) cw +(Nodelet) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (image_undistort::StereoUndistortNodelet) 0.000000 0.000000 box + (Nodelet) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classimage__undistort_1_1StereoUndistortNodelet.tex b/docs/latex/classimage__undistort_1_1StereoUndistortNodelet.tex new file mode 100644 index 0000000..117d766 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1StereoUndistortNodelet.tex @@ -0,0 +1,13 @@ +\hypertarget{classimage__undistort_1_1StereoUndistortNodelet}{}\doxysection{image\+\_\+undistort\+::Stereo\+Undistort\+Nodelet Class Reference} +\label{classimage__undistort_1_1StereoUndistortNodelet}\index{image\_undistort::StereoUndistortNodelet@{image\_undistort::StereoUndistortNodelet}} +Inheritance diagram for image\+\_\+undistort\+::Stereo\+Undistort\+Nodelet\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classimage__undistort_1_1StereoUndistortNodelet} +\end{center} +\end{figure} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/src/nodelets/stereo\+\_\+undistort\+\_\+nodelet.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classimage__undistort_1_1Undistorter.tex b/docs/latex/classimage__undistort_1_1Undistorter.tex new file mode 100644 index 0000000..ef1a7b2 --- /dev/null +++ b/docs/latex/classimage__undistort_1_1Undistorter.tex @@ -0,0 +1,26 @@ +\hypertarget{classimage__undistort_1_1Undistorter}{}\doxysection{image\+\_\+undistort\+::Undistorter Class Reference} +\label{classimage__undistort_1_1Undistorter}\index{image\_undistort::Undistorter@{image\_undistort::Undistorter}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classimage__undistort_1_1Undistorter_a9a53098324f417c918d1fcd8bcaa7baf}\label{classimage__undistort_1_1Undistorter_a9a53098324f417c918d1fcd8bcaa7baf}} +{\bfseries Undistorter} (const \mbox{\hyperlink{classimage__undistort_1_1CameraParametersPair}{Camera\+Parameters\+Pair}} \&input\+\_\+camera\+\_\+parameters\+\_\+pair) +\item +\mbox{\Hypertarget{classimage__undistort_1_1Undistorter_a22e36d3e5dd830a3e634b8f2e1a7c5eb}\label{classimage__undistort_1_1Undistorter_a22e36d3e5dd830a3e634b8f2e1a7c5eb}} +void {\bfseries undistort\+Image} (const cv\+::\+Mat \&image, cv\+::\+Mat $\ast$undistored\+\_\+image) +\item +\mbox{\Hypertarget{classimage__undistort_1_1Undistorter_a5848d83f7009609fb88ff79492d57781}\label{classimage__undistort_1_1Undistorter_a5848d83f7009609fb88ff79492d57781}} +const \mbox{\hyperlink{classimage__undistort_1_1CameraParametersPair}{Camera\+Parameters\+Pair}} \& {\bfseries get\+Camera\+Parameters\+Pair} () +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classimage__undistort_1_1Undistorter_a370f6ac944bfee99f3736d7e3fbb9ba9}\label{classimage__undistort_1_1Undistorter_a370f6ac944bfee99f3736d7e3fbb9ba9}} +static void {\bfseries distort\+Pixel} (const Eigen\+::\+Matrix$<$ double, 3, 3 $>$ \&K\+\_\+in, const Eigen\+::\+Matrix$<$ double, 3, 3 $>$ \&R\+\_\+in, const Eigen\+::\+Matrix$<$ double, 3, 4 $>$ \&P\+\_\+out, const Distortion\+Model \&distortion\+\_\+model, const std\+::vector$<$ double $>$ \&D, const Eigen\+::\+Vector2d \&pixel\+\_\+location, Eigen\+::\+Vector2d $\ast$distorted\+\_\+pixel\+\_\+location) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/image\+\_\+undistort/include/image\+\_\+undistort/undistorter.\+h\item +vision\+\_\+layer/image\+\_\+undistort/src/undistorter.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classmapping_1_1EKF.tex b/docs/latex/classmapping_1_1EKF.tex new file mode 100644 index 0000000..11cf524 --- /dev/null +++ b/docs/latex/classmapping_1_1EKF.tex @@ -0,0 +1,51 @@ +\hypertarget{classmapping_1_1EKF}{}\doxysection{mapping\+::E\+KF$<$ n, m, b $>$ Class Template Reference} +\label{classmapping_1_1EKF}\index{mapping::EKF$<$ n, m, b $>$@{mapping::EKF$<$ n, m, b $>$}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmapping_1_1EKF_a7cd0997810543b9bcd1b7507c394141a}\label{classmapping_1_1EKF_a7cd0997810543b9bcd1b7507c394141a}} +{\bfseries E\+KF} (const Eigen\+::\+Matrix$<$ float, n, b $>$ \&B, const Eigen\+::\+Matrix$<$ float, m, m $>$ \&R, const Eigen\+::\+Matrix$<$ float, n, n $>$ \&Q, const Eigen\+::\+Matrix$<$ float, n, 1 $>$ \&x, const Eigen\+::\+Matrix$<$ float, n, n $>$ \&p) +\item +\mbox{\Hypertarget{classmapping_1_1EKF_afd006c8edcaec96df002a017d7088709}\label{classmapping_1_1EKF_afd006c8edcaec96df002a017d7088709}} +void {\bfseries Predict} (const Eigen\+::\+Matrix$<$ float, b, 1 $>$ \&u, const Eigen\+::\+Matrix$<$ float, n, 1 $>$ \&xhat, const Eigen\+::\+Matrix$<$ float, n, n $>$ \&F) +\item +\mbox{\Hypertarget{classmapping_1_1EKF_a890e40b9407dbd02acbdea2a9d520060}\label{classmapping_1_1EKF_a890e40b9407dbd02acbdea2a9d520060}} +void {\bfseries Update} (const Eigen\+::\+Matrix$<$ float, m, 1 $>$ \&y, const Eigen\+::\+Matrix$<$ float, m, n $>$ \&H) +\item +\mbox{\Hypertarget{classmapping_1_1EKF_a7cd0997810543b9bcd1b7507c394141a}\label{classmapping_1_1EKF_a7cd0997810543b9bcd1b7507c394141a}} +{\bfseries E\+KF} (const Eigen\+::\+Matrix$<$ float, n, b $>$ \&B, const Eigen\+::\+Matrix$<$ float, m, m $>$ \&R, const Eigen\+::\+Matrix$<$ float, n, n $>$ \&Q, const Eigen\+::\+Matrix$<$ float, n, 1 $>$ \&x, const Eigen\+::\+Matrix$<$ float, n, n $>$ \&p) +\item +\mbox{\Hypertarget{classmapping_1_1EKF_afd006c8edcaec96df002a017d7088709}\label{classmapping_1_1EKF_afd006c8edcaec96df002a017d7088709}} +void {\bfseries Predict} (const Eigen\+::\+Matrix$<$ float, b, 1 $>$ \&u, const Eigen\+::\+Matrix$<$ float, n, 1 $>$ \&xhat, const Eigen\+::\+Matrix$<$ float, n, n $>$ \&F) +\item +\mbox{\Hypertarget{classmapping_1_1EKF_a890e40b9407dbd02acbdea2a9d520060}\label{classmapping_1_1EKF_a890e40b9407dbd02acbdea2a9d520060}} +void {\bfseries Update} (const Eigen\+::\+Matrix$<$ float, m, 1 $>$ \&y, const Eigen\+::\+Matrix$<$ float, m, n $>$ \&H) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmapping_1_1EKF_af953a8e0f00fb0afd7ea402e47748c66}\label{classmapping_1_1EKF_af953a8e0f00fb0afd7ea402e47748c66}} +Eigen\+::\+Matrix$<$ float, n, 1 $>$ {\bfseries xhat\+\_\+} +\item +\mbox{\Hypertarget{classmapping_1_1EKF_ad782328cf17a9ef5cae9028802603b9f}\label{classmapping_1_1EKF_ad782328cf17a9ef5cae9028802603b9f}} +Eigen\+::\+Matrix$<$ float, n, n $>$ {\bfseries covs\+\_\+} +\end{DoxyCompactItemize} +\doxysubsection*{Protected Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmapping_1_1EKF_a1c2cf3acfc47603a2c89b18079ea958a}\label{classmapping_1_1EKF_a1c2cf3acfc47603a2c89b18079ea958a}} +Eigen\+::\+Matrix$<$ float, n, b $>$ {\bfseries B\+\_\+} +\item +\mbox{\Hypertarget{classmapping_1_1EKF_a5e9f13b5188a461f973518b398d6bd52}\label{classmapping_1_1EKF_a5e9f13b5188a461f973518b398d6bd52}} +Eigen\+::\+Matrix$<$ float, m, m $>$ {\bfseries R\+\_\+} +\item +\mbox{\Hypertarget{classmapping_1_1EKF_a276acb331f3fd0c5aeeb2d6b0711d4eb}\label{classmapping_1_1EKF_a276acb331f3fd0c5aeeb2d6b0711d4eb}} +Eigen\+::\+Matrix$<$ float, n, n $>$ {\bfseries Q\+\_\+} +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +navigation\+\_\+layer/mapping/include/ekf.\+h\item +navigation\+\_\+layer/mapping/include/slam\+\_\+ekf.\+h\item +navigation\+\_\+layer/mapping/src/ekf.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classmapping_1_1MappingNode.tex b/docs/latex/classmapping_1_1MappingNode.tex new file mode 100644 index 0000000..2ff748f --- /dev/null +++ b/docs/latex/classmapping_1_1MappingNode.tex @@ -0,0 +1,29 @@ +\hypertarget{classmapping_1_1MappingNode}{}\doxysection{mapping\+::Mapping\+Node Class Reference} +\label{classmapping_1_1MappingNode}\index{mapping::MappingNode@{mapping::MappingNode}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmapping_1_1MappingNode_ac5e07918336fbd109fbb80602c112214}\label{classmapping_1_1MappingNode_ac5e07918336fbd109fbb80602c112214}} +{\bfseries Mapping\+Node} (const ros\+::\+Node\+Handle\+Ptr \&nh) +\item +\mbox{\Hypertarget{classmapping_1_1MappingNode_ac97adba70e05892c444fdd87aef2fafb}\label{classmapping_1_1MappingNode_ac97adba70e05892c444fdd87aef2fafb}} +void {\bfseries transform\+\_\+broadcaster\+\_\+initial} (tf\+::\+Transform\+Broadcaster \&map\+\_\+to\+\_\+odom\+\_\+broadcaster) +\item +\mbox{\Hypertarget{classmapping_1_1MappingNode_a4e4edc5fb06e25d5c6a38ff2aff0e81a}\label{classmapping_1_1MappingNode_a4e4edc5fb06e25d5c6a38ff2aff0e81a}} +void {\bfseries odometry\+\_\+update\+\_\+cb} (const nav\+\_\+msgs\+::\+Odometry\+::\+Const\+Ptr \&msg) +\item +\mbox{\Hypertarget{classmapping_1_1MappingNode_a2b033ee1388eacada84c9c4f50db1c36}\label{classmapping_1_1MappingNode_a2b033ee1388eacada84c9c4f50db1c36}} +void {\bfseries load\+Map\+From\+Y\+A\+ML} (grid\+\_\+map\+::\+Grid\+Map \&map) +\item +\mbox{\Hypertarget{classmapping_1_1MappingNode_a802e71726ab46853b7d0c79c9b8294cd}\label{classmapping_1_1MappingNode_a802e71726ab46853b7d0c79c9b8294cd}} +void {\bfseries Publish\+Map} () +\item +\mbox{\Hypertarget{classmapping_1_1MappingNode_a84a3cf9f887abfe9d85cb6bd9d96365c}\label{classmapping_1_1MappingNode_a84a3cf9f887abfe9d85cb6bd9d96365c}} +void {\bfseries Spin} () +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +navigation\+\_\+layer/mapping/include/mapping\+\_\+main.\+h\item +navigation\+\_\+layer/mapping/src/mapping\+\_\+main.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classmapping_1_1SlamClient.tex b/docs/latex/classmapping_1_1SlamClient.tex new file mode 100644 index 0000000..09ff831 --- /dev/null +++ b/docs/latex/classmapping_1_1SlamClient.tex @@ -0,0 +1,20 @@ +\hypertarget{classmapping_1_1SlamClient}{}\doxysection{mapping\+::Slam\+Client Class Reference} +\label{classmapping_1_1SlamClient}\index{mapping::SlamClient@{mapping::SlamClient}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmapping_1_1SlamClient_a299d2c90d5875afbca338224cbbf90e3}\label{classmapping_1_1SlamClient_a299d2c90d5875afbca338224cbbf90e3}} +int {\bfseries observe\+\_\+landmark} (const ros\+::\+Node\+Handle\+Ptr \&n\+\_\+, std\+::string obj\+\_\+id, double m\+\_\+x, double m\+\_\+y, double m\+\_\+z, double u\+\_\+x, double u\+\_\+y, double u\+\_\+z, int uncertainty) +\item +\mbox{\Hypertarget{classmapping_1_1SlamClient_a8545e038389dd0b8104ddb7fb1ee29a6}\label{classmapping_1_1SlamClient_a8545e038389dd0b8104ddb7fb1ee29a6}} +vec6 {\bfseries request\+\_\+landmark} (const ros\+::\+Node\+Handle\+Ptr \&n\+\_\+, std\+::string obj\+\_\+id) +\item +\mbox{\Hypertarget{classmapping_1_1SlamClient_a527043a9270a56bd56caf97f66afa117}\label{classmapping_1_1SlamClient_a527043a9270a56bd56caf97f66afa117}} +vec3 {\bfseries request\+\_\+position} (const ros\+::\+Node\+Handle\+Ptr \&n\+\_\+) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +navigation\+\_\+layer/mapping/include/slam\+\_\+server.\+h\item +navigation\+\_\+layer/mapping/src/slam\+\_\+clsrv.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classmapping_1_1SlamEKF.eps b/docs/latex/classmapping_1_1SlamEKF.eps new file mode 100644 index 0000000..e13222f --- /dev/null +++ b/docs/latex/classmapping_1_1SlamEKF.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 211.640212 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 2.362500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(mapping::SlamEKF< n, m, b >) cw +(mapping::EKF< 3, 3, 3 >) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (mapping::SlamEKF< n, m, b >) 0.000000 0.000000 box + (mapping::EKF< 3, 3, 3 >) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classmapping_1_1SlamEKF.tex b/docs/latex/classmapping_1_1SlamEKF.tex new file mode 100644 index 0000000..7d2625e --- /dev/null +++ b/docs/latex/classmapping_1_1SlamEKF.tex @@ -0,0 +1,49 @@ +\hypertarget{classmapping_1_1SlamEKF}{}\doxysection{mapping\+::Slam\+E\+KF$<$ n, m, b $>$ Class Template Reference} +\label{classmapping_1_1SlamEKF}\index{mapping::SlamEKF$<$ n, m, b $>$@{mapping::SlamEKF$<$ n, m, b $>$}} +Inheritance diagram for mapping\+::Slam\+E\+KF$<$ n, m, b $>$\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classmapping_1_1SlamEKF} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmapping_1_1SlamEKF_aad51dcf4c1b3da0e0121dc17a03b88ed}\label{classmapping_1_1SlamEKF_aad51dcf4c1b3da0e0121dc17a03b88ed}} +{\bfseries Slam\+E\+KF} (const vec3 \&x, const mat3 \&p, std\+::string id) +\item +\mbox{\Hypertarget{classmapping_1_1SlamEKF_a4eebb12b60447d976746e02211f2b918}\label{classmapping_1_1SlamEKF_a4eebb12b60447d976746e02211f2b918}} +{\bfseries Slam\+E\+KF} (const \mbox{\hyperlink{classmapping_1_1SlamEKF}{Slam\+E\+KF}} \&orig) +\item +\mbox{\Hypertarget{classmapping_1_1SlamEKF_a3d7de03842a32705e81351b614d119f3}\label{classmapping_1_1SlamEKF_a3d7de03842a32705e81351b614d119f3}} +void {\bfseries Predict} (const vec3 \&u) +\item +\mbox{\Hypertarget{classmapping_1_1SlamEKF_a6aa3d9e6ca1ccc4cabb2b0e2a02518ac}\label{classmapping_1_1SlamEKF_a6aa3d9e6ca1ccc4cabb2b0e2a02518ac}} +void {\bfseries Update} (const vec3 \&z) +\item +\mbox{\Hypertarget{classmapping_1_1SlamEKF_aad51dcf4c1b3da0e0121dc17a03b88ed}\label{classmapping_1_1SlamEKF_aad51dcf4c1b3da0e0121dc17a03b88ed}} +{\bfseries Slam\+E\+KF} (const vec3 \&x, const mat3 \&p, std\+::string id) +\item +\mbox{\Hypertarget{classmapping_1_1SlamEKF_a4eebb12b60447d976746e02211f2b918}\label{classmapping_1_1SlamEKF_a4eebb12b60447d976746e02211f2b918}} +{\bfseries Slam\+E\+KF} (const \mbox{\hyperlink{classmapping_1_1SlamEKF}{Slam\+E\+KF}} \&orig) +\item +\mbox{\Hypertarget{classmapping_1_1SlamEKF_a3d7de03842a32705e81351b614d119f3}\label{classmapping_1_1SlamEKF_a3d7de03842a32705e81351b614d119f3}} +void {\bfseries Predict} (const vec3 \&u) +\item +\mbox{\Hypertarget{classmapping_1_1SlamEKF_a6aa3d9e6ca1ccc4cabb2b0e2a02518ac}\label{classmapping_1_1SlamEKF_a6aa3d9e6ca1ccc4cabb2b0e2a02518ac}} +void {\bfseries Update} (const vec3 \&z) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmapping_1_1SlamEKF_aa45018ea13cd60958e5cea033e8b96df}\label{classmapping_1_1SlamEKF_aa45018ea13cd60958e5cea033e8b96df}} +std\+::string {\bfseries id\+\_\+} +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +navigation\+\_\+layer/mapping/include/ekf.\+h\item +navigation\+\_\+layer/mapping/include/slam\+\_\+ekf.\+h\item +navigation\+\_\+layer/mapping/src/ekf.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classmapping_1_1SlamFilter.tex b/docs/latex/classmapping_1_1SlamFilter.tex new file mode 100644 index 0000000..3af1951 --- /dev/null +++ b/docs/latex/classmapping_1_1SlamFilter.tex @@ -0,0 +1,38 @@ +\hypertarget{classmapping_1_1SlamFilter}{}\doxysection{mapping\+::Slam\+Filter Class Reference} +\label{classmapping_1_1SlamFilter}\index{mapping::SlamFilter@{mapping::SlamFilter}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmapping_1_1SlamFilter_a300721e676c28ee8a7bc1747774048d6}\label{classmapping_1_1SlamFilter_a300721e676c28ee8a7bc1747774048d6}} +{\bfseries Slam\+Filter} (int n) +\item +\mbox{\Hypertarget{classmapping_1_1SlamFilter_a331957ba9bc2a4c1f836f2659f4612eb}\label{classmapping_1_1SlamFilter_a331957ba9bc2a4c1f836f2659f4612eb}} +{\bfseries Slam\+Filter} (int n, const vec3 \&pos, const vec3 \&ori) +\item +\mbox{\Hypertarget{classmapping_1_1SlamFilter_ad113955d9d6a09a12ef5b3189f5d4fc7}\label{classmapping_1_1SlamFilter_ad113955d9d6a09a12ef5b3189f5d4fc7}} +void {\bfseries Update} (const vec6 \&u) +\item +\mbox{\Hypertarget{classmapping_1_1SlamFilter_ab16acafd2d571fd55a081e7d08bba345}\label{classmapping_1_1SlamFilter_ab16acafd2d571fd55a081e7d08bba345}} +void {\bfseries Landmark} (std\+::string id, const vec3 \&relpos, const mat3 \&cov) +\item +\mbox{\Hypertarget{classmapping_1_1SlamFilter_a323acd8e19e68812a1407e4f6171e258}\label{classmapping_1_1SlamFilter_a323acd8e19e68812a1407e4f6171e258}} +vec3 {\bfseries Get\+State} () +\item +\mbox{\Hypertarget{classmapping_1_1SlamFilter_a5b5c1a8388edaad133b58e8ff165cbdf}\label{classmapping_1_1SlamFilter_a5b5c1a8388edaad133b58e8ff165cbdf}} +vec6 {\bfseries Get\+State} (std\+::string id) +\item +\mbox{\Hypertarget{classmapping_1_1SlamFilter_a573a819736c1dda2d01fbc84b7c2d7ac}\label{classmapping_1_1SlamFilter_a573a819736c1dda2d01fbc84b7c2d7ac}} +void {\bfseries G\+N\+U\+Plot\+Out} () +\end{DoxyCompactItemize} +\doxysubsection*{Friends} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmapping_1_1SlamFilter_a55c4465e2ec1faf0c907a94979e9fd85}\label{classmapping_1_1SlamFilter_a55c4465e2ec1faf0c907a94979e9fd85}} +std\+::ostream \& {\bfseries operator$<$$<$} (std\+::ostream \&os, const \mbox{\hyperlink{classmapping_1_1SlamFilter}{Slam\+Filter}} \&sf) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +navigation\+\_\+layer/mapping/include/slam\+\_\+filter.\+h\item +navigation\+\_\+layer/mapping/src/slam\+\_\+filter.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classmapping_1_1SlamParticle.tex b/docs/latex/classmapping_1_1SlamParticle.tex new file mode 100644 index 0000000..fc6df90 --- /dev/null +++ b/docs/latex/classmapping_1_1SlamParticle.tex @@ -0,0 +1,59 @@ +\hypertarget{classmapping_1_1SlamParticle}{}\doxysection{mapping\+::Slam\+Particle Class Reference} +\label{classmapping_1_1SlamParticle}\index{mapping::SlamParticle@{mapping::SlamParticle}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmapping_1_1SlamParticle_a90815e29fd2a5825beab1822f65658f9}\label{classmapping_1_1SlamParticle_a90815e29fd2a5825beab1822f65658f9}} +{\bfseries Slam\+Particle} (float weight, const vec3 \&pos, const vec3 \&ori) +\item +\mbox{\Hypertarget{classmapping_1_1SlamParticle_ae9663a3fc8981eb7241867afba9a67ce}\label{classmapping_1_1SlamParticle_ae9663a3fc8981eb7241867afba9a67ce}} +void {\bfseries Add\+Landmark} (std\+::string id, const vec3 \&relpos, const mat3 \&conv) +\item +\mbox{\Hypertarget{classmapping_1_1SlamParticle_a70500368a754b3afb951e7c3563c76d4}\label{classmapping_1_1SlamParticle_a70500368a754b3afb951e7c3563c76d4}} +void {\bfseries Update\+Landmark} (std\+::string id, const vec3 \&relpos) +\item +\mbox{\Hypertarget{classmapping_1_1SlamParticle_aef4d4f875d436217e66cc5f4ce2c0e13}\label{classmapping_1_1SlamParticle_aef4d4f875d436217e66cc5f4ce2c0e13}} +void {\bfseries Update\+Particle} (const vec6 \&u, float weight) +\item +\mbox{\Hypertarget{classmapping_1_1SlamParticle_a5bd8b563af659480a63d4175af486c7b}\label{classmapping_1_1SlamParticle_a5bd8b563af659480a63d4175af486c7b}} +float {\bfseries Update\+Weight} (std\+::string id, const vec3 \&relpos, float certainty) +\item +\mbox{\Hypertarget{classmapping_1_1SlamParticle_a8ca7aa70e97f28c7073355c6188209a3}\label{classmapping_1_1SlamParticle_a8ca7aa70e97f28c7073355c6188209a3}} +void {\bfseries Reinit\+Random} () +\item +\mbox{\Hypertarget{classmapping_1_1SlamParticle_a679d26cbc4759ba01dd6225dfad3d73f}\label{classmapping_1_1SlamParticle_a679d26cbc4759ba01dd6225dfad3d73f}} +vec3 {\bfseries Get\+State} () +\item +\mbox{\Hypertarget{classmapping_1_1SlamParticle_a32efb059738483df144287a171aa1c2f}\label{classmapping_1_1SlamParticle_a32efb059738483df144287a171aa1c2f}} +vec6 {\bfseries Get\+State} (std\+::string id) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmapping_1_1SlamParticle_aae4caa21a4aa9866bb63bddde3e16bb2}\label{classmapping_1_1SlamParticle_aae4caa21a4aa9866bb63bddde3e16bb2}} +float {\bfseries weight\+\_\+} +\item +\mbox{\Hypertarget{classmapping_1_1SlamParticle_a04c48dccf2bf33aa6761a38d9d289cef}\label{classmapping_1_1SlamParticle_a04c48dccf2bf33aa6761a38d9d289cef}} +vec3 {\bfseries position\+\_\+} +\item +\mbox{\Hypertarget{classmapping_1_1SlamParticle_a989e2db13f8532c795ec423e70bd5133}\label{classmapping_1_1SlamParticle_a989e2db13f8532c795ec423e70bd5133}} +vec3 {\bfseries orientation\+\_\+} +\item +\mbox{\Hypertarget{classmapping_1_1SlamParticle_a498c90169a53f012cc2018bd6e2472f3}\label{classmapping_1_1SlamParticle_a498c90169a53f012cc2018bd6e2472f3}} +std\+::default\+\_\+random\+\_\+engine {\bfseries gen\+\_\+} +\item +\mbox{\Hypertarget{classmapping_1_1SlamParticle_a8dd5b4d4a029b82c4e4277b76b49f625}\label{classmapping_1_1SlamParticle_a8dd5b4d4a029b82c4e4277b76b49f625}} +std\+::normal\+\_\+distribution$<$ float $>$ {\bfseries uniform\+\_\+} +\item +\mbox{\Hypertarget{classmapping_1_1SlamParticle_a89ab84cbc0100244aee0317dc62696a4}\label{classmapping_1_1SlamParticle_a89ab84cbc0100244aee0317dc62696a4}} +std\+::normal\+\_\+distribution$<$ float $>$ {\bfseries gaussian\+\_\+} +\item +\mbox{\Hypertarget{classmapping_1_1SlamParticle_a0ca237f4f457d3b61b824c7912530502}\label{classmapping_1_1SlamParticle_a0ca237f4f457d3b61b824c7912530502}} +std\+::unordered\+\_\+map$<$ std\+::string, \mbox{\hyperlink{classmapping_1_1SlamEKF}{Slam\+E\+KF}} $>$ {\bfseries landmark\+\_\+filters\+\_\+} +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +navigation\+\_\+layer/mapping/include/slam\+\_\+filter.\+h\item +navigation\+\_\+layer/mapping/src/slam\+\_\+filter.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classmapping_1_1SlamServer.tex b/docs/latex/classmapping_1_1SlamServer.tex new file mode 100644 index 0000000..aa520e4 --- /dev/null +++ b/docs/latex/classmapping_1_1SlamServer.tex @@ -0,0 +1,26 @@ +\hypertarget{classmapping_1_1SlamServer}{}\doxysection{mapping\+::Slam\+Server Class Reference} +\label{classmapping_1_1SlamServer}\index{mapping::SlamServer@{mapping::SlamServer}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmapping_1_1SlamServer_acdb406370c234a7822a0178f7e7199cc}\label{classmapping_1_1SlamServer_acdb406370c234a7822a0178f7e7199cc}} +{\bfseries Slam\+Server} (\mbox{\hyperlink{classmapping_1_1SlamFilter}{Slam\+Filter}} $\ast$filter) +\item +\mbox{\Hypertarget{classmapping_1_1SlamServer_aa9f639df8df86e7fab42b2f2d09faca6}\label{classmapping_1_1SlamServer_aa9f639df8df86e7fab42b2f2d09faca6}} +bool {\bfseries observe} (mapping\+::slam\+\_\+msg\+::\+Request \&msg, mapping\+::slam\+\_\+msg\+::\+Response \&rep) +\item +\mbox{\Hypertarget{classmapping_1_1SlamServer_aa25ecf8b89e03e5c3eb1d3a68b7c6f6e}\label{classmapping_1_1SlamServer_aa25ecf8b89e03e5c3eb1d3a68b7c6f6e}} +bool {\bfseries slam\+\_\+do} (mapping\+::slam\+\_\+srv\+::\+Request \&req, mapping\+::slam\+\_\+srv\+::\+Response \&res) +\item +\mbox{\Hypertarget{classmapping_1_1SlamServer_a20e8c59c6e0f2120108447fd462968cd}\label{classmapping_1_1SlamServer_a20e8c59c6e0f2120108447fd462968cd}} +void {\bfseries Listen} (const ros\+::\+Node\+Handle\+Ptr \&n\+\_\+) +\item +\mbox{\Hypertarget{classmapping_1_1SlamServer_ad40f0403aad31ce7fedaa24fbbc235cf}\label{classmapping_1_1SlamServer_ad40f0403aad31ce7fedaa24fbbc235cf}} +void {\bfseries Landmark\+\_\+observe} (const ros\+::\+Node\+Handle\+Ptr n\+\_\+) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +navigation\+\_\+layer/mapping/include/slam\+\_\+server.\+h\item +navigation\+\_\+layer/mapping/src/slam\+\_\+clsrv.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classmtdef_1_1Baudrates.eps b/docs/latex/classmtdef_1_1Baudrates.eps new file mode 100644 index 0000000..4ec6a4c --- /dev/null +++ b/docs/latex/classmtdef_1_1Baudrates.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 360.360360 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.387500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(mtdef.Baudrates) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (mtdef.Baudrates) 0.000000 0.000000 box + (object) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classmtdef_1_1Baudrates.tex b/docs/latex/classmtdef_1_1Baudrates.tex new file mode 100644 index 0000000..c0159b1 --- /dev/null +++ b/docs/latex/classmtdef_1_1Baudrates.tex @@ -0,0 +1,69 @@ +\hypertarget{classmtdef_1_1Baudrates}{}\doxysection{mtdef.\+Baudrates Class Reference} +\label{classmtdef_1_1Baudrates}\index{mtdef.Baudrates@{mtdef.Baudrates}} +Inheritance diagram for mtdef.\+Baudrates\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classmtdef_1_1Baudrates} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +def \mbox{\hyperlink{classmtdef_1_1Baudrates_a32406f03907e8933f4216099b7a657a1}{get\+\_\+\+B\+R\+ID}} (cls, baudrate) +\item +def \mbox{\hyperlink{classmtdef_1_1Baudrates_a9dff0be3c3e3dac46345f45e1f3fd481}{get\+\_\+\+BR}} (cls, baudrate\+\_\+id) +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Baudrate information and conversion.\end{DoxyVerb} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classmtdef_1_1Baudrates_a9dff0be3c3e3dac46345f45e1f3fd481}\label{classmtdef_1_1Baudrates_a9dff0be3c3e3dac46345f45e1f3fd481}} +\index{mtdef.Baudrates@{mtdef.Baudrates}!get\_BR@{get\_BR}} +\index{get\_BR@{get\_BR}!mtdef.Baudrates@{mtdef.Baudrates}} +\doxysubsubsection{\texorpdfstring{get\_BR()}{get\_BR()}} +{\footnotesize\ttfamily def mtdef.\+Baudrates.\+get\+\_\+\+BR (\begin{DoxyParamCaption}\item[{}]{cls, }\item[{}]{baudrate\+\_\+id }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get baudrate for a given baudrate id.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdef_1_1Baudrates_a32406f03907e8933f4216099b7a657a1}\label{classmtdef_1_1Baudrates_a32406f03907e8933f4216099b7a657a1}} +\index{mtdef.Baudrates@{mtdef.Baudrates}!get\_BRID@{get\_BRID}} +\index{get\_BRID@{get\_BRID}!mtdef.Baudrates@{mtdef.Baudrates}} +\doxysubsubsection{\texorpdfstring{get\_BRID()}{get\_BRID()}} +{\footnotesize\ttfamily def mtdef.\+Baudrates.\+get\+\_\+\+B\+R\+ID (\begin{DoxyParamCaption}\item[{}]{cls, }\item[{}]{baudrate }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get baudrate id for a given baudrate.\end{DoxyVerb} + + +\doxysubsection{Member Data Documentation} +\mbox{\Hypertarget{classmtdef_1_1Baudrates_ad5d0122a011d49af285f6c1d94f11f8d}\label{classmtdef_1_1Baudrates_ad5d0122a011d49af285f6c1d94f11f8d}} +\index{mtdef.Baudrates@{mtdef.Baudrates}!Baudrates@{Baudrates}} +\index{Baudrates@{Baudrates}!mtdef.Baudrates@{mtdef.Baudrates}} +\doxysubsubsection{\texorpdfstring{Baudrates}{Baudrates}} +{\footnotesize\ttfamily list mtdef.\+Baudrates.\+Baudrates\hspace{0.3cm}{\ttfamily [static]}} + +{\bfseries Initial value\+:} +\begin{DoxyCode}{0} +\DoxyCodeLine{= [} +\DoxyCodeLine{ (0x80, 921600),} +\DoxyCodeLine{ (0x0A, 921600),} +\DoxyCodeLine{ (0x00, 460800),} +\DoxyCodeLine{ (0x01, 230400),} +\DoxyCodeLine{ (0x02, 115200),} +\DoxyCodeLine{ (0x03, 76800),} +\DoxyCodeLine{ (0x04, 57600),} +\DoxyCodeLine{ (0x05, 38400),} +\DoxyCodeLine{ (0x06, 28800),} +\DoxyCodeLine{ (0x07, 19200),} +\DoxyCodeLine{ (0x08, 14400),} +\DoxyCodeLine{ (0x09, 9600),} +\DoxyCodeLine{ (0x0B, 4800),} +\DoxyCodeLine{ (0x80, 921600)]} + +\end{DoxyCode} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/xsens\+\_\+driver/nodes/mtdef.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classmtdef_1_1DeprecatedMID.tex b/docs/latex/classmtdef_1_1DeprecatedMID.tex new file mode 100644 index 0000000..fb6eb84 --- /dev/null +++ b/docs/latex/classmtdef_1_1DeprecatedMID.tex @@ -0,0 +1,56 @@ +\hypertarget{classmtdef_1_1DeprecatedMID}{}\doxysection{mtdef.\+Deprecated\+M\+ID Class Reference} +\label{classmtdef_1_1DeprecatedMID}\index{mtdef.DeprecatedMID@{mtdef.DeprecatedMID}} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtdef_1_1DeprecatedMID_a81f218692edadece8719f387f1b052c4}\label{classmtdef_1_1DeprecatedMID_a81f218692edadece8719f387f1b052c4}} +int {\bfseries Init\+MT} = 0x02 +\item +\mbox{\Hypertarget{classmtdef_1_1DeprecatedMID_a04dbf68dfac7605603301e2543e979d6}\label{classmtdef_1_1DeprecatedMID_a04dbf68dfac7605603301e2543e979d6}} +int {\bfseries Init\+M\+T\+Results} = 0x03 +\item +\mbox{\Hypertarget{classmtdef_1_1DeprecatedMID_a3f7ea58fbdaa107e85bb4346077f77c6}\label{classmtdef_1_1DeprecatedMID_a3f7ea58fbdaa107e85bb4346077f77c6}} +int {\bfseries Req\+Data\+Length} = 0x0A +\item +\mbox{\Hypertarget{classmtdef_1_1DeprecatedMID_a1f84b0b45629ab4fe1bea6254b8cc510}\label{classmtdef_1_1DeprecatedMID_a1f84b0b45629ab4fe1bea6254b8cc510}} +int {\bfseries Data\+Length} = 0x0B +\item +\mbox{\Hypertarget{classmtdef_1_1DeprecatedMID_a45521522a75d20365bab79113cc1c653}\label{classmtdef_1_1DeprecatedMID_a45521522a75d20365bab79113cc1c653}} +int {\bfseries Req\+G\+P\+S\+Status} = 0x\+A6 +\item +\mbox{\Hypertarget{classmtdef_1_1DeprecatedMID_accd6581d6c16fc3bd3391f050454329a}\label{classmtdef_1_1DeprecatedMID_accd6581d6c16fc3bd3391f050454329a}} +int {\bfseries G\+P\+S\+Status} = 0x\+A7 +\item +\mbox{\Hypertarget{classmtdef_1_1DeprecatedMID_a563024426a8966669e7f72739bfe04d7}\label{classmtdef_1_1DeprecatedMID_a563024426a8966669e7f72739bfe04d7}} +int {\bfseries Set\+Sync\+In\+Settings} = 0x\+D6 +\item +\mbox{\Hypertarget{classmtdef_1_1DeprecatedMID_a19f16db2e567e12cf99e5379051e5cd5}\label{classmtdef_1_1DeprecatedMID_a19f16db2e567e12cf99e5379051e5cd5}} +int {\bfseries Set\+Sync\+Out\+Settings} = 0x\+D8 +\item +\mbox{\Hypertarget{classmtdef_1_1DeprecatedMID_adbb3a554f4260576de132ce994b21419}\label{classmtdef_1_1DeprecatedMID_adbb3a554f4260576de132ce994b21419}} +int {\bfseries Set\+Output\+Skip\+Factor} = 0x\+D4 +\item +\mbox{\Hypertarget{classmtdef_1_1DeprecatedMID_a5fd10d7480a4d49bef56fc0fc067513f}\label{classmtdef_1_1DeprecatedMID_a5fd10d7480a4d49bef56fc0fc067513f}} +int {\bfseries Set\+Object\+Alignment} = 0x\+E0 +\item +\mbox{\Hypertarget{classmtdef_1_1DeprecatedMID_acea87b4dc1c35036d051716c8aa6b20f}\label{classmtdef_1_1DeprecatedMID_acea87b4dc1c35036d051716c8aa6b20f}} +int {\bfseries Set\+Heading} = 0x82 +\item +\mbox{\Hypertarget{classmtdef_1_1DeprecatedMID_a64be0cab8c31a851b7d25f9a07352159}\label{classmtdef_1_1DeprecatedMID_a64be0cab8c31a851b7d25f9a07352159}} +int {\bfseries Set\+Lever\+Arm\+G\+PS} = 0x68 +\item +\mbox{\Hypertarget{classmtdef_1_1DeprecatedMID_a6a5cedb0e51e2ea8673e3cf310ec7f7b}\label{classmtdef_1_1DeprecatedMID_a6a5cedb0e51e2ea8673e3cf310ec7f7b}} +int {\bfseries Set\+Magnetic\+Declination} = 0x6A +\item +\mbox{\Hypertarget{classmtdef_1_1DeprecatedMID_a98ba01a9bd9f16cc4941b1157696c72b}\label{classmtdef_1_1DeprecatedMID_a98ba01a9bd9f16cc4941b1157696c72b}} +int {\bfseries Set\+Processing\+Flags} = 0x20 +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Deprecated message Ids.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/xsens\+\_\+driver/nodes/mtdef.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classmtdef_1_1DeviceState.tex b/docs/latex/classmtdef_1_1DeviceState.tex new file mode 100644 index 0000000..b8c730b --- /dev/null +++ b/docs/latex/classmtdef_1_1DeviceState.tex @@ -0,0 +1,20 @@ +\hypertarget{classmtdef_1_1DeviceState}{}\doxysection{mtdef.\+Device\+State Class Reference} +\label{classmtdef_1_1DeviceState}\index{mtdef.DeviceState@{mtdef.DeviceState}} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtdef_1_1DeviceState_a705b5ce4d7597d7a08be708c11003fc9}\label{classmtdef_1_1DeviceState_a705b5ce4d7597d7a08be708c11003fc9}} +int {\bfseries Measurement} = 0 +\item +\mbox{\Hypertarget{classmtdef_1_1DeviceState_acf273cb71dcc1630fcce97d4f8850509}\label{classmtdef_1_1DeviceState_acf273cb71dcc1630fcce97d4f8850509}} +int {\bfseries Config} = 1 +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}State of the device\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/xsens\+\_\+driver/nodes/mtdef.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classmtdef_1_1MID.tex b/docs/latex/classmtdef_1_1MID.tex new file mode 100644 index 0000000..c56bae5 --- /dev/null +++ b/docs/latex/classmtdef_1_1MID.tex @@ -0,0 +1,143 @@ +\hypertarget{classmtdef_1_1MID}{}\doxysection{mtdef.\+M\+ID Class Reference} +\label{classmtdef_1_1MID}\index{mtdef.MID@{mtdef.MID}} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a608e56ed598132190aaf01ba780dcab1}\label{classmtdef_1_1MID_a608e56ed598132190aaf01ba780dcab1}} +int {\bfseries Error} = 0x42 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_ad104a29eb3990dae3a392a7cc5ba7c95}\label{classmtdef_1_1MID_ad104a29eb3990dae3a392a7cc5ba7c95}} +int {\bfseries Wake\+Up} = 0x3E +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a12491a02c68fb39dd1698a1bdcac8e0e}\label{classmtdef_1_1MID_a12491a02c68fb39dd1698a1bdcac8e0e}} +int {\bfseries Wake\+Up\+Ack} = 0x3F +\item +\mbox{\Hypertarget{classmtdef_1_1MID_ad7b3e2db2289b8797835b03db4ac43f9}\label{classmtdef_1_1MID_ad7b3e2db2289b8797835b03db4ac43f9}} +int {\bfseries Go\+To\+Config} = 0x30 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a04e17ffd654afb91678099f6199f3c37}\label{classmtdef_1_1MID_a04e17ffd654afb91678099f6199f3c37}} +int {\bfseries Go\+To\+Measurement} = 0x10 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_ae9fd1db62b90f7837e1a15f8dd827d80}\label{classmtdef_1_1MID_ae9fd1db62b90f7837e1a15f8dd827d80}} +int {\bfseries Reset} = 0x40 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_acffae763edc788f54a336718115c496e}\label{classmtdef_1_1MID_acffae763edc788f54a336718115c496e}} +int {\bfseries Req\+D\+ID} = 0x00 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a3f8fa7b6d3da3f699339804a7e2b071e}\label{classmtdef_1_1MID_a3f8fa7b6d3da3f699339804a7e2b071e}} +int {\bfseries Device\+ID} = 0x01 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a9ff2f0fa2cf5c3efbf710307b9ac782a}\label{classmtdef_1_1MID_a9ff2f0fa2cf5c3efbf710307b9ac782a}} +int {\bfseries Req\+Product\+Code} = 0x1C +\item +\mbox{\Hypertarget{classmtdef_1_1MID_ac4ec4d43af4de52721a339f5fb91ebcf}\label{classmtdef_1_1MID_ac4ec4d43af4de52721a339f5fb91ebcf}} +int {\bfseries Product\+Code} = 0x1D +\item +\mbox{\Hypertarget{classmtdef_1_1MID_aedcad0c6da51367cfcb83bb487cae8dd}\label{classmtdef_1_1MID_aedcad0c6da51367cfcb83bb487cae8dd}} +int {\bfseries Req\+F\+W\+Rev} = 0x12 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_adb48e1746366ebd8d89d68197f68378d}\label{classmtdef_1_1MID_adb48e1746366ebd8d89d68197f68378d}} +int {\bfseries Firmware\+Rev} = 0x13 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_ab52b74506bfc605ec7ec6e5e2c7e1e1c}\label{classmtdef_1_1MID_ab52b74506bfc605ec7ec6e5e2c7e1e1c}} +int {\bfseries Restore\+Factory\+Def} = 0x0E +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a037d7b2c8172c771815abe1119f01922}\label{classmtdef_1_1MID_a037d7b2c8172c771815abe1119f01922}} +int {\bfseries Set\+Baudrate} = 0x18 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a105f221a1a955c81118f859cce8fafeb}\label{classmtdef_1_1MID_a105f221a1a955c81118f859cce8fafeb}} +int {\bfseries Run\+Selftest} = 0x24 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_ad7c8e2cd3e1cd377940c7b17b2712fa3}\label{classmtdef_1_1MID_ad7c8e2cd3e1cd377940c7b17b2712fa3}} +int {\bfseries Selftest\+Ack} = 0x25 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a552c6cb9926047afbdbd1748f80d4911}\label{classmtdef_1_1MID_a552c6cb9926047afbdbd1748f80d4911}} +int {\bfseries Set\+Error\+Mode} = 0x\+DA +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a1ac2067125707c27654a8caf29311391}\label{classmtdef_1_1MID_a1ac2067125707c27654a8caf29311391}} +int {\bfseries Set\+Transmit\+Delay} = 0x\+DC +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a606c40fd1c39ee814b65b5ea194b24b4}\label{classmtdef_1_1MID_a606c40fd1c39ee814b65b5ea194b24b4}} +int {\bfseries Set\+Option\+Flags} = 0x48 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a550c7b7d02a4c88284acb1ffb95dd9ab}\label{classmtdef_1_1MID_a550c7b7d02a4c88284acb1ffb95dd9ab}} +int {\bfseries Set\+Location\+ID} = 0x84 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a4e0aee69829d488c550b14a05087524d}\label{classmtdef_1_1MID_a4e0aee69829d488c550b14a05087524d}} +int {\bfseries Set\+Sync\+Settings} = 0x2C +\item +\mbox{\Hypertarget{classmtdef_1_1MID_af18b38f2c0da70402dc48a48fd110d15}\label{classmtdef_1_1MID_af18b38f2c0da70402dc48a48fd110d15}} +int {\bfseries Req\+Configuration} = 0x0C +\item +\mbox{\Hypertarget{classmtdef_1_1MID_ab1858abfb053a0eaa3bd69f1d56acecd}\label{classmtdef_1_1MID_ab1858abfb053a0eaa3bd69f1d56acecd}} +int {\bfseries Configuration} = 0x0D +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a8a11769a3e6c257fcc5c360d67e03a5d}\label{classmtdef_1_1MID_a8a11769a3e6c257fcc5c360d67e03a5d}} +int {\bfseries Set\+Period} = 0x04 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a9c3ad03bebfaa8b45a2f6fbf98abb611}\label{classmtdef_1_1MID_a9c3ad03bebfaa8b45a2f6fbf98abb611}} +int {\bfseries Set\+Ext\+Output\+Mode} = 0x86 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_aac790a861504e8b71669bf4affb6b4d0}\label{classmtdef_1_1MID_aac790a861504e8b71669bf4affb6b4d0}} +int {\bfseries Set\+Output\+Configuration} = 0x\+C0 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a8c321ac2360e8c406dde9e91055c6c75}\label{classmtdef_1_1MID_a8c321ac2360e8c406dde9e91055c6c75}} +int {\bfseries Set\+String\+Output\+Type} = 0x8E +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a662e3eacf47e34022545edf94757286c}\label{classmtdef_1_1MID_a662e3eacf47e34022545edf94757286c}} +int {\bfseries Set\+Alignment\+Rotation} = 0x\+EC +\item +\mbox{\Hypertarget{classmtdef_1_1MID_afcb89942a2ef42f588978398098ab7e0}\label{classmtdef_1_1MID_afcb89942a2ef42f588978398098ab7e0}} +int {\bfseries Set\+Output\+Mode} = 0x\+D0 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a0d3455a4e04c24518aefcc0709ad4e62}\label{classmtdef_1_1MID_a0d3455a4e04c24518aefcc0709ad4e62}} +int {\bfseries Set\+Output\+Settings} = 0x\+D2 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a8af083b308e84870597a3107e98b08f8}\label{classmtdef_1_1MID_a8af083b308e84870597a3107e98b08f8}} +int {\bfseries Req\+Data} = 0x34 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_afd325d5ed9503356dfabe446b712981c}\label{classmtdef_1_1MID_afd325d5ed9503356dfabe446b712981c}} +int {\bfseries M\+T\+Data} = 0x32 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_ac94e0496583ad30ad25ad9f7ac5cca89}\label{classmtdef_1_1MID_ac94e0496583ad30ad25ad9f7ac5cca89}} +int {\bfseries M\+T\+Data2} = 0x36 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a38a005cd63a971ffa63126b596240647}\label{classmtdef_1_1MID_a38a005cd63a971ffa63126b596240647}} +int {\bfseries Reset\+Orientation} = 0x\+A4 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a165cef4c0471d85ff9c6433155ed7449}\label{classmtdef_1_1MID_a165cef4c0471d85ff9c6433155ed7449}} +int {\bfseries Set\+U\+T\+C\+Time} = 0x60 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a33ec12e824204a8df5296c6bd20bca1f}\label{classmtdef_1_1MID_a33ec12e824204a8df5296c6bd20bca1f}} +int {\bfseries Adjust\+U\+T\+C\+Time} = 0x\+A8 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a9366b31f88d01b28c1264d6d6292a20d}\label{classmtdef_1_1MID_a9366b31f88d01b28c1264d6d6292a20d}} +int {\bfseries U\+T\+C\+Time} = 0x61 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a4f52564c54447fc61ac4d2513f4d3b65}\label{classmtdef_1_1MID_a4f52564c54447fc61ac4d2513f4d3b65}} +int {\bfseries Req\+Available\+Scenarios} = 0x62 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a928e8ae1670ac2276c5cac1955a7b5ee}\label{classmtdef_1_1MID_a928e8ae1670ac2276c5cac1955a7b5ee}} +int {\bfseries Available\+Scenarios} = 0x63 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a1447b205b6f3e116321b6acfc79c7663}\label{classmtdef_1_1MID_a1447b205b6f3e116321b6acfc79c7663}} +int {\bfseries Set\+Current\+Scenario} = 0x64 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a584b87e8df98fe1c7c7cf05d9a7b1888}\label{classmtdef_1_1MID_a584b87e8df98fe1c7c7cf05d9a7b1888}} +int {\bfseries Set\+Gravity\+Magnitude} = 0x66 +\item +\mbox{\Hypertarget{classmtdef_1_1MID_a58a8acf07f7afa48ba8dd75a1eab21b0}\label{classmtdef_1_1MID_a58a8acf07f7afa48ba8dd75a1eab21b0}} +int {\bfseries Set\+Lat\+Lon\+Alt} = 0x6E +\item +\mbox{\Hypertarget{classmtdef_1_1MID_ade64c457447afcc5129bc3c91b5bd06a}\label{classmtdef_1_1MID_ade64c457447afcc5129bc3c91b5bd06a}} +int {\bfseries Set\+No\+Rotation} = 0x22 +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Values for the message id (MID)\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/xsens\+\_\+driver/nodes/mtdef.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classmtdef_1_1MTErrorMessage.eps b/docs/latex/classmtdef_1_1MTErrorMessage.eps new file mode 100644 index 0000000..56971f2 --- /dev/null +++ b/docs/latex/classmtdef_1_1MTErrorMessage.eps @@ -0,0 +1,203 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 392.156863 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.275000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 3 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(mtdef.MTErrorMessage) cw +(mtdef.MTException) cw +(Exception) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (mtdef.MTErrorMessage) 0.000000 0.000000 box + (mtdef.MTException) 0.000000 1.000000 box + (Exception) 0.000000 2.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in +solid +0 0.000000 1.000000 out +solid +1 0.000000 2.000000 in diff --git a/docs/latex/classmtdef_1_1MTErrorMessage.tex b/docs/latex/classmtdef_1_1MTErrorMessage.tex new file mode 100644 index 0000000..10c80bb --- /dev/null +++ b/docs/latex/classmtdef_1_1MTErrorMessage.tex @@ -0,0 +1,37 @@ +\hypertarget{classmtdef_1_1MTErrorMessage}{}\doxysection{mtdef.\+M\+T\+Error\+Message Class Reference} +\label{classmtdef_1_1MTErrorMessage}\index{mtdef.MTErrorMessage@{mtdef.MTErrorMessage}} +Inheritance diagram for mtdef.\+M\+T\+Error\+Message\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=3.000000cm]{classmtdef_1_1MTErrorMessage} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtdef_1_1MTErrorMessage_ae64bba7a4863363c760725b93dc0ae80}\label{classmtdef_1_1MTErrorMessage_ae64bba7a4863363c760725b93dc0ae80}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, code) +\item +\mbox{\Hypertarget{classmtdef_1_1MTErrorMessage_a6b2ec6a3fc0618769ba588b72bbf2095}\label{classmtdef_1_1MTErrorMessage_a6b2ec6a3fc0618769ba588b72bbf2095}} +def {\bfseries \+\_\+\+\_\+str\+\_\+\+\_\+} (self) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtdef_1_1MTErrorMessage_a09e96893fc730ac976b9ee2ac808b003}\label{classmtdef_1_1MTErrorMessage_a09e96893fc730ac976b9ee2ac808b003}} +{\bfseries code} +\item +\mbox{\Hypertarget{classmtdef_1_1MTErrorMessage_acd7e05bad351f6a79d3593d580790e2e}\label{classmtdef_1_1MTErrorMessage_acd7e05bad351f6a79d3593d580790e2e}} +{\bfseries message} +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtdef_1_1MTErrorMessage_a5bf79428ba751963956daa0258b277c4}\label{classmtdef_1_1MTErrorMessage_a5bf79428ba751963956daa0258b277c4}} +dictionary {\bfseries Error\+Codes} +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/xsens\+\_\+driver/nodes/mtdef.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classmtdef_1_1MTException.eps b/docs/latex/classmtdef_1_1MTException.eps new file mode 100644 index 0000000..388236d --- /dev/null +++ b/docs/latex/classmtdef_1_1MTException.eps @@ -0,0 +1,209 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 176.470588 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 2.833333 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 3 def +/cols 2 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(mtdef.MTException) cw +(Exception) cw +(mtdef.MTErrorMessage) cw +(mtdef.MTTimeoutException) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (mtdef.MTException) 0.500000 1.000000 box + (Exception) 0.500000 2.000000 box + (mtdef.MTErrorMessage) 0.000000 0.000000 box + (mtdef.MTTimeoutException) 1.000000 0.000000 box + +% ----- relations ----- + +solid +0 0.500000 1.000000 out +solid +1 0.500000 2.000000 in +solid +1 0.500000 0.250000 out +solid +0.000000 1.000000 1.000000 conn +solid +0 0.000000 0.750000 in +solid +0 1.000000 0.750000 in diff --git a/docs/latex/classmtdef_1_1MTException.tex b/docs/latex/classmtdef_1_1MTException.tex new file mode 100644 index 0000000..664aaea --- /dev/null +++ b/docs/latex/classmtdef_1_1MTException.tex @@ -0,0 +1,28 @@ +\hypertarget{classmtdef_1_1MTException}{}\doxysection{mtdef.\+M\+T\+Exception Class Reference} +\label{classmtdef_1_1MTException}\index{mtdef.MTException@{mtdef.MTException}} +Inheritance diagram for mtdef.\+M\+T\+Exception\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=3.000000cm]{classmtdef_1_1MTException} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtdef_1_1MTException_aef2c8ab0a8238f7caee863fedbc6aa4a}\label{classmtdef_1_1MTException_aef2c8ab0a8238f7caee863fedbc6aa4a}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, message) +\item +\mbox{\Hypertarget{classmtdef_1_1MTException_ae945e5f5e231393ce05d1adc5d6cdd94}\label{classmtdef_1_1MTException_ae945e5f5e231393ce05d1adc5d6cdd94}} +def {\bfseries \+\_\+\+\_\+str\+\_\+\+\_\+} (self) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtdef_1_1MTException_a5be6e05c2fd6b471ea167b25afad9f2d}\label{classmtdef_1_1MTException_a5be6e05c2fd6b471ea167b25afad9f2d}} +{\bfseries message} +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/xsens\+\_\+driver/nodes/mtdef.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classmtdef_1_1MTTimeoutException.eps b/docs/latex/classmtdef_1_1MTTimeoutException.eps new file mode 100644 index 0000000..aa6a43e --- /dev/null +++ b/docs/latex/classmtdef_1_1MTTimeoutException.eps @@ -0,0 +1,203 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 352.941176 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.416667 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 3 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(mtdef.MTTimeoutException) cw +(mtdef.MTException) cw +(Exception) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (mtdef.MTTimeoutException) 0.000000 0.000000 box + (mtdef.MTException) 0.000000 1.000000 box + (Exception) 0.000000 2.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in +solid +0 0.000000 1.000000 out +solid +1 0.000000 2.000000 in diff --git a/docs/latex/classmtdef_1_1MTTimeoutException.tex b/docs/latex/classmtdef_1_1MTTimeoutException.tex new file mode 100644 index 0000000..8567a04 --- /dev/null +++ b/docs/latex/classmtdef_1_1MTTimeoutException.tex @@ -0,0 +1,28 @@ +\hypertarget{classmtdef_1_1MTTimeoutException}{}\doxysection{mtdef.\+M\+T\+Timeout\+Exception Class Reference} +\label{classmtdef_1_1MTTimeoutException}\index{mtdef.MTTimeoutException@{mtdef.MTTimeoutException}} +Inheritance diagram for mtdef.\+M\+T\+Timeout\+Exception\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=3.000000cm]{classmtdef_1_1MTTimeoutException} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtdef_1_1MTTimeoutException_a229abababab998d9d19d36ee43dfc1c9}\label{classmtdef_1_1MTTimeoutException_a229abababab998d9d19d36ee43dfc1c9}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, message) +\item +\mbox{\Hypertarget{classmtdef_1_1MTTimeoutException_aed8d585a2f621e2b014daa2469f5ebbf}\label{classmtdef_1_1MTTimeoutException_aed8d585a2f621e2b014daa2469f5ebbf}} +def {\bfseries \+\_\+\+\_\+str\+\_\+\+\_\+} (self) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtdef_1_1MTTimeoutException_a6a33546be98bcca71867a978faa67e74}\label{classmtdef_1_1MTTimeoutException_a6a33546be98bcca71867a978faa67e74}} +{\bfseries message} +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/xsens\+\_\+driver/nodes/mtdef.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classmtdef_1_1OutputMode.tex b/docs/latex/classmtdef_1_1OutputMode.tex new file mode 100644 index 0000000..d64d12a --- /dev/null +++ b/docs/latex/classmtdef_1_1OutputMode.tex @@ -0,0 +1,41 @@ +\hypertarget{classmtdef_1_1OutputMode}{}\doxysection{mtdef.\+Output\+Mode Class Reference} +\label{classmtdef_1_1OutputMode}\index{mtdef.OutputMode@{mtdef.OutputMode}} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtdef_1_1OutputMode_ac5c68dcf874d1e2982a8296727639e54}\label{classmtdef_1_1OutputMode_ac5c68dcf874d1e2982a8296727639e54}} +int {\bfseries Temp} = 0x0001 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputMode_a6f5d09a03cade7d3a04d07cb487520e3}\label{classmtdef_1_1OutputMode_a6f5d09a03cade7d3a04d07cb487520e3}} +int {\bfseries Calib} = 0x0002 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputMode_a031a1c61927f3039f6d9271fae79be36}\label{classmtdef_1_1OutputMode_a031a1c61927f3039f6d9271fae79be36}} +int {\bfseries Orient} = 0x0004 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputMode_a9e5152e494ecf666df741c9999cbc777}\label{classmtdef_1_1OutputMode_a9e5152e494ecf666df741c9999cbc777}} +int {\bfseries Auxiliary} = 0x0008 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputMode_acaf9bc94db44bd7286444d26c77f2d58}\label{classmtdef_1_1OutputMode_acaf9bc94db44bd7286444d26c77f2d58}} +int {\bfseries Position} = 0x0010 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputMode_afd059ee03dd482940f9fdcd40247aef4}\label{classmtdef_1_1OutputMode_afd059ee03dd482940f9fdcd40247aef4}} +int {\bfseries Velocity} = 0x0020 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputMode_a2008da9ce384717cd66f084d25779160}\label{classmtdef_1_1OutputMode_a2008da9ce384717cd66f084d25779160}} +int {\bfseries Status} = 0x0800 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputMode_a71c49d935984f8be8cfebbf2ed577cf0}\label{classmtdef_1_1OutputMode_a71c49d935984f8be8cfebbf2ed577cf0}} +int {\bfseries R\+A\+W\+G\+PS} = 0x1000 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputMode_afcadd4cfb477338178688ab2d8ed7062}\label{classmtdef_1_1OutputMode_afcadd4cfb477338178688ab2d8ed7062}} +int {\bfseries R\+AW} = 0x4000 +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Values for the output mode.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/xsens\+\_\+driver/nodes/mtdef.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classmtdef_1_1OutputSettings.tex b/docs/latex/classmtdef_1_1OutputSettings.tex new file mode 100644 index 0000000..5a4d103 --- /dev/null +++ b/docs/latex/classmtdef_1_1OutputSettings.tex @@ -0,0 +1,83 @@ +\hypertarget{classmtdef_1_1OutputSettings}{}\doxysection{mtdef.\+Output\+Settings Class Reference} +\label{classmtdef_1_1OutputSettings}\index{mtdef.OutputSettings@{mtdef.OutputSettings}} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_a21f6a1e444c2314ff883095fe41e248a}\label{classmtdef_1_1OutputSettings_a21f6a1e444c2314ff883095fe41e248a}} +int {\bfseries Timestamp\+\_\+\+None} = 0x00000000 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_aa7e0d190ce08cac459f4042cc7638546}\label{classmtdef_1_1OutputSettings_aa7e0d190ce08cac459f4042cc7638546}} +int {\bfseries Timestamp\+\_\+\+Sample\+Cnt} = 0x00000001 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_a45702b3c952f82ee815f80d4ddf67acd}\label{classmtdef_1_1OutputSettings_a45702b3c952f82ee815f80d4ddf67acd}} +int {\bfseries Timestamp\+\_\+\+U\+T\+C\+Time} = 0x00000002 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_ae7c4548b20142c4fc887572f61516c01}\label{classmtdef_1_1OutputSettings_ae7c4548b20142c4fc887572f61516c01}} +int {\bfseries Orient\+Mode\+\_\+\+Quaternion} = 0x00000000 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_ac88d29ef6f18690b6837490d0ea31437}\label{classmtdef_1_1OutputSettings_ac88d29ef6f18690b6837490d0ea31437}} +int {\bfseries Orient\+Mode\+\_\+\+Euler} = 0x00000004 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_a0e7cdac578699e9bc8fad8a34a0904aa}\label{classmtdef_1_1OutputSettings_a0e7cdac578699e9bc8fad8a34a0904aa}} +int {\bfseries Orient\+Mode\+\_\+\+Matrix} = 0x00000008 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_a617223f5f925678751276e19bf1d4e7a}\label{classmtdef_1_1OutputSettings_a617223f5f925678751276e19bf1d4e7a}} +int {\bfseries Calib\+Mode\+\_\+\+Acc\+Gyr\+Mag} = 0x00000000 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_a2cc8f0cde270b93e5edcb0014f8c8ff4}\label{classmtdef_1_1OutputSettings_a2cc8f0cde270b93e5edcb0014f8c8ff4}} +int {\bfseries Calib\+Mode\+\_\+\+Gyr\+Mag} = 0x00000010 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_ab380665552dcd523ab3fac5ccdc97a46}\label{classmtdef_1_1OutputSettings_ab380665552dcd523ab3fac5ccdc97a46}} +int {\bfseries Calib\+Mode\+\_\+\+Acc\+Mag} = 0x00000020 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_a059e574b52794edab0de678d5d4de371}\label{classmtdef_1_1OutputSettings_a059e574b52794edab0de678d5d4de371}} +int {\bfseries Calib\+Mode\+\_\+\+Mag} = 0x00000030 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_a3e8a8b3d4f3920f029cb283c04d3ac03}\label{classmtdef_1_1OutputSettings_a3e8a8b3d4f3920f029cb283c04d3ac03}} +int {\bfseries Calib\+Mode\+\_\+\+Acc\+Gyr} = 0x00000040 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_a6719a0b0acf6295ffcf1c6f6ffc25a50}\label{classmtdef_1_1OutputSettings_a6719a0b0acf6295ffcf1c6f6ffc25a50}} +int {\bfseries Calib\+Mode\+\_\+\+Gyr} = 0x00000050 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_acf70ec170717970c35a02419060b5934}\label{classmtdef_1_1OutputSettings_acf70ec170717970c35a02419060b5934}} +int {\bfseries Calib\+Mode\+\_\+\+Acc} = 0x00000060 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_abca3164def620098dd83148e0ddd3e35}\label{classmtdef_1_1OutputSettings_abca3164def620098dd83148e0ddd3e35}} +int {\bfseries Calib\+Mode\+\_\+\+Mask} = 0x00000070 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_a75fed1781a0cfc09ea19d27573496e21}\label{classmtdef_1_1OutputSettings_a75fed1781a0cfc09ea19d27573496e21}} +int {\bfseries Data\+Format\+\_\+\+Float} = 0x00000000 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_add84144c4d3bb546c5ff77622ac2436b}\label{classmtdef_1_1OutputSettings_add84144c4d3bb546c5ff77622ac2436b}} +int {\bfseries Data\+Format\+\_\+12\+\_\+20} = 0x00000100 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_ab2ed6d90b58a1d46c30190e0e70857bf}\label{classmtdef_1_1OutputSettings_ab2ed6d90b58a1d46c30190e0e70857bf}} +int {\bfseries Data\+Format\+\_\+16\+\_\+32} = 0x00000200 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_ad93964f9527bf4e1c40cda7e544c16a4}\label{classmtdef_1_1OutputSettings_ad93964f9527bf4e1c40cda7e544c16a4}} +int {\bfseries Data\+Format\+\_\+\+Double} = 0x00000300 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_ac56523c098fe50984c5f140843eb1e91}\label{classmtdef_1_1OutputSettings_ac56523c098fe50984c5f140843eb1e91}} +int {\bfseries Auxiliary\+Mode\+\_\+\+No\+A\+I\+N1} = 0x00000400 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_a9b5d05844eb4be1d2cf172085df00acf}\label{classmtdef_1_1OutputSettings_a9b5d05844eb4be1d2cf172085df00acf}} +int {\bfseries Auxiliary\+Mode\+\_\+\+No\+A\+I\+N2} = 0x00000800 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_ab62dd60f5832688443a2e45b4cb2d0fc}\label{classmtdef_1_1OutputSettings_ab62dd60f5832688443a2e45b4cb2d0fc}} +int {\bfseries Position\+Mode\+\_\+\+L\+L\+A\+\_\+\+W\+G\+S84} = 0x00000000 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_a59cb8d9ae30e9a5706ecf85e3bd8fc82}\label{classmtdef_1_1OutputSettings_a59cb8d9ae30e9a5706ecf85e3bd8fc82}} +int {\bfseries Velocity\+Mode\+\_\+\+M\+S\+\_\+\+X\+YZ} = 0x00000000 +\item +\mbox{\Hypertarget{classmtdef_1_1OutputSettings_a7fe2d76eb7a97487ef2a9aa47c82ec1c}\label{classmtdef_1_1OutputSettings_a7fe2d76eb7a97487ef2a9aa47c82ec1c}} +int {\bfseries Coordinates\+\_\+\+N\+ED} = 0x80000000 +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Values for the output settings.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/xsens\+\_\+driver/nodes/mtdef.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classmtdef_1_1XDIGroup.tex b/docs/latex/classmtdef_1_1XDIGroup.tex new file mode 100644 index 0000000..50c3a54 --- /dev/null +++ b/docs/latex/classmtdef_1_1XDIGroup.tex @@ -0,0 +1,56 @@ +\hypertarget{classmtdef_1_1XDIGroup}{}\doxysection{mtdef.\+X\+D\+I\+Group Class Reference} +\label{classmtdef_1_1XDIGroup}\index{mtdef.XDIGroup@{mtdef.XDIGroup}} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtdef_1_1XDIGroup_ab075ee87f9da35d139fd005b16f4cc55}\label{classmtdef_1_1XDIGroup_ab075ee87f9da35d139fd005b16f4cc55}} +int {\bfseries Temperature} = 0x0800 +\item +\mbox{\Hypertarget{classmtdef_1_1XDIGroup_a8636f0e8af1fac9a56f6419441c7899c}\label{classmtdef_1_1XDIGroup_a8636f0e8af1fac9a56f6419441c7899c}} +int {\bfseries Timestamp} = 0x1000 +\item +\mbox{\Hypertarget{classmtdef_1_1XDIGroup_aefecfd212890ab547e02db7d5d9b2afe}\label{classmtdef_1_1XDIGroup_aefecfd212890ab547e02db7d5d9b2afe}} +int {\bfseries Orientation\+Data} = 0x2000 +\item +\mbox{\Hypertarget{classmtdef_1_1XDIGroup_a9fffbc3092093d0a72197541e4cc910a}\label{classmtdef_1_1XDIGroup_a9fffbc3092093d0a72197541e4cc910a}} +int {\bfseries Pressure} = 0x3000 +\item +\mbox{\Hypertarget{classmtdef_1_1XDIGroup_a58616b5ec51c9da3465d164b3a3697e3}\label{classmtdef_1_1XDIGroup_a58616b5ec51c9da3465d164b3a3697e3}} +int {\bfseries Acceleration} = 0x4000 +\item +\mbox{\Hypertarget{classmtdef_1_1XDIGroup_a695563e33a4a1ec37dfb185de3350221}\label{classmtdef_1_1XDIGroup_a695563e33a4a1ec37dfb185de3350221}} +int {\bfseries Position} = 0x5000 +\item +\mbox{\Hypertarget{classmtdef_1_1XDIGroup_af79ce65a0d2d35bd7b1bc6d5c2e8842c}\label{classmtdef_1_1XDIGroup_af79ce65a0d2d35bd7b1bc6d5c2e8842c}} +int {\bfseries G\+N\+SS} = 0x7000 +\item +\mbox{\Hypertarget{classmtdef_1_1XDIGroup_a438ee03d215fa3b16c943d1f3d6daae3}\label{classmtdef_1_1XDIGroup_a438ee03d215fa3b16c943d1f3d6daae3}} +int {\bfseries Angular\+Velocity} = 0x8000 +\item +\mbox{\Hypertarget{classmtdef_1_1XDIGroup_ad738a717cad4a9fa8dd3d1c863b0ae13}\label{classmtdef_1_1XDIGroup_ad738a717cad4a9fa8dd3d1c863b0ae13}} +int {\bfseries G\+PS} = 0x8800 +\item +\mbox{\Hypertarget{classmtdef_1_1XDIGroup_a5dbef87faf4a785be3dcf331e0f9daf2}\label{classmtdef_1_1XDIGroup_a5dbef87faf4a785be3dcf331e0f9daf2}} +int {\bfseries Sensor\+Component\+Readout} = 0x\+A000 +\item +\mbox{\Hypertarget{classmtdef_1_1XDIGroup_a32dbc60499ea94d21ef594ae17a43f86}\label{classmtdef_1_1XDIGroup_a32dbc60499ea94d21ef594ae17a43f86}} +int {\bfseries Analog\+In} = 0x\+B000 +\item +\mbox{\Hypertarget{classmtdef_1_1XDIGroup_a52719c7438ecf85f3abcff8766fe365a}\label{classmtdef_1_1XDIGroup_a52719c7438ecf85f3abcff8766fe365a}} +int {\bfseries Magnetic} = 0x\+C000 +\item +\mbox{\Hypertarget{classmtdef_1_1XDIGroup_adf5d30d0a4fd47272ac614c673e0f12c}\label{classmtdef_1_1XDIGroup_adf5d30d0a4fd47272ac614c673e0f12c}} +int {\bfseries Velocity} = 0x\+D000 +\item +\mbox{\Hypertarget{classmtdef_1_1XDIGroup_aec0af868dced8e7e775929d0bbf489af}\label{classmtdef_1_1XDIGroup_aec0af868dced8e7e775929d0bbf489af}} +int {\bfseries Status} = 0x\+E000 +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Values for the XDI groups.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/xsens\+\_\+driver/nodes/mtdef.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classmtdevice_1_1MTDevice.eps b/docs/latex/classmtdevice_1_1MTDevice.eps new file mode 100644 index 0000000..4226544 --- /dev/null +++ b/docs/latex/classmtdevice_1_1MTDevice.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 303.030303 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.650000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(mtdevice.MTDevice) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (mtdevice.MTDevice) 0.000000 0.000000 box + (object) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classmtdevice_1_1MTDevice.tex b/docs/latex/classmtdevice_1_1MTDevice.tex new file mode 100644 index 0000000..59eb1b2 --- /dev/null +++ b/docs/latex/classmtdevice_1_1MTDevice.tex @@ -0,0 +1,635 @@ +\hypertarget{classmtdevice_1_1MTDevice}{}\doxysection{mtdevice.\+M\+T\+Device Class Reference} +\label{classmtdevice_1_1MTDevice}\index{mtdevice.MTDevice@{mtdevice.MTDevice}} + + +\mbox{\hyperlink{classmtdevice_1_1MTDevice}{M\+T\+Device}} class. + + +Inheritance diagram for mtdevice.\+M\+T\+Device\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classmtdevice_1_1MTDevice} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a9a93b603a3c9ab6a7ad9027e436799d4}{\+\_\+\+\_\+init\+\_\+\+\_\+}} (self, port, baudrate=115200, timeout=0.\+002, autoconf=True, config\+\_\+mode=False, verbose=False, initial\+\_\+wait=0.\+1) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a8b4e4d222ab28dd708a4ecc220af343c}{write\+\_\+msg}} (self, mid, data=b\textquotesingle{}\textquotesingle{}) +\begin{DoxyCompactList}\small\item\em Low-\/level communication. \end{DoxyCompactList}\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a072aad4573d20a44ac7d18fcbf985546}{waitfor}} (self, size=1) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a86a979700d1d0f891943e7275d470f1f}{read\+\_\+data\+\_\+msg}} (self, buf=bytearray()) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_ac5598d36cd10ab80e28d41c60281addd}{read\+\_\+msg}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_aecbd2a94d3e4b6dd67193549d3668d2f}{write\+\_\+ack}} (self, mid, data=b\textquotesingle{}\textquotesingle{}, n\+\_\+retries=500) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_aa3a48c919b8a17d421468faba4b7045f}{Reset}} (self, go\+\_\+to\+\_\+config=False) +\begin{DoxyCompactList}\small\item\em High-\/level functions. \end{DoxyCompactList}\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a61464532dbf30f237794801053ef89e1}{Go\+To\+Config}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_ab6e5df72a835897e8e376e574e07376e}{Go\+To\+Measurement}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_aa634cb80bc49f34e4a41fd9214f20d9a}{Get\+Device\+ID}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a80f12839fe7f3ebe2e94a8c21641f2ae}{Get\+Product\+Code}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a1f31e322a4232994ac49fb641f3d3cc0}{Get\+Firmware\+Rev}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a259fb7d60c601ebe00e539c9a96ec9f7}{Run\+Self\+Test}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a815cba09b30c67bec0c1405dc916cf96}{Get\+Baudrate}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_ac964b061548751f4885b12dc01a0a0f7}{Set\+Baudrate}} (self, brid) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_af7939b8d550d4016f3078a5e8ea80020}{Get\+Error\+Mode}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a9f8b2a581a49333421f371ea1403b953}{Set\+Error\+Mode}} (self, error\+\_\+mode) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_ad4de7b6d2e4e8e033e2ac7f998554537}{Get\+Option\+Flags}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_adf0f4d946d65c78dcf641d9b7dd2c9e0}{Set\+Option\+Flags}} (self, set\+\_\+flags, clear\+\_\+flags) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_abc9c9bc4f9e83745b2d34df960050efa}{Get\+Location\+ID}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a82701d9577a6bf7323b9a5649bebe4e0}{Set\+Location\+ID}} (self, location\+\_\+id) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a1b86412ad2c180bcfd6bbf4ea62f76a4}{Restore\+Factory\+Defaults}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a7e0df33d903e96c8beaf7f136075cff1}{Get\+Transmit\+Delay}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a439b399cd20ca95cfad6225f368651f2}{Set\+Transmit\+Delay}} (self, transmit\+\_\+delay) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_af518193ff364835d40017be2a0fdde45}{Get\+Sync\+Settings}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a339cd8bc34b6fa9c1f4dc7b8c8751576}{Set\+Sync\+Settings}} (self, sync\+\_\+settings) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a2d75ac2afb3feded6ca6ac0fabb54aef}{Get\+Configuration}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a14e52089e2cc376e2ac1c77283a348d1}{Get\+Output\+Configuration}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a53c95416ed262990d70b667497a44d71}{Set\+Output\+Configuration}} (self, output\+\_\+configuration) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_ab265cda5a90f2089720c4028a6d64d45}{Get\+String\+Output\+Type}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a7ef3bdc62f343cb2ba1b7b497c83cda3}{Set\+String\+Output\+Type}} (self, string\+\_\+output\+\_\+type) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a9964a8f360efe414c9bd84d173cff963}{Get\+Period}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a7421eafc5d4d03fc6e7d419dd5d687e4}{Set\+Period}} (self, period) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a4473bb21765c708b18803fc26d8cc4d2}{Get\+Alignment\+Rotation}} (self, parameter) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_ad7f11554fdb3d2ce24d2ca081ca972c6}{Set\+Alignment\+Rotation}} (self, parameter, quaternion) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_af193eb2f64536239389fb4ba83a21d86}{Get\+Output\+Mode}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a1e990d315750492fa1afbd49990959cc}{Set\+Output\+Mode}} (self, mode) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a66e75cf601b0a7cfef3f456300d7520d}{Get\+Ext\+Output\+Mode}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a5cd787accdbf2aec47fc0edf2835df40}{Set\+Ext\+Output\+Mode}} (self, ext\+\_\+mode) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a782fd0b3a63007569b8c009ae7c1d8cc}{Get\+Output\+Settings}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_ac8f77a2d1d393aea71a7790929791cc0}{Set\+Output\+Settings}} (self, settings) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a00ae63328881e07081d07a385ecfe858}{Set\+Output\+Skip\+Factor}} (self, skipfactor) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a948beab4131a0748c8943d5abce96394}{Req\+Data\+Length}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a80fa3cd0b6bf97a2ba46771e891d3fd1}{Get\+Lat\+Lon\+Alt}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_adb65653ac4a1509c3fbd9122b63365da}{Set\+Lat\+Lon\+Alt}} (self, lat, lon, alt) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_ad55a649988c828b49bc2af507c39da93}{Get\+Available\+Scenarios}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_ac63944270e1c85c2c4c9fcc500474ab5}{Get\+Current\+Scenario}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a94eaa1bb8de52ed69bb20c9ffa404fe8}{Set\+Current\+Scenario}} (self, scenario\+\_\+id) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a29424b8cc73d27252ed151075735c0e5}{Reset\+Orientation}} (self, code) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_aec52bfabf3122d033b56d7e596d3c036}{Set\+No\+Rotation}} (self, duration) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_aa5a60e82059880b43492ea174ac36d6c}{Get\+U\+T\+C\+Time}} (self) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a8e431e7cfdf17e72d9bdc1eddcf80d43}{Set\+U\+T\+C\+Time}} (self, ns, year, month, day, hour, minute, second, flag) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_af18ecf9cbdca13076b655a6b83f8fab2}{Adjust\+U\+T\+C\+Time}} (self, ticks) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a487b8703cde676cd0877e0b07a40ed0c}{configure\+\_\+legacy}} (self, mode, settings, period=None, skipfactor=None) +\begin{DoxyCompactList}\small\item\em High-\/level utility functions. \end{DoxyCompactList}\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a2f6e1f0e3ca9c5459b97dc1007050c7b}{auto\+\_\+config\+\_\+legacy}} (self) +\item +\mbox{\Hypertarget{classmtdevice_1_1MTDevice_ac8b5e65c0dbc76a21ce0d783fad0e622}\label{classmtdevice_1_1MTDevice_ac8b5e65c0dbc76a21ce0d783fad0e622}} +def {\bfseries read\+\_\+measurement} (self, mode=None, settings=None) +\item +\mbox{\Hypertarget{classmtdevice_1_1MTDevice_a6e34005b0463c21c75ddc0986600d36d}\label{classmtdevice_1_1MTDevice_a6e34005b0463c21c75ddc0986600d36d}} +def {\bfseries parse\+\_\+\+M\+T\+Data2} (self, data) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a797870c42c7c882a20806279dc984355}{parse\+\_\+\+M\+T\+Data}} (self, data, mode=None, settings=None) +\item +def \mbox{\hyperlink{classmtdevice_1_1MTDevice_a065580ecd5e3906b8f49c46c1b1510e7}{Change\+Baudrate}} (self, baudrate) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtdevice_1_1MTDevice_a6dcc0bc56086e927423db95656856d10}\label{classmtdevice_1_1MTDevice_a6dcc0bc56086e927423db95656856d10}} +{\bfseries verbose} +\item +\mbox{\Hypertarget{classmtdevice_1_1MTDevice_af9445fdb0f702410f2bf23d69c92efa5}\label{classmtdevice_1_1MTDevice_af9445fdb0f702410f2bf23d69c92efa5}} +{\bfseries device} +\item +\mbox{\Hypertarget{classmtdevice_1_1MTDevice_a91c1ae6fa1d5d15044bba922e42ceafb}\label{classmtdevice_1_1MTDevice_a91c1ae6fa1d5d15044bba922e42ceafb}} +{\bfseries timeout} +\item +\mbox{\Hypertarget{classmtdevice_1_1MTDevice_ac50a29b63d176b4261060d50d1758e32}\label{classmtdevice_1_1MTDevice_ac50a29b63d176b4261060d50d1758e32}} +{\bfseries state} +\item +\mbox{\Hypertarget{classmtdevice_1_1MTDevice_ab24f4baabcc6525727f9f4c5dee1e226}\label{classmtdevice_1_1MTDevice_ab24f4baabcc6525727f9f4c5dee1e226}} +{\bfseries mode} +\item +\mbox{\Hypertarget{classmtdevice_1_1MTDevice_a11283b18b5ced9424dc73efe03a49fd8}\label{classmtdevice_1_1MTDevice_a11283b18b5ced9424dc73efe03a49fd8}} +{\bfseries settings} +\item +\mbox{\Hypertarget{classmtdevice_1_1MTDevice_a9b8218f5a01b92e698ac428ea481c948}\label{classmtdevice_1_1MTDevice_a9b8218f5a01b92e698ac428ea481c948}} +{\bfseries length} +\item +\mbox{\Hypertarget{classmtdevice_1_1MTDevice_aeced4192f195e40e5c3d2bee968f0fd7}\label{classmtdevice_1_1MTDevice_aeced4192f195e40e5c3d2bee968f0fd7}} +{\bfseries header} +\item +\mbox{\Hypertarget{classmtdevice_1_1MTDevice_a194a8ba29c60bf12b87b5927b0aed098}\label{classmtdevice_1_1MTDevice_a194a8ba29c60bf12b87b5927b0aed098}} +{\bfseries scenarios} +\item +\mbox{\Hypertarget{classmtdevice_1_1MTDevice_a4bab15bccdddcdf12e08c34926b2c03c}\label{classmtdevice_1_1MTDevice_a4bab15bccdddcdf12e08c34926b2c03c}} +{\bfseries scenario\+\_\+id} +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\mbox{\hyperlink{classmtdevice_1_1MTDevice}{M\+T\+Device}} class. + +\begin{DoxyVerb}XSens MT device communication object.\end{DoxyVerb} + + +\doxysubsection{Constructor \& Destructor Documentation} +\mbox{\Hypertarget{classmtdevice_1_1MTDevice_a9a93b603a3c9ab6a7ad9027e436799d4}\label{classmtdevice_1_1MTDevice_a9a93b603a3c9ab6a7ad9027e436799d4}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!\_\_init\_\_@{\_\_init\_\_}} +\index{\_\_init\_\_@{\_\_init\_\_}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{\_\_init\_\_()}{\_\_init\_\_()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+\_\+\+\_\+init\+\_\+\+\_\+ (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{port, }\item[{}]{baudrate = {\ttfamily 115200}, }\item[{}]{timeout = {\ttfamily 0.002}, }\item[{}]{autoconf = {\ttfamily True}, }\item[{}]{config\+\_\+mode = {\ttfamily False}, }\item[{}]{verbose = {\ttfamily False}, }\item[{}]{initial\+\_\+wait = {\ttfamily 0.1} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Open device.\end{DoxyVerb} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classmtdevice_1_1MTDevice_af18ecf9cbdca13076b655a6b83f8fab2}\label{classmtdevice_1_1MTDevice_af18ecf9cbdca13076b655a6b83f8fab2}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!AdjustUTCTime@{AdjustUTCTime}} +\index{AdjustUTCTime@{AdjustUTCTime}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{AdjustUTCTime()}{AdjustUTCTime()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Adjust\+U\+T\+C\+Time (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{ticks }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Adjust UTC Time of device using correction ticks (0.1 ms).\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a2f6e1f0e3ca9c5459b97dc1007050c7b}\label{classmtdevice_1_1MTDevice_a2f6e1f0e3ca9c5459b97dc1007050c7b}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!auto\_config\_legacy@{auto\_config\_legacy}} +\index{auto\_config\_legacy@{auto\_config\_legacy}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{auto\_config\_legacy()}{auto\_config\_legacy()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+auto\+\_\+config\+\_\+legacy (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Read configuration from device in legacy mode.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a065580ecd5e3906b8f49c46c1b1510e7}\label{classmtdevice_1_1MTDevice_a065580ecd5e3906b8f49c46c1b1510e7}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!ChangeBaudrate@{ChangeBaudrate}} +\index{ChangeBaudrate@{ChangeBaudrate}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{ChangeBaudrate()}{ChangeBaudrate()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Change\+Baudrate (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{baudrate }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Change the baudrate, reset the device and reopen communication.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a487b8703cde676cd0877e0b07a40ed0c}\label{classmtdevice_1_1MTDevice_a487b8703cde676cd0877e0b07a40ed0c}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!configure\_legacy@{configure\_legacy}} +\index{configure\_legacy@{configure\_legacy}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{configure\_legacy()}{configure\_legacy()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+configure\+\_\+legacy (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{mode, }\item[{}]{settings, }\item[{}]{period = {\ttfamily None}, }\item[{}]{skipfactor = {\ttfamily None} }\end{DoxyParamCaption})} + + + +High-\/level utility functions. + +\begin{DoxyVerb}Configure the mode and settings of the MT device in legacy mode.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a4473bb21765c708b18803fc26d8cc4d2}\label{classmtdevice_1_1MTDevice_a4473bb21765c708b18803fc26d8cc4d2}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetAlignmentRotation@{GetAlignmentRotation}} +\index{GetAlignmentRotation@{GetAlignmentRotation}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetAlignmentRotation()}{GetAlignmentRotation()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Alignment\+Rotation (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{parameter }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the object alignment. + +parameter indicates the desired alignment quaternion: + 0 for sensor alignment (RotSensor), + 1 for local alignment (RotLocal). +\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_ad55a649988c828b49bc2af507c39da93}\label{classmtdevice_1_1MTDevice_ad55a649988c828b49bc2af507c39da93}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetAvailableScenarios@{GetAvailableScenarios}} +\index{GetAvailableScenarios@{GetAvailableScenarios}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetAvailableScenarios()}{GetAvailableScenarios()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Available\+Scenarios (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the available XKF scenarios on the device.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a815cba09b30c67bec0c1405dc916cf96}\label{classmtdevice_1_1MTDevice_a815cba09b30c67bec0c1405dc916cf96}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetBaudrate@{GetBaudrate}} +\index{GetBaudrate@{GetBaudrate}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetBaudrate()}{GetBaudrate()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Baudrate (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the current baudrate id of the device.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a2d75ac2afb3feded6ca6ac0fabb54aef}\label{classmtdevice_1_1MTDevice_a2d75ac2afb3feded6ca6ac0fabb54aef}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetConfiguration@{GetConfiguration}} +\index{GetConfiguration@{GetConfiguration}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetConfiguration()}{GetConfiguration()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Configuration (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Ask for the current configuration of the MT device.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_ac63944270e1c85c2c4c9fcc500474ab5}\label{classmtdevice_1_1MTDevice_ac63944270e1c85c2c4c9fcc500474ab5}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetCurrentScenario@{GetCurrentScenario}} +\index{GetCurrentScenario@{GetCurrentScenario}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetCurrentScenario()}{GetCurrentScenario()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Current\+Scenario (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the ID of the currently used XKF scenario.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_aa634cb80bc49f34e4a41fd9214f20d9a}\label{classmtdevice_1_1MTDevice_aa634cb80bc49f34e4a41fd9214f20d9a}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetDeviceID@{GetDeviceID}} +\index{GetDeviceID@{GetDeviceID}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetDeviceID()}{GetDeviceID()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Device\+ID (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the device identifier.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_af7939b8d550d4016f3078a5e8ea80020}\label{classmtdevice_1_1MTDevice_af7939b8d550d4016f3078a5e8ea80020}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetErrorMode@{GetErrorMode}} +\index{GetErrorMode@{GetErrorMode}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetErrorMode()}{GetErrorMode()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Error\+Mode (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the current error mode of the device.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a66e75cf601b0a7cfef3f456300d7520d}\label{classmtdevice_1_1MTDevice_a66e75cf601b0a7cfef3f456300d7520d}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetExtOutputMode@{GetExtOutputMode}} +\index{GetExtOutputMode@{GetExtOutputMode}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetExtOutputMode()}{GetExtOutputMode()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Ext\+Output\+Mode (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get current extended output mode (for alternative UART).\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a1f31e322a4232994ac49fb641f3d3cc0}\label{classmtdevice_1_1MTDevice_a1f31e322a4232994ac49fb641f3d3cc0}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetFirmwareRev@{GetFirmwareRev}} +\index{GetFirmwareRev@{GetFirmwareRev}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetFirmwareRev()}{GetFirmwareRev()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Firmware\+Rev (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the firmware version.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a80fa3cd0b6bf97a2ba46771e891d3fd1}\label{classmtdevice_1_1MTDevice_a80fa3cd0b6bf97a2ba46771e891d3fd1}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetLatLonAlt@{GetLatLonAlt}} +\index{GetLatLonAlt@{GetLatLonAlt}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetLatLonAlt()}{GetLatLonAlt()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Lat\+Lon\+Alt (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the stored position of the device. +It is used internally for local magnetic declination and local gravity. +\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_abc9c9bc4f9e83745b2d34df960050efa}\label{classmtdevice_1_1MTDevice_abc9c9bc4f9e83745b2d34df960050efa}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetLocationID@{GetLocationID}} +\index{GetLocationID@{GetLocationID}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetLocationID()}{GetLocationID()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Location\+ID (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the location ID of the device.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_ad4de7b6d2e4e8e033e2ac7f998554537}\label{classmtdevice_1_1MTDevice_ad4de7b6d2e4e8e033e2ac7f998554537}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetOptionFlags@{GetOptionFlags}} +\index{GetOptionFlags@{GetOptionFlags}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetOptionFlags()}{GetOptionFlags()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Option\+Flags (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the option flags (MTi-1 series).\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a14e52089e2cc376e2ac1c77283a348d1}\label{classmtdevice_1_1MTDevice_a14e52089e2cc376e2ac1c77283a348d1}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetOutputConfiguration@{GetOutputConfiguration}} +\index{GetOutputConfiguration@{GetOutputConfiguration}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetOutputConfiguration()}{GetOutputConfiguration()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Output\+Configuration (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the output configuration of the device (mark IV).\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_af193eb2f64536239389fb4ba83a21d86}\label{classmtdevice_1_1MTDevice_af193eb2f64536239389fb4ba83a21d86}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetOutputMode@{GetOutputMode}} +\index{GetOutputMode@{GetOutputMode}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetOutputMode()}{GetOutputMode()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Output\+Mode (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get current output mode.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a782fd0b3a63007569b8c009ae7c1d8cc}\label{classmtdevice_1_1MTDevice_a782fd0b3a63007569b8c009ae7c1d8cc}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetOutputSettings@{GetOutputSettings}} +\index{GetOutputSettings@{GetOutputSettings}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetOutputSettings()}{GetOutputSettings()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Output\+Settings (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get current output mode.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a9964a8f360efe414c9bd84d173cff963}\label{classmtdevice_1_1MTDevice_a9964a8f360efe414c9bd84d173cff963}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetPeriod@{GetPeriod}} +\index{GetPeriod@{GetPeriod}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetPeriod()}{GetPeriod()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Period (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the sampling period.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a80f12839fe7f3ebe2e94a8c21641f2ae}\label{classmtdevice_1_1MTDevice_a80f12839fe7f3ebe2e94a8c21641f2ae}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetProductCode@{GetProductCode}} +\index{GetProductCode@{GetProductCode}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetProductCode()}{GetProductCode()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Product\+Code (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the product code.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_ab265cda5a90f2089720c4028a6d64d45}\label{classmtdevice_1_1MTDevice_ab265cda5a90f2089720c4028a6d64d45}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetStringOutputType@{GetStringOutputType}} +\index{GetStringOutputType@{GetStringOutputType}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetStringOutputType()}{GetStringOutputType()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+String\+Output\+Type (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the NMEA data output configuration.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_af518193ff364835d40017be2a0fdde45}\label{classmtdevice_1_1MTDevice_af518193ff364835d40017be2a0fdde45}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetSyncSettings@{GetSyncSettings}} +\index{GetSyncSettings@{GetSyncSettings}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetSyncSettings()}{GetSyncSettings()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Sync\+Settings (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the synchronisation settings.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a7e0df33d903e96c8beaf7f136075cff1}\label{classmtdevice_1_1MTDevice_a7e0df33d903e96c8beaf7f136075cff1}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetTransmitDelay@{GetTransmitDelay}} +\index{GetTransmitDelay@{GetTransmitDelay}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetTransmitDelay()}{GetTransmitDelay()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+Transmit\+Delay (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get the transmission delay (only RS485).\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_aa5a60e82059880b43492ea174ac36d6c}\label{classmtdevice_1_1MTDevice_aa5a60e82059880b43492ea174ac36d6c}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GetUTCTime@{GetUTCTime}} +\index{GetUTCTime@{GetUTCTime}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GetUTCTime()}{GetUTCTime()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Get\+U\+T\+C\+Time (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get UTC time from device.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a61464532dbf30f237794801053ef89e1}\label{classmtdevice_1_1MTDevice_a61464532dbf30f237794801053ef89e1}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GoToConfig@{GoToConfig}} +\index{GoToConfig@{GoToConfig}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GoToConfig()}{GoToConfig()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Go\+To\+Config (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Place MT device in configuration mode.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_ab6e5df72a835897e8e376e574e07376e}\label{classmtdevice_1_1MTDevice_ab6e5df72a835897e8e376e574e07376e}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!GoToMeasurement@{GoToMeasurement}} +\index{GoToMeasurement@{GoToMeasurement}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{GoToMeasurement()}{GoToMeasurement()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Go\+To\+Measurement (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Place MT device in measurement mode.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a797870c42c7c882a20806279dc984355}\label{classmtdevice_1_1MTDevice_a797870c42c7c882a20806279dc984355}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!parse\_MTData@{parse\_MTData}} +\index{parse\_MTData@{parse\_MTData}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{parse\_MTData()}{parse\_MTData()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+parse\+\_\+\+M\+T\+Data (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{data, }\item[{}]{mode = {\ttfamily None}, }\item[{}]{settings = {\ttfamily None} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Read and parse a legacy measurement packet.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a86a979700d1d0f891943e7275d470f1f}\label{classmtdevice_1_1MTDevice_a86a979700d1d0f891943e7275d470f1f}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!read\_data\_msg@{read\_data\_msg}} +\index{read\_data\_msg@{read\_data\_msg}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{read\_data\_msg()}{read\_data\_msg()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+read\+\_\+data\+\_\+msg (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{buf = {\ttfamily bytearray()} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Low-level MTData receiving function. +Take advantage of known message length. +\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_ac5598d36cd10ab80e28d41c60281addd}\label{classmtdevice_1_1MTDevice_ac5598d36cd10ab80e28d41c60281addd}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!read\_msg@{read\_msg}} +\index{read\_msg@{read\_msg}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{read\_msg()}{read\_msg()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+read\+\_\+msg (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Low-level message receiving function.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a948beab4131a0748c8943d5abce96394}\label{classmtdevice_1_1MTDevice_a948beab4131a0748c8943d5abce96394}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!ReqDataLength@{ReqDataLength}} +\index{ReqDataLength@{ReqDataLength}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{ReqDataLength()}{ReqDataLength()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Req\+Data\+Length (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get data length for mark III devices.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_aa3a48c919b8a17d421468faba4b7045f}\label{classmtdevice_1_1MTDevice_aa3a48c919b8a17d421468faba4b7045f}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!Reset@{Reset}} +\index{Reset@{Reset}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{Reset()}{Reset()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Reset (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{go\+\_\+to\+\_\+config = {\ttfamily False} }\end{DoxyParamCaption})} + + + +High-\/level functions. + +\begin{DoxyVerb}Reset MT device. + +If go_to_config then send WakeUpAck in order to leave the device in +config mode. +\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a29424b8cc73d27252ed151075735c0e5}\label{classmtdevice_1_1MTDevice_a29424b8cc73d27252ed151075735c0e5}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!ResetOrientation@{ResetOrientation}} +\index{ResetOrientation@{ResetOrientation}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{ResetOrientation()}{ResetOrientation()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Reset\+Orientation (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{code }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Reset the orientation. + +Code can take several values: + 0x0000: store current settings (only in config mode), + 0x0001: heading reset (NOT supported by MTi-G), + 0x0003: object reset. +\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a1b86412ad2c180bcfd6bbf4ea62f76a4}\label{classmtdevice_1_1MTDevice_a1b86412ad2c180bcfd6bbf4ea62f76a4}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!RestoreFactoryDefaults@{RestoreFactoryDefaults}} +\index{RestoreFactoryDefaults@{RestoreFactoryDefaults}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{RestoreFactoryDefaults()}{RestoreFactoryDefaults()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Restore\+Factory\+Defaults (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Restore MT device configuration to factory defaults (soft version). +\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a259fb7d60c601ebe00e539c9a96ec9f7}\label{classmtdevice_1_1MTDevice_a259fb7d60c601ebe00e539c9a96ec9f7}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!RunSelfTest@{RunSelfTest}} +\index{RunSelfTest@{RunSelfTest}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{RunSelfTest()}{RunSelfTest()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Run\+Self\+Test (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Run the built-in self test.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_ad7f11554fdb3d2ce24d2ca081ca972c6}\label{classmtdevice_1_1MTDevice_ad7f11554fdb3d2ce24d2ca081ca972c6}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetAlignmentRotation@{SetAlignmentRotation}} +\index{SetAlignmentRotation@{SetAlignmentRotation}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetAlignmentRotation()}{SetAlignmentRotation()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+Alignment\+Rotation (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{parameter, }\item[{}]{quaternion }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set the object alignment. + +parameter indicates the desired alignment quaternion: + 0 for sensor alignment (RotSensor), + 1 for local alignment (RotLocal). +\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_ac964b061548751f4885b12dc01a0a0f7}\label{classmtdevice_1_1MTDevice_ac964b061548751f4885b12dc01a0a0f7}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetBaudrate@{SetBaudrate}} +\index{SetBaudrate@{SetBaudrate}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetBaudrate()}{SetBaudrate()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+Baudrate (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{brid }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set the baudrate of the device using the baudrate id.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a94eaa1bb8de52ed69bb20c9ffa404fe8}\label{classmtdevice_1_1MTDevice_a94eaa1bb8de52ed69bb20c9ffa404fe8}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetCurrentScenario@{SetCurrentScenario}} +\index{SetCurrentScenario@{SetCurrentScenario}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetCurrentScenario()}{SetCurrentScenario()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+Current\+Scenario (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{scenario\+\_\+id }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Sets the XKF scenario to use.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a9f8b2a581a49333421f371ea1403b953}\label{classmtdevice_1_1MTDevice_a9f8b2a581a49333421f371ea1403b953}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetErrorMode@{SetErrorMode}} +\index{SetErrorMode@{SetErrorMode}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetErrorMode()}{SetErrorMode()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+Error\+Mode (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{error\+\_\+mode }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set the error mode of the device. + +The error mode defines the way the device deals with errors (expect +message errors): + 0x0000: ignore any errors except message handling errors, + 0x0001: in case of missing sampling instance: increase sample +counter and do not send error message, + 0x0002: in case of missing sampling instance: increase sample +counter and send error message, + 0x0003: in case of non-message handling error, an error message is +sent and the device will go into Config State. +\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a5cd787accdbf2aec47fc0edf2835df40}\label{classmtdevice_1_1MTDevice_a5cd787accdbf2aec47fc0edf2835df40}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetExtOutputMode@{SetExtOutputMode}} +\index{SetExtOutputMode@{SetExtOutputMode}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetExtOutputMode()}{SetExtOutputMode()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+Ext\+Output\+Mode (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{ext\+\_\+mode }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set extended output mode (for alternative UART).\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_adb65653ac4a1509c3fbd9122b63365da}\label{classmtdevice_1_1MTDevice_adb65653ac4a1509c3fbd9122b63365da}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetLatLonAlt@{SetLatLonAlt}} +\index{SetLatLonAlt@{SetLatLonAlt}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetLatLonAlt()}{SetLatLonAlt()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+Lat\+Lon\+Alt (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{lat, }\item[{}]{lon, }\item[{}]{alt }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set the position of the device. +It is used internally for local magnetic declination and local gravity. +\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a82701d9577a6bf7323b9a5649bebe4e0}\label{classmtdevice_1_1MTDevice_a82701d9577a6bf7323b9a5649bebe4e0}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetLocationID@{SetLocationID}} +\index{SetLocationID@{SetLocationID}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetLocationID()}{SetLocationID()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+Location\+ID (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{location\+\_\+id }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set the location ID of the device (arbitrary).\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_aec52bfabf3122d033b56d7e596d3c036}\label{classmtdevice_1_1MTDevice_aec52bfabf3122d033b56d7e596d3c036}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetNoRotation@{SetNoRotation}} +\index{SetNoRotation@{SetNoRotation}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetNoRotation()}{SetNoRotation()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+No\+Rotation (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{duration }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Initiate the "no rotation" procedure to estimate gyro biases.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_adf0f4d946d65c78dcf641d9b7dd2c9e0}\label{classmtdevice_1_1MTDevice_adf0f4d946d65c78dcf641d9b7dd2c9e0}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetOptionFlags@{SetOptionFlags}} +\index{SetOptionFlags@{SetOptionFlags}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetOptionFlags()}{SetOptionFlags()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+Option\+Flags (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{set\+\_\+flags, }\item[{}]{clear\+\_\+flags }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set the option flags (MTi-1 series).\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a53c95416ed262990d70b667497a44d71}\label{classmtdevice_1_1MTDevice_a53c95416ed262990d70b667497a44d71}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetOutputConfiguration@{SetOutputConfiguration}} +\index{SetOutputConfiguration@{SetOutputConfiguration}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetOutputConfiguration()}{SetOutputConfiguration()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+Output\+Configuration (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{output\+\_\+configuration }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set the output configuration of the device (mark IV).\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a1e990d315750492fa1afbd49990959cc}\label{classmtdevice_1_1MTDevice_a1e990d315750492fa1afbd49990959cc}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetOutputMode@{SetOutputMode}} +\index{SetOutputMode@{SetOutputMode}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetOutputMode()}{SetOutputMode()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+Output\+Mode (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{mode }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Select which information to output.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_ac8f77a2d1d393aea71a7790929791cc0}\label{classmtdevice_1_1MTDevice_ac8f77a2d1d393aea71a7790929791cc0}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetOutputSettings@{SetOutputSettings}} +\index{SetOutputSettings@{SetOutputSettings}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetOutputSettings()}{SetOutputSettings()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+Output\+Settings (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{settings }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Select how to output the information.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a00ae63328881e07081d07a385ecfe858}\label{classmtdevice_1_1MTDevice_a00ae63328881e07081d07a385ecfe858}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetOutputSkipFactor@{SetOutputSkipFactor}} +\index{SetOutputSkipFactor@{SetOutputSkipFactor}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetOutputSkipFactor()}{SetOutputSkipFactor()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+Output\+Skip\+Factor (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{skipfactor }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set the output skip factor.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a7421eafc5d4d03fc6e7d419dd5d687e4}\label{classmtdevice_1_1MTDevice_a7421eafc5d4d03fc6e7d419dd5d687e4}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetPeriod@{SetPeriod}} +\index{SetPeriod@{SetPeriod}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetPeriod()}{SetPeriod()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+Period (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{period }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set the sampling period.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a7ef3bdc62f343cb2ba1b7b497c83cda3}\label{classmtdevice_1_1MTDevice_a7ef3bdc62f343cb2ba1b7b497c83cda3}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetStringOutputType@{SetStringOutputType}} +\index{SetStringOutputType@{SetStringOutputType}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetStringOutputType()}{SetStringOutputType()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+String\+Output\+Type (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{string\+\_\+output\+\_\+type }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set the configuration of the NMEA data output.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a339cd8bc34b6fa9c1f4dc7b8c8751576}\label{classmtdevice_1_1MTDevice_a339cd8bc34b6fa9c1f4dc7b8c8751576}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetSyncSettings@{SetSyncSettings}} +\index{SetSyncSettings@{SetSyncSettings}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetSyncSettings()}{SetSyncSettings()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+Sync\+Settings (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{sync\+\_\+settings }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set the synchronisation settings (mark IV)\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a439b399cd20ca95cfad6225f368651f2}\label{classmtdevice_1_1MTDevice_a439b399cd20ca95cfad6225f368651f2}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetTransmitDelay@{SetTransmitDelay}} +\index{SetTransmitDelay@{SetTransmitDelay}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetTransmitDelay()}{SetTransmitDelay()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+Transmit\+Delay (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{transmit\+\_\+delay }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set the transmission delay (only RS485).\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a8e431e7cfdf17e72d9bdc1eddcf80d43}\label{classmtdevice_1_1MTDevice_a8e431e7cfdf17e72d9bdc1eddcf80d43}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!SetUTCTime@{SetUTCTime}} +\index{SetUTCTime@{SetUTCTime}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{SetUTCTime()}{SetUTCTime()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+Set\+U\+T\+C\+Time (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{ns, }\item[{}]{year, }\item[{}]{month, }\item[{}]{day, }\item[{}]{hour, }\item[{}]{minute, }\item[{}]{second, }\item[{}]{flag }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set UTC time on the device.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a072aad4573d20a44ac7d18fcbf985546}\label{classmtdevice_1_1MTDevice_a072aad4573d20a44ac7d18fcbf985546}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!waitfor@{waitfor}} +\index{waitfor@{waitfor}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{waitfor()}{waitfor()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+waitfor (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{size = {\ttfamily 1} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Get a given amount of data.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_aecbd2a94d3e4b6dd67193549d3668d2f}\label{classmtdevice_1_1MTDevice_aecbd2a94d3e4b6dd67193549d3668d2f}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!write\_ack@{write\_ack}} +\index{write\_ack@{write\_ack}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{write\_ack()}{write\_ack()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+write\+\_\+ack (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{mid, }\item[{}]{data = {\ttfamily b\textquotesingle{}\textquotesingle{}}, }\item[{}]{n\+\_\+retries = {\ttfamily 500} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Send a message and read confirmation.\end{DoxyVerb} + \mbox{\Hypertarget{classmtdevice_1_1MTDevice_a8b4e4d222ab28dd708a4ecc220af343c}\label{classmtdevice_1_1MTDevice_a8b4e4d222ab28dd708a4ecc220af343c}} +\index{mtdevice.MTDevice@{mtdevice.MTDevice}!write\_msg@{write\_msg}} +\index{write\_msg@{write\_msg}!mtdevice.MTDevice@{mtdevice.MTDevice}} +\doxysubsubsection{\texorpdfstring{write\_msg()}{write\_msg()}} +{\footnotesize\ttfamily def mtdevice.\+M\+T\+Device.\+write\+\_\+msg (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{mid, }\item[{}]{data = {\ttfamily b\textquotesingle{}\textquotesingle{}} }\end{DoxyParamCaption})} + + + +Low-\/level communication. + +\begin{DoxyVerb}Low-level message sending function.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/xsens\+\_\+driver/nodes/mtdevice.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classmtnode_1_1XSensDriver.eps b/docs/latex/classmtnode_1_1XSensDriver.eps new file mode 100644 index 0000000..3b9b891 --- /dev/null +++ b/docs/latex/classmtnode_1_1XSensDriver.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 291.970803 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 1.712500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(mtnode.XSensDriver) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (mtnode.XSensDriver) 0.000000 0.000000 box + (object) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classmtnode_1_1XSensDriver.tex b/docs/latex/classmtnode_1_1XSensDriver.tex new file mode 100644 index 0000000..1bdfbf0 --- /dev/null +++ b/docs/latex/classmtnode_1_1XSensDriver.tex @@ -0,0 +1,208 @@ +\hypertarget{classmtnode_1_1XSensDriver}{}\doxysection{mtnode.\+X\+Sens\+Driver Class Reference} +\label{classmtnode_1_1XSensDriver}\index{mtnode.XSensDriver@{mtnode.XSensDriver}} +Inheritance diagram for mtnode.\+X\+Sens\+Driver\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classmtnode_1_1XSensDriver} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a0b6ca7ea61c965acd29a65f637d365b8}\label{classmtnode_1_1XSensDriver_a0b6ca7ea61c965acd29a65f637d365b8}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self) +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a7d2ce3f2530723aa96defcc7792e6edd}\label{classmtnode_1_1XSensDriver_a7d2ce3f2530723aa96defcc7792e6edd}} +def {\bfseries reset\+\_\+imu\+\_\+orient} (self, req) +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a863bd957f0d2b07c1a0eb811addc02dd}\label{classmtnode_1_1XSensDriver_a863bd957f0d2b07c1a0eb811addc02dd}} +def {\bfseries reset\+\_\+vars} (self) +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_aa5546c5d7da29fa865e266adb4ab3803}\label{classmtnode_1_1XSensDriver_aa5546c5d7da29fa865e266adb4ab3803}} +def {\bfseries spin} (self) +\item +def \mbox{\hyperlink{classmtnode_1_1XSensDriver_aff28c45fee0b35e2d479cebb913ed3f1}{spin\+\_\+once}} (self) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a533444d647f29724423bdf5673b51cef}\label{classmtnode_1_1XSensDriver_a533444d647f29724423bdf5673b51cef}} +{\bfseries mt} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a6f191ea8d92abb2b40e6832b486180ed}\label{classmtnode_1_1XSensDriver_a6f191ea8d92abb2b40e6832b486180ed}} +{\bfseries frame\+\_\+id} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a681810cae038b6b0ce5ee9f38aab545e}\label{classmtnode_1_1XSensDriver_a681810cae038b6b0ce5ee9f38aab545e}} +{\bfseries frame\+\_\+local} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a9304e350f0ba7b946de68d3ace0d3c3c}\label{classmtnode_1_1XSensDriver_a9304e350f0ba7b946de68d3ace0d3c3c}} +{\bfseries angular\+\_\+velocity\+\_\+covariance} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_abbdedac0f69a66a1456b561223300daf}\label{classmtnode_1_1XSensDriver_abbdedac0f69a66a1456b561223300daf}} +{\bfseries linear\+\_\+acceleration\+\_\+covariance} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_ac0d0b62522985d49bbf7d1ac1749bc3f}\label{classmtnode_1_1XSensDriver_ac0d0b62522985d49bbf7d1ac1749bc3f}} +{\bfseries orientation\+\_\+covariance} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_aeb74578a4205aee91903d0c5a79fbade}\label{classmtnode_1_1XSensDriver_aeb74578a4205aee91903d0c5a79fbade}} +{\bfseries diag\+\_\+msg} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_ab838347c957a0db843cc905fa2d1772f}\label{classmtnode_1_1XSensDriver_ab838347c957a0db843cc905fa2d1772f}} +{\bfseries stest\+\_\+stat} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a3c6715a3036ebc595518a9df1fa7727e}\label{classmtnode_1_1XSensDriver_a3c6715a3036ebc595518a9df1fa7727e}} +{\bfseries xkf\+\_\+stat} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_ad2dca796aab99d3d0f1d319d85032392}\label{classmtnode_1_1XSensDriver_ad2dca796aab99d3d0f1d319d85032392}} +{\bfseries gps\+\_\+stat} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_ae5a5e25107a1e3122097bca7c13b0935}\label{classmtnode_1_1XSensDriver_ae5a5e25107a1e3122097bca7c13b0935}} +{\bfseries diag\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_aebee46e036fa143f829c077b8c1c0b6a}\label{classmtnode_1_1XSensDriver_aebee46e036fa143f829c077b8c1c0b6a}} +{\bfseries imu\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_ae6a57bd960f9aa7b131d44980cee1327}\label{classmtnode_1_1XSensDriver_ae6a57bd960f9aa7b131d44980cee1327}} +{\bfseries euler\+\_\+yaw\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a750c044b3e00cb5ed28c833d51e5db2d}\label{classmtnode_1_1XSensDriver_a750c044b3e00cb5ed28c833d51e5db2d}} +{\bfseries euler\+\_\+pitch\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a3f17558e8f6981325be88430fa0b50a1}\label{classmtnode_1_1XSensDriver_a3f17558e8f6981325be88430fa0b50a1}} +{\bfseries euler\+\_\+roll\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a0872ad13e9b8ee8147e24c0061a55598}\label{classmtnode_1_1XSensDriver_a0872ad13e9b8ee8147e24c0061a55598}} +{\bfseries raw\+\_\+gps\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_ad072f2e05a4a50427d590f30da82aecc}\label{classmtnode_1_1XSensDriver_ad072f2e05a4a50427d590f30da82aecc}} +{\bfseries vel\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a9066e0039eb445da914e578e730a2399}\label{classmtnode_1_1XSensDriver_a9066e0039eb445da914e578e730a2399}} +{\bfseries mag\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a979f45a2ec43074292d8eec95ea2b2dd}\label{classmtnode_1_1XSensDriver_a979f45a2ec43074292d8eec95ea2b2dd}} +{\bfseries pos\+\_\+gps\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_acd5752c8041bff6544f989096ff9cb7e}\label{classmtnode_1_1XSensDriver_acd5752c8041bff6544f989096ff9cb7e}} +{\bfseries temp\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a307c4974ae6fcecfcdf2119917772860}\label{classmtnode_1_1XSensDriver_a307c4974ae6fcecfcdf2119917772860}} +{\bfseries press\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_adc507bf819815f61806b53bb3f795ff5}\label{classmtnode_1_1XSensDriver_adc507bf819815f61806b53bb3f795ff5}} +{\bfseries analog\+\_\+in1\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_abff38370de4f2eeaf2fb91bc03f15758}\label{classmtnode_1_1XSensDriver_abff38370de4f2eeaf2fb91bc03f15758}} +{\bfseries analog\+\_\+in2\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a07dc5f036f0020750cc0a3ac5885e834}\label{classmtnode_1_1XSensDriver_a07dc5f036f0020750cc0a3ac5885e834}} +{\bfseries ecef\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a0061f74794c778ad8a17979805994c95}\label{classmtnode_1_1XSensDriver_a0061f74794c778ad8a17979805994c95}} +{\bfseries time\+\_\+ref\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a933fbb60cbd22144ba7a36c2d571d700}\label{classmtnode_1_1XSensDriver_a933fbb60cbd22144ba7a36c2d571d700}} +{\bfseries imu\+\_\+msg} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_af745aa6a6ff0748b95ab02a62182ae8d}\label{classmtnode_1_1XSensDriver_af745aa6a6ff0748b95ab02a62182ae8d}} +{\bfseries old\+\_\+b\+G\+PS} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a7570caa07827ba514dcc588e592126ad}\label{classmtnode_1_1XSensDriver_a7570caa07827ba514dcc588e592126ad}} +{\bfseries str\+\_\+pub} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_ac553a7dc54c790d480f6512a663626f4}\label{classmtnode_1_1XSensDriver_ac553a7dc54c790d480f6512a663626f4}} +{\bfseries last\+\_\+delta\+\_\+q\+\_\+time} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a00a8ebfa9fc07b0c8cc46ea0fb9eb456}\label{classmtnode_1_1XSensDriver_a00a8ebfa9fc07b0c8cc46ea0fb9eb456}} +{\bfseries delta\+\_\+q\+\_\+rate} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a0e492529daa74a0911f62e37ca7ba308}\label{classmtnode_1_1XSensDriver_a0e492529daa74a0911f62e37ca7ba308}} +{\bfseries pub\+\_\+euler} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a32681e0754b6c8a6ca269febb423700f}\label{classmtnode_1_1XSensDriver_a32681e0754b6c8a6ca269febb423700f}} +{\bfseries euler\+\_\+yaw\+\_\+msg} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_ae5a06e75fdfa54481111926b9f5ffd91}\label{classmtnode_1_1XSensDriver_ae5a06e75fdfa54481111926b9f5ffd91}} +{\bfseries euler\+\_\+roll\+\_\+msg} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_aea767a272919a8b899f24e495d51755c}\label{classmtnode_1_1XSensDriver_aea767a272919a8b899f24e495d51755c}} +{\bfseries euler\+\_\+pitch\+\_\+msg} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_ac58ed5a5806851a286621a2003a8b34f}\label{classmtnode_1_1XSensDriver_ac58ed5a5806851a286621a2003a8b34f}} +{\bfseries pub\+\_\+imu} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_aaa2ef4138a57311e578df08bfb6a04d5}\label{classmtnode_1_1XSensDriver_aaa2ef4138a57311e578df08bfb6a04d5}} +{\bfseries raw\+\_\+gps\+\_\+msg} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a6757f229b32c60a925a3bf8be7e4e2f2}\label{classmtnode_1_1XSensDriver_a6757f229b32c60a925a3bf8be7e4e2f2}} +{\bfseries pub\+\_\+raw\+\_\+gps} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a6de1d861049f057a91817d3fb223e065}\label{classmtnode_1_1XSensDriver_a6de1d861049f057a91817d3fb223e065}} +{\bfseries pos\+\_\+gps\+\_\+msg} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_ad95214b3a819330a546a2ff5084cd073}\label{classmtnode_1_1XSensDriver_ad95214b3a819330a546a2ff5084cd073}} +{\bfseries pub\+\_\+pos\+\_\+gps} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_aed0410ced2488ee93629c28123c6f3bf}\label{classmtnode_1_1XSensDriver_aed0410ced2488ee93629c28123c6f3bf}} +{\bfseries vel\+\_\+msg} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a3e73a37b9a44d81010c96d0bfef7df1e}\label{classmtnode_1_1XSensDriver_a3e73a37b9a44d81010c96d0bfef7df1e}} +{\bfseries pub\+\_\+vel} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a6689e97fbd49e940e4cd880fad97b75a}\label{classmtnode_1_1XSensDriver_a6689e97fbd49e940e4cd880fad97b75a}} +{\bfseries mag\+\_\+msg} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_adcdb4dd7fc32dca6cdc6fa2d66af83e5}\label{classmtnode_1_1XSensDriver_adcdb4dd7fc32dca6cdc6fa2d66af83e5}} +{\bfseries pub\+\_\+mag} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a04bcee1b5f2889da985348f52151482c}\label{classmtnode_1_1XSensDriver_a04bcee1b5f2889da985348f52151482c}} +{\bfseries temp\+\_\+msg} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a7ec58ec7c83e7710eaf7655dfab0714b}\label{classmtnode_1_1XSensDriver_a7ec58ec7c83e7710eaf7655dfab0714b}} +{\bfseries pub\+\_\+temp} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a12be7c1b55785c2919cc6f651f0ba556}\label{classmtnode_1_1XSensDriver_a12be7c1b55785c2919cc6f651f0ba556}} +{\bfseries press\+\_\+msg} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_aedeb018bdea33ac840a0f635cb40bd74}\label{classmtnode_1_1XSensDriver_aedeb018bdea33ac840a0f635cb40bd74}} +{\bfseries pub\+\_\+press} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_ad7b1fc141b7bbda2476d3b91f43a2987}\label{classmtnode_1_1XSensDriver_ad7b1fc141b7bbda2476d3b91f43a2987}} +{\bfseries anin1\+\_\+msg} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a346c4805ff8467cb709b2fe4d059fbc4}\label{classmtnode_1_1XSensDriver_a346c4805ff8467cb709b2fe4d059fbc4}} +{\bfseries pub\+\_\+anin1} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a565620a872ecdb5ddb7019257d64e0e7}\label{classmtnode_1_1XSensDriver_a565620a872ecdb5ddb7019257d64e0e7}} +{\bfseries anin2\+\_\+msg} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a96b8036fe31c350d9b12cfb10a4b0e38}\label{classmtnode_1_1XSensDriver_a96b8036fe31c350d9b12cfb10a4b0e38}} +{\bfseries pub\+\_\+anin2} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_ab76cfc8ff2d3681d411fd1f27d731b40}\label{classmtnode_1_1XSensDriver_ab76cfc8ff2d3681d411fd1f27d731b40}} +{\bfseries ecef\+\_\+msg} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_af77134a31a9c935c0061805f8f015a4f}\label{classmtnode_1_1XSensDriver_af77134a31a9c935c0061805f8f015a4f}} +{\bfseries pub\+\_\+ecef} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a9af5fa58a518d2cb135041cb69373fa9}\label{classmtnode_1_1XSensDriver_a9af5fa58a518d2cb135041cb69373fa9}} +{\bfseries pub\+\_\+diag} +\item +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_a0fc3d2a5a9243edea2f358fe64761ca0}\label{classmtnode_1_1XSensDriver_a0fc3d2a5a9243edea2f358fe64761ca0}} +{\bfseries h} +\end{DoxyCompactItemize} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classmtnode_1_1XSensDriver_aff28c45fee0b35e2d479cebb913ed3f1}\label{classmtnode_1_1XSensDriver_aff28c45fee0b35e2d479cebb913ed3f1}} +\index{mtnode.XSensDriver@{mtnode.XSensDriver}!spin\_once@{spin\_once}} +\index{spin\_once@{spin\_once}!mtnode.XSensDriver@{mtnode.XSensDriver}} +\doxysubsubsection{\texorpdfstring{spin\_once()}{spin\_once()}} +{\footnotesize\ttfamily def mtnode.\+X\+Sens\+Driver.\+spin\+\_\+once (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Read data from device and publishes ROS messages.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/xsens\+\_\+driver/nodes/mtnode.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classname.tex b/docs/latex/classname.tex new file mode 100644 index 0000000..a4d8265 --- /dev/null +++ b/docs/latex/classname.tex @@ -0,0 +1,10 @@ +\hypertarget{classname}{}\doxysection{name Class Reference} +\label{classname}\index{name@{name}} + + +\doxysubsection{Detailed Description} +\mbox{]} \mbox{[}$<$header-\/name$>$\mbox{]} Ex-\/ /$\ast$! + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +coding\+\_\+docs/documentation.\+md\end{DoxyCompactItemize} diff --git a/docs/latex/classnavigation_1_1DvlData.eps b/docs/latex/classnavigation_1_1DvlData.eps new file mode 100644 index 0000000..bf1e496 --- /dev/null +++ b/docs/latex/classnavigation_1_1DvlData.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 217.391304 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 2.300000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(navigation::DvlData) cw +(navigation::NavigationDevice) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (navigation::DvlData) 0.000000 0.000000 box + (navigation::NavigationDevice) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classnavigation_1_1DvlData.tex b/docs/latex/classnavigation_1_1DvlData.tex new file mode 100644 index 0000000..7d66eff --- /dev/null +++ b/docs/latex/classnavigation_1_1DvlData.tex @@ -0,0 +1,74 @@ +\hypertarget{classnavigation_1_1DvlData}{}\doxysection{navigation\+::Dvl\+Data Class Reference} +\label{classnavigation_1_1DvlData}\index{navigation::DvlData@{navigation::DvlData}} +Inheritance diagram for navigation\+::Dvl\+Data\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classnavigation_1_1DvlData} +\end{center} +\end{figure} +\doxysubsection*{Public Types} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_ac24d2ec36fda2e666c6c1d99ea3b8f63}\label{classnavigation_1_1DvlData_ac24d2ec36fda2e666c6c1d99ea3b8f63}} +enum {\bfseries Integration\+Method\+Type} \{ {\bfseries Std\+Method} = 0, +{\bfseries R\+K\+Method}, +{\bfseries Default\+Method} + \} +\end{DoxyCompactItemize} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_a0869dc4d839aed3b0362e084f1f4f637}\label{classnavigation_1_1DvlData_a0869dc4d839aed3b0362e084f1f4f637}} +{\bfseries Dvl\+Data} (Integration\+Method\+Type integration\+Method\+Type=R\+K\+Method) +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_a3de3242a0cbea12329b09e266e900477}\label{classnavigation_1_1DvlData_a3de3242a0cbea12329b09e266e900477}} +void {\bfseries Dvl\+Twist\+Callback} (geometry\+\_\+msgs\+::\+Twist\+With\+Covariance\+Stamped msg) +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_ad8941460c960aadc7d995e2be367c8c8}\label{classnavigation_1_1DvlData_ad8941460c960aadc7d995e2be367c8c8}} +void {\bfseries Dvl\+Pressure\+Callback} (std\+\_\+msgs\+::\+Float32 msg) +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_adfcb95f8a4319806643b7c6e8e2c4a4a}\label{classnavigation_1_1DvlData_adfcb95f8a4319806643b7c6e8e2c4a4a}} +Eigen\+::\+Vector3d {\bfseries Get\+Position\+X\+YZ} () +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_a39bab39003b8916544557a2ee6f20209}\label{classnavigation_1_1DvlData_a39bab39003b8916544557a2ee6f20209}} +Eigen\+::\+Vector3d {\bfseries Get\+Velocity\+X\+YZ} () +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_a0fcf5be8a4f3393265351fffb810081b}\label{classnavigation_1_1DvlData_a0fcf5be8a4f3393265351fffb810081b}} +double {\bfseries Get\+Position\+Z\+From\+Pressure} () +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_a54d3559339019627a33636157e369551}\label{classnavigation_1_1DvlData_a54d3559339019627a33636157e369551}} +std\+\_\+msgs\+::\+Float32 {\bfseries Get\+Pressure} () +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_a2f08082395e159bb9e15a67c55f194dd}\label{classnavigation_1_1DvlData_a2f08082395e159bb9e15a67c55f194dd}} +const double {\bfseries B\+A\+R\+\_\+\+T\+O\+\_\+\+M\+E\+T\+E\+R\+\_\+\+O\+F\+\_\+\+W\+A\+T\+ER} = 10.\+1972 +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_a249ba705a7eecd0e3cfa38c3ac0aaecf}\label{classnavigation_1_1DvlData_a249ba705a7eecd0e3cfa38c3ac0aaecf}} +std\+::vector$<$ double $>$ {\bfseries x\+\_\+vel} +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_a8e410bd105300614ceafe3a68c730c38}\label{classnavigation_1_1DvlData_a8e410bd105300614ceafe3a68c730c38}} +std\+::vector$<$ double $>$ {\bfseries y\+\_\+vel} +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_a30ad7a24b1d21eda7751fb9b39b70bcf}\label{classnavigation_1_1DvlData_a30ad7a24b1d21eda7751fb9b39b70bcf}} +std\+::vector$<$ double $>$ {\bfseries z\+\_\+vel} +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_a489d885d8b0604f091e95829a7850c5f}\label{classnavigation_1_1DvlData_a489d885d8b0604f091e95829a7850c5f}} +int {\bfseries x\+\_\+count} = 0 +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_a5a4255a5ec33cb262f9b8f40d491b98a}\label{classnavigation_1_1DvlData_a5a4255a5ec33cb262f9b8f40d491b98a}} +int {\bfseries y\+\_\+count} = 0 +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_a0a4e7896e814db0a042529d8a16b50d3}\label{classnavigation_1_1DvlData_a0a4e7896e814db0a042529d8a16b50d3}} +int {\bfseries z\+\_\+count} = 0 +\item +\mbox{\Hypertarget{classnavigation_1_1DvlData_a4dd27495416fe948b07c4137574e0fed}\label{classnavigation_1_1DvlData_a4dd27495416fe948b07c4137574e0fed}} +int {\bfseries vel\+\_\+count} = 0 +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +navigation\+\_\+layer/odom\+\_\+dvl\+\_\+imu/include/dvl\+\_\+data.\+h\item +navigation\+\_\+layer/odom\+\_\+dvl\+\_\+imu/src/dvl\+\_\+data.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classnavigation_1_1ExtendedKalmanFilter.tex b/docs/latex/classnavigation_1_1ExtendedKalmanFilter.tex new file mode 100644 index 0000000..9ab5078 --- /dev/null +++ b/docs/latex/classnavigation_1_1ExtendedKalmanFilter.tex @@ -0,0 +1,17 @@ +\hypertarget{classnavigation_1_1ExtendedKalmanFilter}{}\doxysection{navigation\+::Extended\+Kalman\+Filter Class Reference} +\label{classnavigation_1_1ExtendedKalmanFilter}\index{navigation::ExtendedKalmanFilter@{navigation::ExtendedKalmanFilter}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classnavigation_1_1ExtendedKalmanFilter_aa2e08d1aac6aa0abe3226d223688f6cb}\label{classnavigation_1_1ExtendedKalmanFilter_aa2e08d1aac6aa0abe3226d223688f6cb}} +void {\bfseries Update} (Eigen\+::\+Vector3d \&measurement, Eigen\+::\+Vector3d \&estimation) +\item +\mbox{\Hypertarget{classnavigation_1_1ExtendedKalmanFilter_acc5c4a9358d53a4198bb1aa15b7e8b91}\label{classnavigation_1_1ExtendedKalmanFilter_acc5c4a9358d53a4198bb1aa15b7e8b91}} +void {\bfseries Initialization} (float pval, float qval, float rval) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +navigation\+\_\+layer/odom\+\_\+dvl\+\_\+imu/include/ekf.\+h\item +navigation\+\_\+layer/odom\+\_\+dvl\+\_\+imu/src/ekf.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classnavigation_1_1IMUData.eps b/docs/latex/classnavigation_1_1IMUData.eps new file mode 100644 index 0000000..73a284e --- /dev/null +++ b/docs/latex/classnavigation_1_1IMUData.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 217.391304 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 2.300000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(navigation::IMUData) cw +(navigation::NavigationDevice) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (navigation::IMUData) 0.000000 0.000000 box + (navigation::NavigationDevice) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classnavigation_1_1IMUData.tex b/docs/latex/classnavigation_1_1IMUData.tex new file mode 100644 index 0000000..4669c2b --- /dev/null +++ b/docs/latex/classnavigation_1_1IMUData.tex @@ -0,0 +1,35 @@ +\hypertarget{classnavigation_1_1IMUData}{}\doxysection{navigation\+::I\+M\+U\+Data Class Reference} +\label{classnavigation_1_1IMUData}\index{navigation::IMUData@{navigation::IMUData}} +Inheritance diagram for navigation\+::I\+M\+U\+Data\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classnavigation_1_1IMUData} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classnavigation_1_1IMUData_a56f1c6d51df94b59ff64c1d0521f10df}\label{classnavigation_1_1IMUData_a56f1c6d51df94b59ff64c1d0521f10df}} +void {\bfseries I\+M\+U\+Msg\+Callback} (sensor\+\_\+msgs\+::\+Imu msg) +\item +\mbox{\Hypertarget{classnavigation_1_1IMUData_a3aa9b882f36194d91420e3515d6ae2b1}\label{classnavigation_1_1IMUData_a3aa9b882f36194d91420e3515d6ae2b1}} +Eigen\+::\+Quaterniond {\bfseries Get\+Quaternion} () +\item +\mbox{\Hypertarget{classnavigation_1_1IMUData_a2e0cf1bcc3e0123beb9f33bafee823bc}\label{classnavigation_1_1IMUData_a2e0cf1bcc3e0123beb9f33bafee823bc}} +Eigen\+::\+Vector3d {\bfseries Get\+Orientation} () +\item +\mbox{\Hypertarget{classnavigation_1_1IMUData_aca709ec30e406aba9a4270b72784cb65}\label{classnavigation_1_1IMUData_aca709ec30e406aba9a4270b72784cb65}} +Eigen\+::\+Vector3d {\bfseries Get\+Angular\+Velocity} () +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classnavigation_1_1IMUData_afa6279c235420123416323ced87e7103}\label{classnavigation_1_1IMUData_afa6279c235420123416323ced87e7103}} +const double {\bfseries R\+A\+D\+\_\+\+T\+O\+\_\+\+D\+E\+G\+R\+EE} = 180.\+0f / M\+\_\+\+PI +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +navigation\+\_\+layer/odom\+\_\+dvl\+\_\+imu/include/imu\+\_\+data.\+h\item +navigation\+\_\+layer/odom\+\_\+dvl\+\_\+imu/src/imu\+\_\+data.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classnavigation_1_1NavigationDevice.eps b/docs/latex/classnavigation_1_1NavigationDevice.eps new file mode 100644 index 0000000..a6d8322 --- /dev/null +++ b/docs/latex/classnavigation_1_1NavigationDevice.eps @@ -0,0 +1,203 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 108.695652 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 4.600000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 2 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(navigation::NavigationDevice) cw +(navigation::DvlData) cw +(navigation::IMUData) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (navigation::NavigationDevice) 0.500000 1.000000 box + (navigation::DvlData) 0.000000 0.000000 box + (navigation::IMUData) 1.000000 0.000000 box + +% ----- relations ----- + +solid +1 0.500000 0.250000 out +solid +0.000000 1.000000 1.000000 conn +solid +0 0.000000 0.750000 in +solid +0 1.000000 0.750000 in diff --git a/docs/latex/classnavigation_1_1NavigationDevice.tex b/docs/latex/classnavigation_1_1NavigationDevice.tex new file mode 100644 index 0000000..0e4de06 --- /dev/null +++ b/docs/latex/classnavigation_1_1NavigationDevice.tex @@ -0,0 +1,25 @@ +\hypertarget{classnavigation_1_1NavigationDevice}{}\doxysection{navigation\+::Navigation\+Device Class Reference} +\label{classnavigation_1_1NavigationDevice}\index{navigation::NavigationDevice@{navigation::NavigationDevice}} +Inheritance diagram for navigation\+::Navigation\+Device\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classnavigation_1_1NavigationDevice} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classnavigation_1_1NavigationDevice_ac4e032654f33b2a5dd3abd6294a0feb6}\label{classnavigation_1_1NavigationDevice_ac4e032654f33b2a5dd3abd6294a0feb6}} +void {\bfseries Set\+New\+Data\+Ready} () +\item +\mbox{\Hypertarget{classnavigation_1_1NavigationDevice_a346b6be48e11c521c1f4b939ea86164b}\label{classnavigation_1_1NavigationDevice_a346b6be48e11c521c1f4b939ea86164b}} +bool {\bfseries Is\+New\+Data\+Ready} () +\item +\mbox{\Hypertarget{classnavigation_1_1NavigationDevice_a8893fb5dce4975a994929fdb612acb7b}\label{classnavigation_1_1NavigationDevice_a8893fb5dce4975a994929fdb612acb7b}} +void {\bfseries Set\+New\+Data\+Used} () +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +navigation\+\_\+layer/odom\+\_\+dvl\+\_\+imu/include/navigation\+\_\+device.\+h\end{DoxyCompactItemize} diff --git a/docs/latex/classnavigation_1_1NavigationNode.tex b/docs/latex/classnavigation_1_1NavigationNode.tex new file mode 100644 index 0000000..fa5a8a1 --- /dev/null +++ b/docs/latex/classnavigation_1_1NavigationNode.tex @@ -0,0 +1,38 @@ +\hypertarget{classnavigation_1_1NavigationNode}{}\doxysection{navigation\+::Navigation\+Node Class Reference} +\label{classnavigation_1_1NavigationNode}\index{navigation::NavigationNode@{navigation::NavigationNode}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classnavigation_1_1NavigationNode_abccc1132cbda197d50c3e77318b54ef5}\label{classnavigation_1_1NavigationNode_abccc1132cbda197d50c3e77318b54ef5}} +{\bfseries Navigation\+Node} (const ros\+::\+Node\+Handle\+Ptr \&nh) +\item +\mbox{\Hypertarget{classnavigation_1_1NavigationNode_acfb226912b0b116ef2754286901f303e}\label{classnavigation_1_1NavigationNode_acfb226912b0b116ef2754286901f303e}} +void {\bfseries Spin} () +\item +\mbox{\Hypertarget{classnavigation_1_1NavigationNode_af56f532c42808bca67db4fe71c7c7d2c}\label{classnavigation_1_1NavigationNode_af56f532c42808bca67db4fe71c7c7d2c}} +void {\bfseries Process\+Cartesian\+Pose} () +\item +\mbox{\Hypertarget{classnavigation_1_1NavigationNode_a005d7dbd2eb1895f38992971a863edff}\label{classnavigation_1_1NavigationNode_a005d7dbd2eb1895f38992971a863edff}} +void {\bfseries Publish\+Data} (ros\+::\+Time \¤t\+\_\+time) +\item +\mbox{\Hypertarget{classnavigation_1_1NavigationNode_ac52546f98124cdc13de5ab8930572e61}\label{classnavigation_1_1NavigationNode_ac52546f98124cdc13de5ab8930572e61}} +void {\bfseries Broadcast\+Transform} (Eigen\+::\+Vector3d \&position, Eigen\+::\+Quaterniond \&quaternion, ros\+::\+Time \¤t\+\_\+time) +\item +\mbox{\Hypertarget{classnavigation_1_1NavigationNode_a1f8a76dd3fbda6df554b144515dd08cd}\label{classnavigation_1_1NavigationNode_a1f8a76dd3fbda6df554b144515dd08cd}} +bool {\bfseries Set\+Depth\+Offset\+Callback} (odom\+\_\+dvl\+\_\+imu\+::\+Set\+Depth\+Offset\+::\+Request \&rqst, odom\+\_\+dvl\+\_\+imu\+::\+Set\+Depth\+Offset\+::\+Response \&response) +\item +\mbox{\Hypertarget{classnavigation_1_1NavigationNode_aaefa2ce87f44e8b06462a8ebaae2bb25}\label{classnavigation_1_1NavigationNode_aaefa2ce87f44e8b06462a8ebaae2bb25}} +bool {\bfseries Set\+World\+X\+Y\+Offset\+Callback} (odom\+\_\+dvl\+\_\+imu\+::\+Set\+World\+X\+Y\+Offset\+::\+Request \&rqst, odom\+\_\+dvl\+\_\+imu\+::\+Set\+World\+X\+Y\+Offset\+::\+Response \&response) +\item +\mbox{\Hypertarget{classnavigation_1_1NavigationNode_a1b38cdb0bbb2e1661baea64022d8aeb9}\label{classnavigation_1_1NavigationNode_a1b38cdb0bbb2e1661baea64022d8aeb9}} +void {\bfseries Fill\+Pose\+Msg} (Eigen\+::\+Vector3d \&position, Eigen\+::\+Quaterniond \&angle, nav\+\_\+msgs\+::\+Odometry \&msg) +\item +\mbox{\Hypertarget{classnavigation_1_1NavigationNode_a42d3e7b88af64af00c794938c1f76439}\label{classnavigation_1_1NavigationNode_a42d3e7b88af64af00c794938c1f76439}} +void {\bfseries Fill\+Twist\+Msg} (Eigen\+::\+Vector3d \&linear\+\_\+velocity, Eigen\+::\+Vector3d \&angular\+\_\+velocity, nav\+\_\+msgs\+::\+Odometry \&msg) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +navigation\+\_\+layer/odom\+\_\+dvl\+\_\+imu/include/nav\+\_\+main.\+h\item +navigation\+\_\+layer/odom\+\_\+dvl\+\_\+imu/src/nav\+\_\+main.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classteledyne__navigator_1_1driver_1_1TeledyneNavigator.eps b/docs/latex/classteledyne__navigator_1_1driver_1_1TeledyneNavigator.eps new file mode 100644 index 0000000..36f4311 --- /dev/null +++ b/docs/latex/classteledyne__navigator_1_1driver_1_1TeledyneNavigator.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 144.404332 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.462500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(teledyne_navigator.driver.TeledyneNavigator) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (teledyne_navigator.driver.TeledyneNavigator) 0.000000 0.000000 box + (object) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classteledyne__navigator_1_1driver_1_1TeledyneNavigator.tex b/docs/latex/classteledyne__navigator_1_1driver_1_1TeledyneNavigator.tex new file mode 100644 index 0000000..58d2c52 --- /dev/null +++ b/docs/latex/classteledyne__navigator_1_1driver_1_1TeledyneNavigator.tex @@ -0,0 +1,170 @@ +\hypertarget{classteledyne__navigator_1_1driver_1_1TeledyneNavigator}{}\doxysection{teledyne\+\_\+navigator.\+driver.\+Teledyne\+Navigator Class Reference} +\label{classteledyne__navigator_1_1driver_1_1TeledyneNavigator}\index{teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}} +Inheritance diagram for teledyne\+\_\+navigator.\+driver.\+Teledyne\+Navigator\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classteledyne__navigator_1_1driver_1_1TeledyneNavigator} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +def \mbox{\hyperlink{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a1ebe1cad172dbc3b1e4daad75375b816}{\+\_\+\+\_\+init\+\_\+\+\_\+}} (self, port, baudrate, frame\+\_\+id, timeout) +\item +def \mbox{\hyperlink{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_ad32b886ab3f18b15ddde6efa3244a0fe}{\+\_\+\+\_\+enter\+\_\+\+\_\+}} (self) +\item +def \mbox{\hyperlink{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a8af2570d9fc07d7a56d4df2a082c441e}{\+\_\+\+\_\+exit\+\_\+\+\_\+}} (self, $\ast$args, $\ast$$\ast$kwargs) +\item +def \mbox{\hyperlink{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a12f45b50bc236f1616f639601e8ee60d}{open}} (self) +\item +def \mbox{\hyperlink{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a5731ac2e23b7abdc46158f0c7895a4cd}{close}} (self) +\item +def \mbox{\hyperlink{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_aab52bb45e1e056cae53c8cd284bb7dd8}{write}} (self, message) +\item +def \mbox{\hyperlink{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_acf8e95e94208852726b9d31d6d515283}{read}} (self, size=1) +\item +def \mbox{\hyperlink{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a9597a73bb812d291b034c081e6320dc4}{read\+\_\+all}} (self) +\item +def \mbox{\hyperlink{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a4f109176c15e3cb9ef80d337fb9b507b}{preempt}} (self) +\item +def \mbox{\hyperlink{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a8ba38b5d0ea4f9befed369fd150ab991}{set\+\_\+rtc}} (self, date) +\item +def \mbox{\hyperlink{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a1158a9934cf94577e581e35ad562a5e1}{scan}} (self, callback) +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a03b3777201d4950726bad14aaa77928e}\label{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a03b3777201d4950726bad14aaa77928e}} +int {\bfseries D\+A\+T\+A\+\_\+\+ID} = 0x7D +\item +\mbox{\Hypertarget{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a598d8b2cb6e165f3ce5be384d6da00f2}\label{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a598d8b2cb6e165f3ce5be384d6da00f2}} +int {\bfseries O\+U\+T\+P\+U\+T\+\_\+\+D\+A\+T\+A\+\_\+\+S\+I\+ZE} = 88 +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Teledyne Navigator driver.\end{DoxyVerb} + + +\doxysubsection{Constructor \& Destructor Documentation} +\mbox{\Hypertarget{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a1ebe1cad172dbc3b1e4daad75375b816}\label{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a1ebe1cad172dbc3b1e4daad75375b816}} +\index{teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}!\_\_init\_\_@{\_\_init\_\_}} +\index{\_\_init\_\_@{\_\_init\_\_}!teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}} +\doxysubsubsection{\texorpdfstring{\_\_init\_\_()}{\_\_init\_\_()}} +{\footnotesize\ttfamily def teledyne\+\_\+navigator.\+driver.\+Teledyne\+Navigator.\+\_\+\+\_\+init\+\_\+\+\_\+ (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{port, }\item[{}]{baudrate, }\item[{}]{frame\+\_\+id, }\item[{}]{timeout }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Constructs a TeledyneNavigator instance. + +Args: + port (str): Serial port path. + baudrate (int): Serial baudrate. + frame_id (str): Frame ID. + timeout (float): Serial read timeout in seconds. +\end{DoxyVerb} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_ad32b886ab3f18b15ddde6efa3244a0fe}\label{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_ad32b886ab3f18b15ddde6efa3244a0fe}} +\index{teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}!\_\_enter\_\_@{\_\_enter\_\_}} +\index{\_\_enter\_\_@{\_\_enter\_\_}!teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}} +\doxysubsubsection{\texorpdfstring{\_\_enter\_\_()}{\_\_enter\_\_()}} +{\footnotesize\ttfamily def teledyne\+\_\+navigator.\+driver.\+Teledyne\+Navigator.\+\_\+\+\_\+enter\+\_\+\+\_\+ (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Initializes the DVL for first use.\end{DoxyVerb} + \mbox{\Hypertarget{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a8af2570d9fc07d7a56d4df2a082c441e}\label{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a8af2570d9fc07d7a56d4df2a082c441e}} +\index{teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}!\_\_exit\_\_@{\_\_exit\_\_}} +\index{\_\_exit\_\_@{\_\_exit\_\_}!teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}} +\doxysubsubsection{\texorpdfstring{\_\_exit\_\_()}{\_\_exit\_\_()}} +{\footnotesize\ttfamily def teledyne\+\_\+navigator.\+driver.\+Teledyne\+Navigator.\+\_\+\+\_\+exit\+\_\+\+\_\+ (\begin{DoxyParamCaption}\item[{}]{self, }\item[{$\ast$}]{args, }\item[{$\ast$$\ast$}]{kwargs }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Cleans up.\end{DoxyVerb} + \mbox{\Hypertarget{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a5731ac2e23b7abdc46158f0c7895a4cd}\label{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a5731ac2e23b7abdc46158f0c7895a4cd}} +\index{teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}!close@{close}} +\index{close@{close}!teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}} +\doxysubsubsection{\texorpdfstring{close()}{close()}} +{\footnotesize\ttfamily def teledyne\+\_\+navigator.\+driver.\+Teledyne\+Navigator.\+close (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Closes serial connection.\end{DoxyVerb} + \mbox{\Hypertarget{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a12f45b50bc236f1616f639601e8ee60d}\label{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a12f45b50bc236f1616f639601e8ee60d}} +\index{teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}!open@{open}} +\index{open@{open}!teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}} +\doxysubsubsection{\texorpdfstring{open()}{open()}} +{\footnotesize\ttfamily def teledyne\+\_\+navigator.\+driver.\+Teledyne\+Navigator.\+open (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Opens serial connection.\end{DoxyVerb} + \mbox{\Hypertarget{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a4f109176c15e3cb9ef80d337fb9b507b}\label{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a4f109176c15e3cb9ef80d337fb9b507b}} +\index{teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}!preempt@{preempt}} +\index{preempt@{preempt}!teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}} +\doxysubsubsection{\texorpdfstring{preempt()}{preempt()}} +{\footnotesize\ttfamily def teledyne\+\_\+navigator.\+driver.\+Teledyne\+Navigator.\+preempt (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Preempts a scan.\end{DoxyVerb} + \mbox{\Hypertarget{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_acf8e95e94208852726b9d31d6d515283}\label{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_acf8e95e94208852726b9d31d6d515283}} +\index{teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}!read@{read}} +\index{read@{read}!teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}} +\doxysubsubsection{\texorpdfstring{read()}{read()}} +{\footnotesize\ttfamily def teledyne\+\_\+navigator.\+driver.\+Teledyne\+Navigator.\+read (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{size = {\ttfamily 1} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Reads serial data. + +Args: + size (int): Number of bytes to read, default: 1. + +Returns: + Bytes (str). +\end{DoxyVerb} + \mbox{\Hypertarget{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a9597a73bb812d291b034c081e6320dc4}\label{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a9597a73bb812d291b034c081e6320dc4}} +\index{teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}!read\_all@{read\_all}} +\index{read\_all@{read\_all}!teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}} +\doxysubsubsection{\texorpdfstring{read\_all()}{read\_all()}} +{\footnotesize\ttfamily def teledyne\+\_\+navigator.\+driver.\+Teledyne\+Navigator.\+read\+\_\+all (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Reads all serial data in the buffer. + +Returns: + Bytes (str). +\end{DoxyVerb} + \mbox{\Hypertarget{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a1158a9934cf94577e581e35ad562a5e1}\label{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a1158a9934cf94577e581e35ad562a5e1}} +\index{teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}!scan@{scan}} +\index{scan@{scan}!teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}} +\doxysubsubsection{\texorpdfstring{scan()}{scan()}} +{\footnotesize\ttfamily def teledyne\+\_\+navigator.\+driver.\+Teledyne\+Navigator.\+scan (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{callback }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Starts the DVL data collection. + +This method is blocking, but calls callback at every ensemble. + +To stop a scan, simply call the preempt() method. Otherwise, the scan +will run forever. + +Args: + callback: Callback for feedback. +Called with args=(TeledyneNavigator, Ensemble). +\end{DoxyVerb} + \mbox{\Hypertarget{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a8ba38b5d0ea4f9befed369fd150ab991}\label{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_a8ba38b5d0ea4f9befed369fd150ab991}} +\index{teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}!set\_rtc@{set\_rtc}} +\index{set\_rtc@{set\_rtc}!teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}} +\doxysubsubsection{\texorpdfstring{set\_rtc()}{set\_rtc()}} +{\footnotesize\ttfamily def teledyne\+\_\+navigator.\+driver.\+Teledyne\+Navigator.\+set\+\_\+rtc (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{date }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Sets the DVL's real-time clock (RTC). + +Args: + date (Datetime): Datetime to set. +\end{DoxyVerb} + \mbox{\Hypertarget{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_aab52bb45e1e056cae53c8cd284bb7dd8}\label{classteledyne__navigator_1_1driver_1_1TeledyneNavigator_aab52bb45e1e056cae53c8cd284bb7dd8}} +\index{teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}!write@{write}} +\index{write@{write}!teledyne\_navigator.driver.TeledyneNavigator@{teledyne\_navigator.driver.TeledyneNavigator}} +\doxysubsubsection{\texorpdfstring{write()}{write()}} +{\footnotesize\ttfamily def teledyne\+\_\+navigator.\+driver.\+Teledyne\+Navigator.\+write (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{message }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Writes to . + +Args: + message (str): Message. +\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/teledyne\+\_\+navigator/src/teledyne\+\_\+navigator/driver.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classtest__trajectory__point_1_1TestTrajectoryPoint.eps b/docs/latex/classtest__trajectory__point_1_1TestTrajectoryPoint.eps new file mode 100644 index 0000000..4f1aa46 --- /dev/null +++ b/docs/latex/classtest__trajectory__point_1_1TestTrajectoryPoint.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 161.943320 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.087500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(test_trajectory_point.TestTrajectoryPoint) cw +(TestCase) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (test_trajectory_point.TestTrajectoryPoint) 0.000000 0.000000 box + (TestCase) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classtest__trajectory__point_1_1TestTrajectoryPoint.tex b/docs/latex/classtest__trajectory__point_1_1TestTrajectoryPoint.tex new file mode 100644 index 0000000..75caad9 --- /dev/null +++ b/docs/latex/classtest__trajectory__point_1_1TestTrajectoryPoint.tex @@ -0,0 +1,31 @@ +\hypertarget{classtest__trajectory__point_1_1TestTrajectoryPoint}{}\doxysection{test\+\_\+trajectory\+\_\+point.\+Test\+Trajectory\+Point Class Reference} +\label{classtest__trajectory__point_1_1TestTrajectoryPoint}\index{test\_trajectory\_point.TestTrajectoryPoint@{test\_trajectory\_point.TestTrajectoryPoint}} +Inheritance diagram for test\+\_\+trajectory\+\_\+point.\+Test\+Trajectory\+Point\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classtest__trajectory__point_1_1TestTrajectoryPoint} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classtest__trajectory__point_1_1TestTrajectoryPoint_ac78eb9828d96f3ef794a4a71debfb447}\label{classtest__trajectory__point_1_1TestTrajectoryPoint_ac78eb9828d96f3ef794a4a71debfb447}} +def {\bfseries test\+\_\+init\+\_\+pos\+\_\+vector} (self) +\item +\mbox{\Hypertarget{classtest__trajectory__point_1_1TestTrajectoryPoint_a90a11626e626cdea3657b7dcc922d140}\label{classtest__trajectory__point_1_1TestTrajectoryPoint_a90a11626e626cdea3657b7dcc922d140}} +def {\bfseries test\+\_\+set\+\_\+pos\+\_\+vector} (self) +\item +\mbox{\Hypertarget{classtest__trajectory__point_1_1TestTrajectoryPoint_aedc11ee91411b53189d7dfc90be37ae5}\label{classtest__trajectory__point_1_1TestTrajectoryPoint_aedc11ee91411b53189d7dfc90be37ae5}} +def {\bfseries test\+\_\+init\+\_\+quat\+\_\+vector} (self) +\item +\mbox{\Hypertarget{classtest__trajectory__point_1_1TestTrajectoryPoint_a4c2ea5d443d4d97f59cd8925e3f8f43c}\label{classtest__trajectory__point_1_1TestTrajectoryPoint_a4c2ea5d443d4d97f59cd8925e3f8f43c}} +def {\bfseries test\+\_\+to\+\_\+message} (self) +\item +\mbox{\Hypertarget{classtest__trajectory__point_1_1TestTrajectoryPoint_af3435fc74dbf802f766067c225632465}\label{classtest__trajectory__point_1_1TestTrajectoryPoint_af3435fc74dbf802f766067c225632465}} +def {\bfseries test\+\_\+to\+\_\+dict} (self) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/test/test\+\_\+trajectory\+\_\+point.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classtest__waypoint_1_1TestWaypoint.eps b/docs/latex/classtest__waypoint_1_1TestWaypoint.eps new file mode 100644 index 0000000..492c6ef --- /dev/null +++ b/docs/latex/classtest__waypoint_1_1TestWaypoint.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 228.571429 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 2.187500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(test_waypoint.TestWaypoint) cw +(TestCase) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (test_waypoint.TestWaypoint) 0.000000 0.000000 box + (TestCase) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classtest__waypoint_1_1TestWaypoint.tex b/docs/latex/classtest__waypoint_1_1TestWaypoint.tex new file mode 100644 index 0000000..ec867be --- /dev/null +++ b/docs/latex/classtest__waypoint_1_1TestWaypoint.tex @@ -0,0 +1,31 @@ +\hypertarget{classtest__waypoint_1_1TestWaypoint}{}\doxysection{test\+\_\+waypoint.\+Test\+Waypoint Class Reference} +\label{classtest__waypoint_1_1TestWaypoint}\index{test\_waypoint.TestWaypoint@{test\_waypoint.TestWaypoint}} +Inheritance diagram for test\+\_\+waypoint.\+Test\+Waypoint\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classtest__waypoint_1_1TestWaypoint} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classtest__waypoint_1_1TestWaypoint_a5e4948374f3f4a6f2de2cef8270a8e75}\label{classtest__waypoint_1_1TestWaypoint_a5e4948374f3f4a6f2de2cef8270a8e75}} +def {\bfseries test\+\_\+equal\+\_\+waypoints} (self) +\item +\mbox{\Hypertarget{classtest__waypoint_1_1TestWaypoint_ac40e56d090781f29cc495b9463964e4c}\label{classtest__waypoint_1_1TestWaypoint_ac40e56d090781f29cc495b9463964e4c}} +def {\bfseries test\+\_\+unequal\+\_\+waypoints} (self) +\item +\mbox{\Hypertarget{classtest__waypoint_1_1TestWaypoint_ae259b7fbb209572efe2ef8bb54b033ad}\label{classtest__waypoint_1_1TestWaypoint_ae259b7fbb209572efe2ef8bb54b033ad}} +def {\bfseries test\+\_\+violate\+\_\+constraint\+\_\+flag} (self) +\item +\mbox{\Hypertarget{classtest__waypoint_1_1TestWaypoint_aa1259ed80673e4d9b414a423c6a90301}\label{classtest__waypoint_1_1TestWaypoint_aa1259ed80673e4d9b414a423c6a90301}} +def {\bfseries test\+\_\+distance\+\_\+calculation} (self) +\item +\mbox{\Hypertarget{classtest__waypoint_1_1TestWaypoint_aa25f2dece837433a83add6464d23846e}\label{classtest__waypoint_1_1TestWaypoint_aa25f2dece837433a83add6464d23846e}} +def {\bfseries test\+\_\+to\+\_\+message} (self) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/test/test\+\_\+waypoint.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classtest__waypoint__set_1_1TestWaypointSet.eps b/docs/latex/classtest__waypoint__set_1_1TestWaypointSet.eps new file mode 100644 index 0000000..e3ed4c6 --- /dev/null +++ b/docs/latex/classtest__waypoint__set_1_1TestWaypointSet.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 185.185185 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 2.700000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(test_waypoint_set.TestWaypointSet) cw +(TestCase) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (test_waypoint_set.TestWaypointSet) 0.000000 0.000000 box + (TestCase) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classtest__waypoint__set_1_1TestWaypointSet.tex b/docs/latex/classtest__waypoint__set_1_1TestWaypointSet.tex new file mode 100644 index 0000000..d160db5 --- /dev/null +++ b/docs/latex/classtest__waypoint__set_1_1TestWaypointSet.tex @@ -0,0 +1,28 @@ +\hypertarget{classtest__waypoint__set_1_1TestWaypointSet}{}\doxysection{test\+\_\+waypoint\+\_\+set.\+Test\+Waypoint\+Set Class Reference} +\label{classtest__waypoint__set_1_1TestWaypointSet}\index{test\_waypoint\_set.TestWaypointSet@{test\_waypoint\_set.TestWaypointSet}} +Inheritance diagram for test\+\_\+waypoint\+\_\+set.\+Test\+Waypoint\+Set\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classtest__waypoint__set_1_1TestWaypointSet} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classtest__waypoint__set_1_1TestWaypointSet_a4b728a78dd7d055da6e70a5c94524977}\label{classtest__waypoint__set_1_1TestWaypointSet_a4b728a78dd7d055da6e70a5c94524977}} +def {\bfseries test\+\_\+init} (self) +\item +\mbox{\Hypertarget{classtest__waypoint__set_1_1TestWaypointSet_aceb1fb56ea2121e128a3301568f90184}\label{classtest__waypoint__set_1_1TestWaypointSet_aceb1fb56ea2121e128a3301568f90184}} +def {\bfseries test\+\_\+invalid\+\_\+params\+\_\+helix} (self) +\item +\mbox{\Hypertarget{classtest__waypoint__set_1_1TestWaypointSet_a9ab3123c4d6f0d455dda2be8df2331ce}\label{classtest__waypoint__set_1_1TestWaypointSet_a9ab3123c4d6f0d455dda2be8df2331ce}} +def {\bfseries test\+\_\+invalid\+\_\+params\+\_\+circle} (self) +\item +\mbox{\Hypertarget{classtest__waypoint__set_1_1TestWaypointSet_a3590bf118e5e643d8ba67def623a6a86}\label{classtest__waypoint__set_1_1TestWaypointSet_a3590bf118e5e643d8ba67def623a6a86}} +def {\bfseries test\+\_\+add\+\_\+repeated\+\_\+waypoint} (self) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/test/test\+\_\+waypoint\+\_\+set.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classthruster__allocator_1_1ThrusterAllocatorNode.eps b/docs/latex/classthruster__allocator_1_1ThrusterAllocatorNode.eps new file mode 100644 index 0000000..5ff3dea --- /dev/null +++ b/docs/latex/classthruster__allocator_1_1ThrusterAllocatorNode.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 159.362550 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.137500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(thruster_allocator.ThrusterAllocatorNode) cw +(ThrusterManager) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (thruster_allocator.ThrusterAllocatorNode) 0.000000 0.000000 box + (ThrusterManager) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classthruster__allocator_1_1ThrusterAllocatorNode.tex b/docs/latex/classthruster__allocator_1_1ThrusterAllocatorNode.tex new file mode 100644 index 0000000..821aa4c --- /dev/null +++ b/docs/latex/classthruster__allocator_1_1ThrusterAllocatorNode.tex @@ -0,0 +1,117 @@ +\hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode}{}\doxysection{thruster\+\_\+allocator.\+Thruster\+Allocator\+Node Class Reference} +\label{classthruster__allocator_1_1ThrusterAllocatorNode}\index{thruster\_allocator.ThrusterAllocatorNode@{thruster\_allocator.ThrusterAllocatorNode}} +Inheritance diagram for thruster\+\_\+allocator.\+Thruster\+Allocator\+Node\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classthruster__allocator_1_1ThrusterAllocatorNode} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +def \mbox{\hyperlink{classthruster__allocator_1_1ThrusterAllocatorNode_a2932029cfc6d72b464473c0e8e639126}{\+\_\+\+\_\+init\+\_\+\+\_\+}} (self) +\item +def \mbox{\hyperlink{classthruster__allocator_1_1ThrusterAllocatorNode_a134ae0992b5189aaa32c0b40e65b8d6e}{get\+\_\+thruster\+\_\+info}} (self, request) +\item +def \mbox{\hyperlink{classthruster__allocator_1_1ThrusterAllocatorNode_ab2b4e9ac5ea566077397a09e686639ba}{get\+\_\+thruster\+\_\+curve}} (self, request) +\item +\mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_aabdb163abf437cca8f1a8766969401af}\label{classthruster__allocator_1_1ThrusterAllocatorNode_aabdb163abf437cca8f1a8766969401af}} +def {\bfseries set\+\_\+config} (self, request) +\item +\mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_aed214e13a0a4769a4eb78f64e96a3889}\label{classthruster__allocator_1_1ThrusterAllocatorNode_aed214e13a0a4769a4eb78f64e96a3889}} +def {\bfseries get\+\_\+config} (self, request) +\item +def \mbox{\hyperlink{classthruster__allocator_1_1ThrusterAllocatorNode_a6d28a5f0678df12e4226775f466b3bc4}{input\+\_\+callback}} (self, msg) +\item +def \mbox{\hyperlink{classthruster__allocator_1_1ThrusterAllocatorNode_ad8da8c9132cddb33f020c62c86ccca3a}{input\+\_\+stamped\+\_\+callback}} (self, msg) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_aecbb8367bde039f219c50ce3679bebe7}\label{classthruster__allocator_1_1ThrusterAllocatorNode_aecbb8367bde039f219c50ce3679bebe7}} +{\bfseries last\+\_\+update} +\item +\mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_a5503c30850d5c9f370be127e9f252878}\label{classthruster__allocator_1_1ThrusterAllocatorNode_a5503c30850d5c9f370be127e9f252878}} +{\bfseries input\+\_\+sub} +\item +\mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_acde6582b329002ff44523a9daadfbe21}\label{classthruster__allocator_1_1ThrusterAllocatorNode_acde6582b329002ff44523a9daadfbe21}} +{\bfseries input\+\_\+stamped\+\_\+sub} +\item +\mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_abb8f50eb527e7a6845800c8547d5799a}\label{classthruster__allocator_1_1ThrusterAllocatorNode_abb8f50eb527e7a6845800c8547d5799a}} +{\bfseries thruster\+\_\+info\+\_\+service} +\item +\mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_a57837cfbc1459b3cb4ac57884190dfdd}\label{classthruster__allocator_1_1ThrusterAllocatorNode_a57837cfbc1459b3cb4ac57884190dfdd}} +{\bfseries curve\+\_\+calc\+\_\+service} +\item +\mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_ac36c39d7a78848294d2a0450999110c3}\label{classthruster__allocator_1_1ThrusterAllocatorNode_ac36c39d7a78848294d2a0450999110c3}} +{\bfseries set\+\_\+thruster\+\_\+manager\+\_\+config\+\_\+service} +\item +\mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_ac08596d7b27f85e25b336b39535523ef}\label{classthruster__allocator_1_1ThrusterAllocatorNode_ac08596d7b27f85e25b336b39535523ef}} +{\bfseries get\+\_\+thruster\+\_\+manager\+\_\+config\+\_\+service} +\item +\mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_a58370dc78edf0a1020fc2c73a2476a77}\label{classthruster__allocator_1_1ThrusterAllocatorNode_a58370dc78edf0a1020fc2c73a2476a77}} +{\bfseries n\+\_\+thrusters} +\item +\mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_a35cdc6d426422add9568ef37b5235bc8}\label{classthruster__allocator_1_1ThrusterAllocatorNode_a35cdc6d426422add9568ef37b5235bc8}} +{\bfseries ready} +\item +\mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_a72d11a99eb870710b6b894c627a46f97}\label{classthruster__allocator_1_1ThrusterAllocatorNode_a72d11a99eb870710b6b894c627a46f97}} +{\bfseries config} +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}The thruster allocator node allows a client node to command the thrusters. +\end{DoxyVerb} + + +\doxysubsection{Constructor \& Destructor Documentation} +\mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_a2932029cfc6d72b464473c0e8e639126}\label{classthruster__allocator_1_1ThrusterAllocatorNode_a2932029cfc6d72b464473c0e8e639126}} +\index{thruster\_allocator.ThrusterAllocatorNode@{thruster\_allocator.ThrusterAllocatorNode}!\_\_init\_\_@{\_\_init\_\_}} +\index{\_\_init\_\_@{\_\_init\_\_}!thruster\_allocator.ThrusterAllocatorNode@{thruster\_allocator.ThrusterAllocatorNode}} +\doxysubsubsection{\texorpdfstring{\_\_init\_\_()}{\_\_init\_\_()}} +{\footnotesize\ttfamily def thruster\+\_\+allocator.\+Thruster\+Allocator\+Node.\+\_\+\+\_\+init\+\_\+\+\_\+ (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Class constructor.\end{DoxyVerb} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_ab2b4e9ac5ea566077397a09e686639ba}\label{classthruster__allocator_1_1ThrusterAllocatorNode_ab2b4e9ac5ea566077397a09e686639ba}} +\index{thruster\_allocator.ThrusterAllocatorNode@{thruster\_allocator.ThrusterAllocatorNode}!get\_thruster\_curve@{get\_thruster\_curve}} +\index{get\_thruster\_curve@{get\_thruster\_curve}!thruster\_allocator.ThrusterAllocatorNode@{thruster\_allocator.ThrusterAllocatorNode}} +\doxysubsubsection{\texorpdfstring{get\_thruster\_curve()}{get\_thruster\_curve()}} +{\footnotesize\ttfamily def thruster\+\_\+allocator.\+Thruster\+Allocator\+Node.\+get\+\_\+thruster\+\_\+curve (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{request }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return service callback for computation of thruster curve.\end{DoxyVerb} + \mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_a134ae0992b5189aaa32c0b40e65b8d6e}\label{classthruster__allocator_1_1ThrusterAllocatorNode_a134ae0992b5189aaa32c0b40e65b8d6e}} +\index{thruster\_allocator.ThrusterAllocatorNode@{thruster\_allocator.ThrusterAllocatorNode}!get\_thruster\_info@{get\_thruster\_info}} +\index{get\_thruster\_info@{get\_thruster\_info}!thruster\_allocator.ThrusterAllocatorNode@{thruster\_allocator.ThrusterAllocatorNode}} +\doxysubsubsection{\texorpdfstring{get\_thruster\_info()}{get\_thruster\_info()}} +{\footnotesize\ttfamily def thruster\+\_\+allocator.\+Thruster\+Allocator\+Node.\+get\+\_\+thruster\+\_\+info (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{request }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return service callback with thruster information.\end{DoxyVerb} + \mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_a6d28a5f0678df12e4226775f466b3bc4}\label{classthruster__allocator_1_1ThrusterAllocatorNode_a6d28a5f0678df12e4226775f466b3bc4}} +\index{thruster\_allocator.ThrusterAllocatorNode@{thruster\_allocator.ThrusterAllocatorNode}!input\_callback@{input\_callback}} +\index{input\_callback@{input\_callback}!thruster\_allocator.ThrusterAllocatorNode@{thruster\_allocator.ThrusterAllocatorNode}} +\doxysubsubsection{\texorpdfstring{input\_callback()}{input\_callback()}} +{\footnotesize\ttfamily def thruster\+\_\+allocator.\+Thruster\+Allocator\+Node.\+input\+\_\+callback (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{msg }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Callback to the subscriber that receiver the wrench to be applied on +UUV's BODY frame. +@param msg Wrench message +\end{DoxyVerb} + \mbox{\Hypertarget{classthruster__allocator_1_1ThrusterAllocatorNode_ad8da8c9132cddb33f020c62c86ccca3a}\label{classthruster__allocator_1_1ThrusterAllocatorNode_ad8da8c9132cddb33f020c62c86ccca3a}} +\index{thruster\_allocator.ThrusterAllocatorNode@{thruster\_allocator.ThrusterAllocatorNode}!input\_stamped\_callback@{input\_stamped\_callback}} +\index{input\_stamped\_callback@{input\_stamped\_callback}!thruster\_allocator.ThrusterAllocatorNode@{thruster\_allocator.ThrusterAllocatorNode}} +\doxysubsubsection{\texorpdfstring{input\_stamped\_callback()}{input\_stamped\_callback()}} +{\footnotesize\ttfamily def thruster\+\_\+allocator.\+Thruster\+Allocator\+Node.\+input\+\_\+stamped\+\_\+callback (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{msg }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Callback to the subscriber that receiver the stamped wrench to be +applied on UUV's BODY frame. +@param msg Stamped wrench message +\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+thruster\+\_\+manager/scripts/thruster\+\_\+allocator.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classtrajectory__marker__publisher_1_1TrajectoryMarkerPublisher.tex b/docs/latex/classtrajectory__marker__publisher_1_1TrajectoryMarkerPublisher.tex new file mode 100644 index 0000000..a0949e1 --- /dev/null +++ b/docs/latex/classtrajectory__marker__publisher_1_1TrajectoryMarkerPublisher.tex @@ -0,0 +1,13 @@ +\hypertarget{classtrajectory__marker__publisher_1_1TrajectoryMarkerPublisher}{}\doxysection{trajectory\+\_\+marker\+\_\+publisher.\+Trajectory\+Marker\+Publisher Class Reference} +\label{classtrajectory__marker__publisher_1_1TrajectoryMarkerPublisher}\index{trajectory\_marker\_publisher.TrajectoryMarkerPublisher@{trajectory\_marker\_publisher.TrajectoryMarkerPublisher}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classtrajectory__marker__publisher_1_1TrajectoryMarkerPublisher_a314f5c5dbd49ee046b5112cf82c7e420}\label{classtrajectory__marker__publisher_1_1TrajectoryMarkerPublisher_a314f5c5dbd49ee046b5112cf82c7e420}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+control\+\_\+utils/scripts/trajectory\+\_\+marker\+\_\+publisher.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager.eps b/docs/latex/classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager.eps new file mode 100644 index 0000000..51af89c --- /dev/null +++ b/docs/latex/classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 103.092784 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 4.850000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_auv_actuator_interface.actuator_manager.ActuatorManager) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_auv_actuator_interface.actuator_manager.ActuatorManager) 0.000000 0.000000 box + (object) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager.tex b/docs/latex/classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager.tex new file mode 100644 index 0000000..ef40353 --- /dev/null +++ b/docs/latex/classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager.tex @@ -0,0 +1,88 @@ +\hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager}{}\doxysection{uuv\+\_\+auv\+\_\+actuator\+\_\+interface.\+actuator\+\_\+manager.\+Actuator\+Manager Class Reference} +\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager}\index{uuv\_auv\_actuator\_interface.actuator\_manager.ActuatorManager@{uuv\_auv\_actuator\_interface.actuator\_manager.ActuatorManager}} +Inheritance diagram for uuv\+\_\+auv\+\_\+actuator\+\_\+interface.\+actuator\+\_\+manager.\+Actuator\+Manager\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_ad6d3d9b99024a1a0f5fdbc6be598f77d}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_ad6d3d9b99024a1a0f5fdbc6be598f77d}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self) +\item +def \mbox{\hyperlink{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a1c8c06aa3e9a62acff2b4002f7b02dd2}{find\+\_\+actuators}} (self) +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a1c55d2294a80e5e86e77271dfd7f957d}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a1c55d2294a80e5e86e77271dfd7f957d}} +def {\bfseries compute\+\_\+control\+\_\+force} (self, thrust, delta, u) +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_abb2b0265a2173b5ecde7b51124fcf943}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_abb2b0265a2173b5ecde7b51124fcf943}} +def {\bfseries publish\+\_\+commands} (self, command) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a101d9341c0e857b417040817a55272dc}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a101d9341c0e857b417040817a55272dc}} +{\bfseries namespace} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_af546a41e7a29642da6456ae31ea25024}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_af546a41e7a29642da6456ae31ea25024}} +{\bfseries tf\+\_\+buffer} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a595861bc3ef889e0b71c67de3317df3c}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a595861bc3ef889e0b71c67de3317df3c}} +{\bfseries listener} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_af3f8b4c298080d9f602ecff704031172}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_af3f8b4c298080d9f602ecff704031172}} +{\bfseries base\+\_\+link\+\_\+ned\+\_\+to\+\_\+enu} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_ad455d13e9a08f3d6d603ecf5b6c99a81}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_ad455d13e9a08f3d6d603ecf5b6c99a81}} +{\bfseries base\+\_\+link} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a5bbdfb6c026071a3a31af937bf5223c4}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a5bbdfb6c026071a3a31af937bf5223c4}} +{\bfseries thruster\+\_\+config} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a4ffa669e1a096e7062edd76486b69f6b}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a4ffa669e1a096e7062edd76486b69f6b}} +{\bfseries thruster\+\_\+topic} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_afd2f437f3f3b1cc293fbe479d6b9f378}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_afd2f437f3f3b1cc293fbe479d6b9f378}} +{\bfseries thruster} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a073b0ba2da3b68c230a45bb892dfa0db}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a073b0ba2da3b68c230a45bb892dfa0db}} +{\bfseries fin\+\_\+config} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a61156b94f291441d1a204b1d2ab2284e}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a61156b94f291441d1a204b1d2ab2284e}} +{\bfseries fin\+\_\+lower\+\_\+limit} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a1d64a9b3e9df832695fe680b5fef2f1b}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a1d64a9b3e9df832695fe680b5fef2f1b}} +{\bfseries fin\+\_\+upper\+\_\+limit} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a0c689385a61f867a96fa510a6949bb37}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a0c689385a61f867a96fa510a6949bb37}} +{\bfseries fins} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a4b67111d4acbbba204f24dea8d2e422d}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a4b67111d4acbbba204f24dea8d2e422d}} +{\bfseries n\+\_\+fins} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a2e6c90a55300d686b86a3dc8fa03aebd}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a2e6c90a55300d686b86a3dc8fa03aebd}} +{\bfseries ready} +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a9722051810c0aa56d83098b90c8ac732}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a9722051810c0aa56d83098b90c8ac732}} +int {\bfseries M\+A\+X\+\_\+\+F\+I\+NS} = 4 +\end{DoxyCompactItemize} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a1c8c06aa3e9a62acff2b4002f7b02dd2}\label{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager_a1c8c06aa3e9a62acff2b4002f7b02dd2}} +\index{uuv\_auv\_actuator\_interface.actuator\_manager.ActuatorManager@{uuv\_auv\_actuator\_interface.actuator\_manager.ActuatorManager}!find\_actuators@{find\_actuators}} +\index{find\_actuators@{find\_actuators}!uuv\_auv\_actuator\_interface.actuator\_manager.ActuatorManager@{uuv\_auv\_actuator\_interface.actuator\_manager.ActuatorManager}} +\doxysubsubsection{\texorpdfstring{find\_actuators()}{find\_actuators()}} +{\footnotesize\ttfamily def uuv\+\_\+auv\+\_\+actuator\+\_\+interface.\+actuator\+\_\+manager.\+Actuator\+Manager.\+find\+\_\+actuators (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Calculate the control allocation matrix, if one is not given.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+auv\+\_\+control\+\_\+allocator/src/uuv\+\_\+auv\+\_\+actuator\+\_\+interface/actuator\+\_\+manager.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel.eps b/docs/latex/classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel.eps new file mode 100644 index 0000000..df8d093 --- /dev/null +++ b/docs/latex/classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 136.054422 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.675000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_auv_actuator_interface.fin_model.FinModel) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_auv_actuator_interface.fin_model.FinModel) 0.000000 0.000000 box + (object) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel.tex b/docs/latex/classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel.tex new file mode 100644 index 0000000..9802206 --- /dev/null +++ b/docs/latex/classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel.tex @@ -0,0 +1,49 @@ +\hypertarget{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel}{}\doxysection{uuv\+\_\+auv\+\_\+actuator\+\_\+interface.\+fin\+\_\+model.\+Fin\+Model Class Reference} +\label{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel}\index{uuv\_auv\_actuator\_interface.fin\_model.FinModel@{uuv\_auv\_actuator\_interface.fin\_model.FinModel}} +Inheritance diagram for uuv\+\_\+auv\+\_\+actuator\+\_\+interface.\+fin\+\_\+model.\+Fin\+Model\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_a00749152250af4a7a5619d1184510267}\label{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_a00749152250af4a7a5619d1184510267}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, index, pos, quat, topic) +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_a406855fc9e43497eabbf022e848d202b}\label{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_a406855fc9e43497eabbf022e848d202b}} +def {\bfseries publish\+\_\+command} (self, delta) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_adb2d671adfee20ff82cb43c1a696384c}\label{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_adb2d671adfee20ff82cb43c1a696384c}} +{\bfseries id} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_aa1b8c3a221069fb8d9c2485d2685c07c}\label{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_aa1b8c3a221069fb8d9c2485d2685c07c}} +{\bfseries pos} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_ab8d1a9dd20e3f1a0468b902e9facaf89}\label{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_ab8d1a9dd20e3f1a0468b902e9facaf89}} +{\bfseries quat} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_a182765f56abc7234d74c0406712bef0b}\label{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_a182765f56abc7234d74c0406712bef0b}} +{\bfseries topic} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_a8b81e3ce36f9718d10fad74518fbc066}\label{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_a8b81e3ce36f9718d10fad74518fbc066}} +{\bfseries rot} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_a496c22a608b6b8405366f276130f57d9}\label{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_a496c22a608b6b8405366f276130f57d9}} +{\bfseries lift\+\_\+vector} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_a7de2f1459a2f8ca5b12d24f414508150}\label{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_a7de2f1459a2f8ca5b12d24f414508150}} +{\bfseries drag\+\_\+vector} +\item +\mbox{\Hypertarget{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_aace8499fc4475f553f393b1217d2eb4a}\label{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel_aace8499fc4475f553f393b1217d2eb4a}} +{\bfseries pub} +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+auv\+\_\+control\+\_\+allocator/src/uuv\+\_\+auv\+\_\+actuator\+\_\+interface/fin\+\_\+model.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase.eps b/docs/latex/classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase.eps new file mode 100644 index 0000000..4d76d5c --- /dev/null +++ b/docs/latex/classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase.eps @@ -0,0 +1,203 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 145.631068 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.433333 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 3 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_control_interfaces.dp_controller_base.DPControllerBase) cw +(object) cw +(uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_control_interfaces.dp_controller_base.DPControllerBase) 0.000000 1.000000 box + (object) 0.000000 2.000000 box + (uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase) 0.000000 0.000000 box + +% ----- relations ----- + +solid +0 0.000000 1.000000 out +solid +1 0.000000 2.000000 in +solid +1 0.000000 0.250000 out +solid +0 0.000000 0.750000 in diff --git a/docs/latex/classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase.tex b/docs/latex/classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase.tex new file mode 100644 index 0000000..cb85568 --- /dev/null +++ b/docs/latex/classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase.tex @@ -0,0 +1,115 @@ +\hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase}{}\doxysection{uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+base.\+D\+P\+Controller\+Base Class Reference} +\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase}\index{uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase@{uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase}} +Inheritance diagram for uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+base.\+D\+P\+Controller\+Base\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=3.000000cm]{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a644ded1159688da231d1e76062e8c2ad}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a644ded1159688da231d1e76062e8c2ad}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, is\+\_\+model\+\_\+based=False, list\+\_\+odometry\+\_\+callbacks=\mbox{[}$\,$\mbox{]}, planner\+\_\+full\+\_\+dof=False) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_afda5206a37fdd9ee99abdc11b64a32e6}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_afda5206a37fdd9ee99abdc11b64a32e6}} +def {\bfseries \+\_\+\+\_\+del\+\_\+\+\_\+} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a488b87b40157ffd1cd48d4103f734051}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a488b87b40157ffd1cd48d4103f734051}} +def {\bfseries label} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a78abc01e4ed3b1d8339c7aa1b12caf1e}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a78abc01e4ed3b1d8339c7aa1b12caf1e}} +def {\bfseries odom\+\_\+is\+\_\+init} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_ac3b8069a7903de25a608ebe8a23cf304}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_ac3b8069a7903de25a608ebe8a23cf304}} +def {\bfseries error\+\_\+pos\+\_\+world} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_afa7ca2e5aabf28567c733396aaefcc0a}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_afa7ca2e5aabf28567c733396aaefcc0a}} +def {\bfseries error\+\_\+orientation\+\_\+quat} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a17876e9bc0c1dd2b0150e46b05cab56e}{error\+\_\+orientation\+\_\+rpy}} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a347226f1aa16d7464a666d4065083d36}{error\+\_\+pose\+\_\+euler}} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_aeecc142f3eb8d3ac49e7c7a9417debfa}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_aeecc142f3eb8d3ac49e7c7a9417debfa}} +def {\bfseries error\+\_\+vel\+\_\+world} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a5c9cd62adf1d2c2c2fa05fe751dcf5d7}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a5c9cd62adf1d2c2c2fa05fe751dcf5d7}} +def {\bfseries \+\_\+\+\_\+str\+\_\+\+\_\+} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a644a7e9c1d7c97fb7e9ab7c1fbfb9d18}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a644a7e9c1d7c97fb7e9ab7c1fbfb9d18}} +def {\bfseries reset\+\_\+controller\+\_\+callback} (self, request) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a3a8deb68f36e9deb74551b27a7f08e37}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a3a8deb68f36e9deb74551b27a7f08e37}} +def {\bfseries update\+\_\+controller} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a7fbba860e696aab5f3c129a0459042cc}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a7fbba860e696aab5f3c129a0459042cc}} +def {\bfseries update\+\_\+errors} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_acf544643f1372f44521feb9c7e2f9e92}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_acf544643f1372f44521feb9c7e2f9e92}} +def {\bfseries publish\+\_\+control\+\_\+wrench} (self, force) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a1214dc960d8bda0bafb5540dc3db56a1}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a1214dc960d8bda0bafb5540dc3db56a1}} +def {\bfseries publish\+\_\+auv\+\_\+command} (self, surge\+\_\+speed, wrench) +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Member Functions} +\begin{DoxyCompactItemize} +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_aa0c2334e0eff612c92ac6cc1dcdf852d}{get\+\_\+controller}} (\mbox{\hyperlink{classname}{name}}, $\ast$args) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a7ce49bfa0863fb7c1f0fd2a438d53133}{get\+\_\+list\+\_\+of\+\_\+controllers}} () +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_ab900a68aa3ff5cfeaa32f96e6684bd6f}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_ab900a68aa3ff5cfeaa32f96e6684bd6f}} +{\bfseries thrusters\+\_\+only} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a729d24e3222dab5e4c16a2e7b07ee34f}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a729d24e3222dab5e4c16a2e7b07ee34f}} +{\bfseries use\+\_\+auv\+\_\+control\+\_\+allocator} +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}General abstract class for DP controllers for underwater vehicles. +This is an abstract class, must be inherited by a controller module that +overrides the update_controller method. If the controller is set to be +model based (is_model_based=True), than the vehicle parameters are going +to be read from the ROS parameter server. +\end{DoxyVerb} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a17876e9bc0c1dd2b0150e46b05cab56e}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a17876e9bc0c1dd2b0150e46b05cab56e}} +\index{uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase@{uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase}!error\_orientation\_rpy@{error\_orientation\_rpy}} +\index{error\_orientation\_rpy@{error\_orientation\_rpy}!uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase@{uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase}} +\doxysubsubsection{\texorpdfstring{error\_orientation\_rpy()}{error\_orientation\_rpy()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+base.\+D\+P\+Controller\+Base.\+error\+\_\+orientation\+\_\+rpy (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return orientation error in Euler angles.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a347226f1aa16d7464a666d4065083d36}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a347226f1aa16d7464a666d4065083d36}} +\index{uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase@{uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase}!error\_pose\_euler@{error\_pose\_euler}} +\index{error\_pose\_euler@{error\_pose\_euler}!uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase@{uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase}} +\doxysubsubsection{\texorpdfstring{error\_pose\_euler()}{error\_pose\_euler()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+base.\+D\+P\+Controller\+Base.\+error\+\_\+pose\+\_\+euler (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Pose error with orientation represented in Euler angles.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_aa0c2334e0eff612c92ac6cc1dcdf852d}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_aa0c2334e0eff612c92ac6cc1dcdf852d}} +\index{uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase@{uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase}!get\_controller@{get\_controller}} +\index{get\_controller@{get\_controller}!uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase@{uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase}} +\doxysubsubsection{\texorpdfstring{get\_controller()}{get\_controller()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+base.\+D\+P\+Controller\+Base.\+get\+\_\+controller (\begin{DoxyParamCaption}\item[{}]{name, }\item[{$\ast$}]{args }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}} + +\begin{DoxyVerb}Create instance of a specific DP controller.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a7ce49bfa0863fb7c1f0fd2a438d53133}\label{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase_a7ce49bfa0863fb7c1f0fd2a438d53133}} +\index{uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase@{uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase}!get\_list\_of\_controllers@{get\_list\_of\_controllers}} +\index{get\_list\_of\_controllers@{get\_list\_of\_controllers}!uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase@{uuv\_control\_interfaces.dp\_controller\_base.DPControllerBase}} +\doxysubsubsection{\texorpdfstring{get\_list\_of\_controllers()}{get\_list\_of\_controllers()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+base.\+D\+P\+Controller\+Base.\+get\+\_\+list\+\_\+of\+\_\+controllers (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}} + +\begin{DoxyVerb}Return list of DP controllers using this interface.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+control\+\_\+interfaces/dp\+\_\+controller\+\_\+base.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner.eps b/docs/latex/classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner.eps new file mode 100644 index 0000000..f1bf75c --- /dev/null +++ b/docs/latex/classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 86.021505 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 5.812500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner) 0.000000 0.000000 box + (object) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner.tex b/docs/latex/classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner.tex new file mode 100644 index 0000000..6041dc3 --- /dev/null +++ b/docs/latex/classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner.tex @@ -0,0 +1,205 @@ +\hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner}{}\doxysection{uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+local\+\_\+planner.\+D\+P\+Controller\+Local\+Planner Class Reference} +\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner}\index{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}} +Inheritance diagram for uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+local\+\_\+planner.\+D\+P\+Controller\+Local\+Planner\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a9f9cf285950251ce33098d5ed2a2c75a}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a9f9cf285950251ce33098d5ed2a2c75a}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, full\+\_\+dof=False, stamped\+\_\+pose\+\_\+only=False, thrusters\+\_\+only=True) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a1e359e0c4268f8587f0a2cab1d545a74}{\+\_\+\+\_\+del\+\_\+\+\_\+}} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a19a70bed9ae0001434ff4cfce4963ab3}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a19a70bed9ae0001434ff4cfce4963ab3}} +def {\bfseries is\+\_\+station\+\_\+keeping\+\_\+on} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a00dcadecc3c28660de8e41ac0f06f4db}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a00dcadecc3c28660de8e41ac0f06f4db}} +def {\bfseries set\+\_\+stall\+\_\+vehicle} (self, is\+\_\+on=True) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_ac0cb56e9cb16f4249a222bc2d93c5a57}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_ac0cb56e9cb16f4249a222bc2d93c5a57}} +def {\bfseries is\+\_\+automatic\+\_\+on} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a8e6d4a2721e5d6eda14386c8cfe3e6c4}{set\+\_\+station\+\_\+keeping}} (self, is\+\_\+on=True) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_acbe4ccf881650464969425b43d76a633}{set\+\_\+automatic\+\_\+mode}} (self, is\+\_\+on=True) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a919c977ffbee96552fdc3ac97776e994}{set\+\_\+trajectory\+\_\+running}} (self, is\+\_\+on=True) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a1ae7c5245233d9f4b969a0ec9be1116a}{has\+\_\+started}} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_af2d4b9aaf785ad8cec28ab624b476ba3}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_af2d4b9aaf785ad8cec28ab624b476ba3}} +def {\bfseries calc\+\_\+dist} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a0904dcac5e2f14c41cdb929701bb22cf}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a0904dcac5e2f14c41cdb929701bb22cf}} +def {\bfseries has\+\_\+finished} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a701c60da037da4fccb389f994f75e546}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a701c60da037da4fccb389f994f75e546}} +def {\bfseries update\+\_\+vehicle\+\_\+pose} (self, pos, quat) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a569c7f6357d325265309ac753f5c32e4}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a569c7f6357d325265309ac753f5c32e4}} +def {\bfseries get\+\_\+vehicle\+\_\+rot} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_aea5fe461a5293f0729e1948d2402a122}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_aea5fe461a5293f0729e1948d2402a122}} +def {\bfseries start\+\_\+station\+\_\+keeping} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a6bd23a0405943515adbadeed5b594024}{hold\+\_\+vehicle}} (self, request) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_ad5e4906bd745b426b1065ae846a9f441}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_ad5e4906bd745b426b1065ae846a9f441}} +def {\bfseries cancel\+\_\+request} (self, request) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_ae5e2c789554fb2722e981861e7c0944c}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_ae5e2c789554fb2722e981861e7c0944c}} +def {\bfseries bottom\+\_\+manoeuvre} (self, request) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a31c617bee95786d64c1a28dc05569d9e}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a31c617bee95786d64c1a28dc05569d9e}} +def {\bfseries front\+\_\+manoeuvre} (self, request) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a6bd6967b8b081c393cca5e71f1b3d022}{go\+\_\+to\+\_\+pose}} (self, request) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a0263115133417eedf16c5c205ba095f1}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a0263115133417eedf16c5c205ba095f1}} +def {\bfseries has\+\_\+reached\+\_\+pose} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_acb2463514d0eb3e11b151b9449d402e0}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_acb2463514d0eb3e11b151b9449d402e0}} +def {\bfseries is\+\_\+trajectory\+\_\+complete} (self, request) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a46a25930563b91150b7c8282b028d7fa}{start\+\_\+waypoint\+\_\+list}} (self, request) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a6d96af27a6aebf3865209d5dce62e4ad}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a6d96af27a6aebf3865209d5dce62e4ad}} +def {\bfseries start\+\_\+circle} (self, request) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a85376a66e492305f37146201d3337fdc}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a85376a66e492305f37146201d3337fdc}} +def {\bfseries start\+\_\+helix} (self, request) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a2db746fdcd728ce45b6b6554bd630735}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a2db746fdcd728ce45b6b6554bd630735}} +def {\bfseries init\+\_\+waypoints\+\_\+from\+\_\+file} (self, request) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a8139529ba72a5870c7a80ab5b1e476a7}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a8139529ba72a5870c7a80ab5b1e476a7}} +def {\bfseries go\+\_\+to} (self, request) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a837e655206c606eb9441e5a8053556a0}{go\+\_\+to\+\_\+incremental}} (self, request) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a27a33f37e95c3c9f5b02da313c7cafdc}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a27a33f37e95c3c9f5b02da313c7cafdc}} +def {\bfseries generate\+\_\+reference} (self, t) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_af6bca3f06940f796a23520f214f0d11a}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_af6bca3f06940f796a23520f214f0d11a}} +def {\bfseries get\+\_\+idle\+\_\+circle\+\_\+path} (self, n\+\_\+points, radius=30) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a83e315388b12f1119fcb3363a6ce6cf2}{interpolate}} (self, t) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a5a6cc0e2d5d1c42066b112e0f025c61c}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a5a6cc0e2d5d1c42066b112e0f025c61c}} +{\bfseries inertial\+\_\+frame\+\_\+id} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_ad3a8c5ab28046c40d370ed1d2832946b}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_ad3a8c5ab28046c40d370ed1d2832946b}} +{\bfseries transform\+\_\+ned\+\_\+to\+\_\+enu} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a5b97450dceb16453b500e1f6a550c35a}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a5b97450dceb16453b500e1f6a550c35a}} +{\bfseries q\+\_\+ned\+\_\+to\+\_\+enu} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a69cf51ff8072fafa937f4ffe3467a5a4}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a69cf51ff8072fafa937f4ffe3467a5a4}} +{\bfseries init\+\_\+odom\+\_\+event} +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Local planner for the dynamic positioning controllers to interpolate +trajectories and generate trajectories from interpolated waypoint paths. +\end{DoxyVerb} + + +\doxysubsection{Constructor \& Destructor Documentation} +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a1e359e0c4268f8587f0a2cab1d545a74}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a1e359e0c4268f8587f0a2cab1d545a74}} +\index{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}!\_\_del\_\_@{\_\_del\_\_}} +\index{\_\_del\_\_@{\_\_del\_\_}!uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}} +\doxysubsubsection{\texorpdfstring{\_\_del\_\_()}{\_\_del\_\_()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+local\+\_\+planner.\+D\+P\+Controller\+Local\+Planner.\+\_\+\+\_\+del\+\_\+\+\_\+ (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Remove logging message handlers\end{DoxyVerb} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a837e655206c606eb9441e5a8053556a0}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a837e655206c606eb9441e5a8053556a0}} +\index{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}!go\_to\_incremental@{go\_to\_incremental}} +\index{go\_to\_incremental@{go\_to\_incremental}!uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}} +\doxysubsubsection{\texorpdfstring{go\_to\_incremental()}{go\_to\_incremental()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+local\+\_\+planner.\+D\+P\+Controller\+Local\+Planner.\+go\+\_\+to\+\_\+incremental (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{request }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Service callback to set the command to the vehicle to move to a +relative position in the world. +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a6bd6967b8b081c393cca5e71f1b3d022}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a6bd6967b8b081c393cca5e71f1b3d022}} +\index{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}!go\_to\_pose@{go\_to\_pose}} +\index{go\_to\_pose@{go\_to\_pose}!uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}} +\doxysubsubsection{\texorpdfstring{go\_to\_pose()}{go\_to\_pose()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+local\+\_\+planner.\+D\+P\+Controller\+Local\+Planner.\+go\+\_\+to\+\_\+pose (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{request }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Service callback function to achieve a certain pose +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a1ae7c5245233d9f4b969a0ec9be1116a}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a1ae7c5245233d9f4b969a0ec9be1116a}} +\index{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}!has\_started@{has\_started}} +\index{has\_started@{has\_started}!uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}} +\doxysubsubsection{\texorpdfstring{has\_started()}{has\_started()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+local\+\_\+planner.\+D\+P\+Controller\+Local\+Planner.\+has\+\_\+started (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return if the trajectory interpolator has started generating reference +points. +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a6bd23a0405943515adbadeed5b594024}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a6bd23a0405943515adbadeed5b594024}} +\index{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}!hold\_vehicle@{hold\_vehicle}} +\index{hold\_vehicle@{hold\_vehicle}!uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}} +\doxysubsubsection{\texorpdfstring{hold\_vehicle()}{hold\_vehicle()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+local\+\_\+planner.\+D\+P\+Controller\+Local\+Planner.\+hold\+\_\+vehicle (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{request }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Service callback function to hold the vehicle's current position. +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a83e315388b12f1119fcb3363a6ce6cf2}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a83e315388b12f1119fcb3363a6ce6cf2}} +\index{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}!interpolate@{interpolate}} +\index{interpolate@{interpolate}!uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}} +\doxysubsubsection{\texorpdfstring{interpolate()}{interpolate()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+local\+\_\+planner.\+D\+P\+Controller\+Local\+Planner.\+interpolate (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{t }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Function interface to the controller. Calls the interpolator to +calculate the current trajectory sample or returns a fixed position +based on the past odometry measurements for station keeping. +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_acbe4ccf881650464969425b43d76a633}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_acbe4ccf881650464969425b43d76a633}} +\index{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}!set\_automatic\_mode@{set\_automatic\_mode}} +\index{set\_automatic\_mode@{set\_automatic\_mode}!uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}} +\doxysubsubsection{\texorpdfstring{set\_automatic\_mode()}{set\_automatic\_mode()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+local\+\_\+planner.\+D\+P\+Controller\+Local\+Planner.\+set\+\_\+automatic\+\_\+mode (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{is\+\_\+on = {\ttfamily True} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set automatic mode flag.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a8e6d4a2721e5d6eda14386c8cfe3e6c4}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a8e6d4a2721e5d6eda14386c8cfe3e6c4}} +\index{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}!set\_station\_keeping@{set\_station\_keeping}} +\index{set\_station\_keeping@{set\_station\_keeping}!uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}} +\doxysubsubsection{\texorpdfstring{set\_station\_keeping()}{set\_station\_keeping()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+local\+\_\+planner.\+D\+P\+Controller\+Local\+Planner.\+set\+\_\+station\+\_\+keeping (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{is\+\_\+on = {\ttfamily True} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set station keeping mode flag.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a919c977ffbee96552fdc3ac97776e994}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a919c977ffbee96552fdc3ac97776e994}} +\index{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}!set\_trajectory\_running@{set\_trajectory\_running}} +\index{set\_trajectory\_running@{set\_trajectory\_running}!uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}} +\doxysubsubsection{\texorpdfstring{set\_trajectory\_running()}{set\_trajectory\_running()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+local\+\_\+planner.\+D\+P\+Controller\+Local\+Planner.\+set\+\_\+trajectory\+\_\+running (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{is\+\_\+on = {\ttfamily True} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set trajectory tracking flag.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a46a25930563b91150b7c8282b028d7fa}\label{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner_a46a25930563b91150b7c8282b028d7fa}} +\index{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}!start\_waypoint\_list@{start\_waypoint\_list}} +\index{start\_waypoint\_list@{start\_waypoint\_list}!uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner@{uuv\_control\_interfaces.dp\_controller\_local\_planner.DPControllerLocalPlanner}} +\doxysubsubsection{\texorpdfstring{start\_waypoint\_list()}{start\_waypoint\_list()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+local\+\_\+planner.\+D\+P\+Controller\+Local\+Planner.\+start\+\_\+waypoint\+\_\+list (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{request }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Service callback function to follow a set of waypoints +Args: + request (InitWaypointSet) +\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+control\+\_\+interfaces/dp\+\_\+controller\+\_\+local\+\_\+planner.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase.eps b/docs/latex/classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase.eps new file mode 100644 index 0000000..5386af7 --- /dev/null +++ b/docs/latex/classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase.eps @@ -0,0 +1,203 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 145.631068 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.433333 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 3 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase) cw +(uuv_control_interfaces.dp_controller_base.DPControllerBase) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase) 0.000000 0.000000 box + (uuv_control_interfaces.dp_controller_base.DPControllerBase) 0.000000 1.000000 box + (object) 0.000000 2.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in +solid +0 0.000000 1.000000 out +solid +1 0.000000 2.000000 in diff --git a/docs/latex/classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase.tex b/docs/latex/classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase.tex new file mode 100644 index 0000000..bd79944 --- /dev/null +++ b/docs/latex/classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase.tex @@ -0,0 +1,35 @@ +\hypertarget{classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase}{}\doxysection{uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+pid\+\_\+controller\+\_\+base.\+D\+P\+P\+I\+D\+Controller\+Base Class Reference} +\label{classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase}\index{uuv\_control\_interfaces.dp\_pid\_controller\_base.DPPIDControllerBase@{uuv\_control\_interfaces.dp\_pid\_controller\_base.DPPIDControllerBase}} +Inheritance diagram for uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+pid\+\_\+controller\+\_\+base.\+D\+P\+P\+I\+D\+Controller\+Base\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=3.000000cm]{classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase_a04ea79c786b8099cdaed87f2dfd106ea}\label{classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase_a04ea79c786b8099cdaed87f2dfd106ea}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, $\ast$args) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase_aed2f924fb542ff14d9089f94e971bc57}\label{classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase_aed2f924fb542ff14d9089f94e971bc57}} +def {\bfseries set\+\_\+pid\+\_\+params\+\_\+callback} (self, request) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase_a0b48103803a42818aebe9ca7177fa4d5}\label{classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase_a0b48103803a42818aebe9ca7177fa4d5}} +def {\bfseries get\+\_\+pid\+\_\+params\+\_\+callback} (self, request) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase_aa2c44fa417cc560730ca270998a5c85b}\label{classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase_aa2c44fa417cc560730ca270998a5c85b}} +def {\bfseries update\+\_\+pid} (self) +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}This is an abstract class for PID-based controllers. The base class method +update_controller must be overridden in other for a controller to work. +\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+control\+\_\+interfaces/dp\+\_\+pid\+\_\+controller\+\_\+base.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle.eps b/docs/latex/classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle.eps new file mode 100644 index 0000000..5dcbb84 --- /dev/null +++ b/docs/latex/classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle.eps @@ -0,0 +1,203 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 203.389831 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 2.458333 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 3 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_control_interfaces.sym_vehicle.SymVehicle) cw +(uuv_control_interfaces.vehicle.Vehicle) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_control_interfaces.sym_vehicle.SymVehicle) 0.000000 0.000000 box + (uuv_control_interfaces.vehicle.Vehicle) 0.000000 1.000000 box + (object) 0.000000 2.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in +solid +0 0.000000 1.000000 out +solid +1 0.000000 2.000000 in diff --git a/docs/latex/classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle.tex b/docs/latex/classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle.tex new file mode 100644 index 0000000..113a552 --- /dev/null +++ b/docs/latex/classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle.tex @@ -0,0 +1,60 @@ +\hypertarget{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle}{}\doxysection{uuv\+\_\+control\+\_\+interfaces.\+sym\+\_\+vehicle.\+Sym\+Vehicle Class Reference} +\label{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle}\index{uuv\_control\_interfaces.sym\_vehicle.SymVehicle@{uuv\_control\_interfaces.sym\_vehicle.SymVehicle}} +Inheritance diagram for uuv\+\_\+control\+\_\+interfaces.\+sym\+\_\+vehicle.\+Sym\+Vehicle\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=3.000000cm]{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a051443f66e198b47b0c601e889f08ac1}{\+\_\+\+\_\+init\+\_\+\+\_\+}} (self, inertial\+\_\+frame\+\_\+id=\textquotesingle{}world\textquotesingle{}) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a71603135cd44875b19606f2a7e327d7a}\label{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a71603135cd44875b19606f2a7e327d7a}} +\mbox{\hyperlink{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a71603135cd44875b19606f2a7e327d7a}{eta}} +\begin{DoxyCompactList}\small\item\em Generalized position vector. \end{DoxyCompactList}\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a8ffa15f9459c52517a97a7c7c09127a0}\label{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a8ffa15f9459c52517a97a7c7c09127a0}} +\mbox{\hyperlink{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a8ffa15f9459c52517a97a7c7c09127a0}{nu}} +\begin{DoxyCompactList}\small\item\em Generalized velocity vector. \end{DoxyCompactList}\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a5fe36d5a539158699c55d226da84cf9c}\label{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a5fe36d5a539158699c55d226da84cf9c}} +{\bfseries C\+Matrix} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_ae6f75b7ae1b075e1eeedf95506ec07f5}\label{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_ae6f75b7ae1b075e1eeedf95506ec07f5}} +{\bfseries D\+Matrix} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a16b92d622d7580cfa4852bf649a8098a}\label{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a16b92d622d7580cfa4852bf649a8098a}} +{\bfseries g\+Vec} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_aed9b2f675e09da41a0e5212422bd69d8}\label{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_aed9b2f675e09da41a0e5212422bd69d8}} +{\bfseries eta\+\_\+dot} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a0dabf47de2af84db6b8f8b2094111fb6}\label{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a0dabf47de2af84db6b8f8b2094111fb6}} +{\bfseries u} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a2b5618fad8050ee5744d9d82d27dff25}\label{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a2b5618fad8050ee5744d9d82d27dff25}} +{\bfseries nu\+\_\+dot} +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +\doxysubsection{Constructor \& Destructor Documentation} +\mbox{\Hypertarget{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a051443f66e198b47b0c601e889f08ac1}\label{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a051443f66e198b47b0c601e889f08ac1}} +\index{uuv\_control\_interfaces.sym\_vehicle.SymVehicle@{uuv\_control\_interfaces.sym\_vehicle.SymVehicle}!\_\_init\_\_@{\_\_init\_\_}} +\index{\_\_init\_\_@{\_\_init\_\_}!uuv\_control\_interfaces.sym\_vehicle.SymVehicle@{uuv\_control\_interfaces.sym\_vehicle.SymVehicle}} +\doxysubsubsection{\texorpdfstring{\_\_init\_\_()}{\_\_init\_\_()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+sym\+\_\+vehicle.\+Sym\+Vehicle.\+\_\+\+\_\+init\+\_\+\+\_\+ (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{inertial\+\_\+frame\+\_\+id = {\ttfamily \textquotesingle{}world\textquotesingle{}} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Class constructor.\end{DoxyVerb} + + +Reimplemented from \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a6d02b3dd4b8f9a6bf0a1b625152da0a5}{uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle}}. + + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+control\+\_\+interfaces/sym\+\_\+vehicle.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__control__interfaces_1_1vehicle_1_1Vehicle.eps b/docs/latex/classuuv__control__interfaces_1_1vehicle_1_1Vehicle.eps new file mode 100644 index 0000000..2e2b46f --- /dev/null +++ b/docs/latex/classuuv__control__interfaces_1_1vehicle_1_1Vehicle.eps @@ -0,0 +1,203 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 203.389831 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 2.458333 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 3 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_control_interfaces.vehicle.Vehicle) cw +(object) cw +(uuv_control_interfaces.sym_vehicle.SymVehicle) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_control_interfaces.vehicle.Vehicle) 0.000000 1.000000 box + (object) 0.000000 2.000000 box + (uuv_control_interfaces.sym_vehicle.SymVehicle) 0.000000 0.000000 box + +% ----- relations ----- + +solid +0 0.000000 1.000000 out +solid +1 0.000000 2.000000 in +solid +1 0.000000 0.250000 out +solid +0 0.000000 0.750000 in diff --git a/docs/latex/classuuv__control__interfaces_1_1vehicle_1_1Vehicle.tex b/docs/latex/classuuv__control__interfaces_1_1vehicle_1_1Vehicle.tex new file mode 100644 index 0000000..35dbb44 --- /dev/null +++ b/docs/latex/classuuv__control__interfaces_1_1vehicle_1_1Vehicle.tex @@ -0,0 +1,340 @@ +\hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle}{}\doxysection{uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle Class Reference} +\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle}\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +Inheritance diagram for uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=3.000000cm]{classuuv__control__interfaces_1_1vehicle_1_1Vehicle} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a6d02b3dd4b8f9a6bf0a1b625152da0a5}{\+\_\+\+\_\+init\+\_\+\+\_\+}} (self, inertial\+\_\+frame\+\_\+id=\textquotesingle{}world\textquotesingle{}) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a1577a1b5126b7bd9700529a29e15bb68}{namespace}} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a467cce2ac552d67cddc796cb226ecd87}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a467cce2ac552d67cddc796cb226ecd87}} +def {\bfseries body\+\_\+frame\+\_\+id} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a17eaf656864c1f3859b6641ca17cff15}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a17eaf656864c1f3859b6641ca17cff15}} +def {\bfseries inertial\+\_\+frame\+\_\+id} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_af254268d371af5c080882aaa316a0ecb}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_af254268d371af5c080882aaa316a0ecb}} +def {\bfseries mass} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a430d1328d16f47c69b51e589729830f4}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a430d1328d16f47c69b51e589729830f4}} +def {\bfseries volume} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aa9eeb149212f5affdd0dbb7f5b9c92e4}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aa9eeb149212f5affdd0dbb7f5b9c92e4}} +def {\bfseries gravity} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_afc6fe8de5fefa00c385d1836e851d587}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_afc6fe8de5fefa00c385d1836e851d587}} +def {\bfseries density} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a32793177819018a34a1ddaabcd8bc24b}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a32793177819018a34a1ddaabcd8bc24b}} +def {\bfseries height} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aa343a5589be9b9932c2705c52c6f2337}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aa343a5589be9b9932c2705c52c6f2337}} +def {\bfseries width} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a58db302f9762227bda6b524326bdbbea}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a58db302f9762227bda6b524326bdbbea}} +def {\bfseries length} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aec617353a2cf51362752e5dc13a54e35}{pos}} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a42422827bc619dfec00759692c4aeef2}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a42422827bc619dfec00759692c4aeef2}} +def {\bfseries pos} (self, position) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a4473987f3301790f817b955c6755c34c}{depth}} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a8f75890ac723406a3f3b88a9cf3bac02}{heading}} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a3218fb009b5e65b1f4fc78d1558d091b}{quat}} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aa2f61cc70f16df7eaff9c08de8d19685}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aa2f61cc70f16df7eaff9c08de8d19685}} +def {\bfseries quat} (self, q) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a26fe1585adb41c7e520e98c57feb6e12}{quat\+\_\+dot}} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_abb4a52554737e5d33cea4060db7ca0ec}{vel}} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aa725d4189b5720ff517a692ee3196c17}{vel}} (self, velocity) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a8f52a963cc009b0edc58706a5f3a8978}{acc}} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_ad2560a0550017ac8cbdc0e4d955a87ed}{euler}} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aea39de971c9cf558cc40ed4396d22974}{euler\+\_\+dot}} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a37485e7ef1d2eb6465334a26ba0dab8c}{restoring\+\_\+forces}} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a7987163bb919172b87f9371a1b690743}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a7987163bb919172b87f9371a1b690743}} +def {\bfseries Mtotal} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a65526c57d5668b5e041e161a0f0b8bbc}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a65526c57d5668b5e041e161a0f0b8bbc}} +def {\bfseries Ctotal} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a5aad33e52fe9cc1d05919f082eea0b5c}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a5aad33e52fe9cc1d05919f082eea0b5c}} +def {\bfseries Dtotal} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a2db6289ed84f189acf34e8755ed7a6e7}{pose\+\_\+euler}} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a0ad3cc6304d920168d123028d5f4146c}{pose\+\_\+quat}} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a44b57f3313e3ded3e7721930b1170b9f}{rot\+ItoB}} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a53f8c57037b37c6f9245b00d71482b8d}{rot\+BtoI}} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_ac3b90f9347df0ed0dec0c1ad3b2db2c8}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_ac3b90f9347df0ed0dec0c1ad3b2db2c8}} +def {\bfseries T\+Ito\+Beuler} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aad92764f857a6d9c156eca10a732d188}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aad92764f857a6d9c156eca10a732d188}} +def {\bfseries T\+Bto\+Ieuler} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_af13f5337c305f74238630e6ba5aa014f}{T\+Bto\+Iquat}} (self) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_ac07467b30461b7f9d038ef9d7106c640}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_ac07467b30461b7f9d038ef9d7106c640}} +def {\bfseries to\+\_\+\+S\+N\+A\+ME} (self, x) +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_adc697eae992d91daf28b7e6a7de2038d}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_adc697eae992d91daf28b7e6a7de2038d}} +def {\bfseries from\+\_\+\+S\+N\+A\+ME} (self, x) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a97d737b2c8bce961fa433640f6abfa06}{print\+\_\+info}} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a6d005052594343c0042293ab46a0907e}{set\+\_\+added\+\_\+mass}} (self, Ma) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a00377bec4259cddf133cb6ee3c32eccf}{set\+\_\+damping\+\_\+coef}} (self, linear\+\_\+damping, quad\+\_\+damping) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a35f52975f88fb4861a41351db7f8f4a6}{compute\+\_\+force}} (self, \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a8f52a963cc009b0edc58706a5f3a8978}{acc}}=None, \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_abb4a52554737e5d33cea4060db7ca0ec}{vel}}=None, with\+\_\+restoring=True, use\+\_\+sname=True) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a0b8c08b744638cc91aec38be53ed143e}{compute\+\_\+acc}} (self, gen\+\_\+forces=None, use\+\_\+sname=True) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a7205bfe9869c9779e3d1872d7bbae5ab}{get\+\_\+jacobian}} (self) +\item +def \mbox{\hyperlink{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a2191d660f52d7e7c73cdd278a0f0923b}{update\+\_\+odometry}} (self, msg) +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aa4aee971cc1e8c232b530a4786799cb8}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aa4aee971cc1e8c232b530a4786799cb8}} +def {\bfseries q\+\_\+to\+\_\+matrix} (q) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a4864adf82868fd4f7f48fd7de2aaf071}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a4864adf82868fd4f7f48fd7de2aaf071}} +{\bfseries transform\+\_\+ned\+\_\+to\+\_\+enu} +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a10ca3c7b9640ce44fc8e019e3cb37a5d}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a10ca3c7b9640ce44fc8e019e3cb37a5d}} +{\bfseries I\+N\+S\+T\+A\+N\+CE} = None +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Vehicle interface to be used by model-based controllers. It receives the +parameters necessary to compute the vehicle's motion according to Fossen's. +\end{DoxyVerb} + + +\doxysubsection{Constructor \& Destructor Documentation} +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a6d02b3dd4b8f9a6bf0a1b625152da0a5}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a6d02b3dd4b8f9a6bf0a1b625152da0a5}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!\_\_init\_\_@{\_\_init\_\_}} +\index{\_\_init\_\_@{\_\_init\_\_}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{\_\_init\_\_()}{\_\_init\_\_()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+\_\+\+\_\+init\+\_\+\+\_\+ (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{inertial\+\_\+frame\+\_\+id = {\ttfamily \textquotesingle{}world\textquotesingle{}} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Class constructor.\end{DoxyVerb} + + +Reimplemented in \mbox{\hyperlink{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle_a051443f66e198b47b0c601e889f08ac1}{uuv\+\_\+control\+\_\+interfaces.\+sym\+\_\+vehicle.\+Sym\+Vehicle}}. + + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a8f52a963cc009b0edc58706a5f3a8978}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a8f52a963cc009b0edc58706a5f3a8978}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!acc@{acc}} +\index{acc@{acc}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{acc()}{acc()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+acc (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return linear and angular acceleration vector.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a0b8c08b744638cc91aec38be53ed143e}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a0b8c08b744638cc91aec38be53ed143e}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!compute\_acc@{compute\_acc}} +\index{compute\_acc@{compute\_acc}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{compute\_acc()}{compute\_acc()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+compute\+\_\+acc (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{gen\+\_\+forces = {\ttfamily None}, }\item[{}]{use\+\_\+sname = {\ttfamily True} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Calculate inverse dynamics to obtain the acceleration vector.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a35f52975f88fb4861a41351db7f8f4a6}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a35f52975f88fb4861a41351db7f8f4a6}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!compute\_force@{compute\_force}} +\index{compute\_force@{compute\_force}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{compute\_force()}{compute\_force()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+compute\+\_\+force (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{acc = {\ttfamily None}, }\item[{}]{vel = {\ttfamily None}, }\item[{}]{with\+\_\+restoring = {\ttfamily True}, }\item[{}]{use\+\_\+sname = {\ttfamily True} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return the sum of forces acting on the vehicle. + +Given acceleration and velocity vectors, this function returns the +sum of forces given the rigid-body and hydrodynamic models for the +marine vessel. +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a4473987f3301790f817b955c6755c34c}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a4473987f3301790f817b955c6755c34c}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!depth@{depth}} +\index{depth@{depth}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{depth()}{depth()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+depth (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return depth of the vehicle.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_ad2560a0550017ac8cbdc0e4d955a87ed}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_ad2560a0550017ac8cbdc0e4d955a87ed}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!euler@{euler}} +\index{euler@{euler}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{euler()}{euler()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+euler (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return orientation in Euler angles as described in Fossen, 2011.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aea39de971c9cf558cc40ed4396d22974}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aea39de971c9cf558cc40ed4396d22974}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!euler\_dot@{euler\_dot}} +\index{euler\_dot@{euler\_dot}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{euler\_dot()}{euler\_dot()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+euler\+\_\+dot (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return time derivative of the Euler angles.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a7205bfe9869c9779e3d1872d7bbae5ab}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a7205bfe9869c9779e3d1872d7bbae5ab}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!get\_jacobian@{get\_jacobian}} +\index{get\_jacobian@{get\_jacobian}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{get\_jacobian()}{get\_jacobian()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+get\+\_\+jacobian (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return the Jacobian for the current orientation using transformations +from BODY to INERTIAL frame. +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a8f75890ac723406a3f3b88a9cf3bac02}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a8f75890ac723406a3f3b88a9cf3bac02}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!heading@{heading}} +\index{heading@{heading}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{heading()}{heading()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+heading (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return the heading of the vehicle.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a1577a1b5126b7bd9700529a29e15bb68}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a1577a1b5126b7bd9700529a29e15bb68}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!namespace@{namespace}} +\index{namespace@{namespace}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{namespace()}{namespace()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+namespace (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return robot namespace.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aec617353a2cf51362752e5dc13a54e35}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aec617353a2cf51362752e5dc13a54e35}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!pos@{pos}} +\index{pos@{pos}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{pos()}{pos()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+pos (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return the position of the vehicle.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a2db6289ed84f189acf34e8755ed7a6e7}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a2db6289ed84f189acf34e8755ed7a6e7}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!pose\_euler@{pose\_euler}} +\index{pose\_euler@{pose\_euler}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{pose\_euler()}{pose\_euler()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+pose\+\_\+euler (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return pose as a vector, orientation in Euler angles.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a0ad3cc6304d920168d123028d5f4146c}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a0ad3cc6304d920168d123028d5f4146c}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!pose\_quat@{pose\_quat}} +\index{pose\_quat@{pose\_quat}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{pose\_quat()}{pose\_quat()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+pose\+\_\+quat (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return pose as a vector, orientation as quaternion.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a97d737b2c8bce961fa433640f6abfa06}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a97d737b2c8bce961fa433640f6abfa06}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!print\_info@{print\_info}} +\index{print\_info@{print\_info}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{print\_info()}{print\_info()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+print\+\_\+info (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Print the vehicle's parameters.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a3218fb009b5e65b1f4fc78d1558d091b}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a3218fb009b5e65b1f4fc78d1558d091b}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!quat@{quat}} +\index{quat@{quat}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{quat()}{quat()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+quat (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return orientation quaternion.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a26fe1585adb41c7e520e98c57feb6e12}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a26fe1585adb41c7e520e98c57feb6e12}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!quat\_dot@{quat\_dot}} +\index{quat\_dot@{quat\_dot}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{quat\_dot()}{quat\_dot()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+quat\+\_\+dot (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return the time derivative of the quaternion vector.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a37485e7ef1d2eb6465334a26ba0dab8c}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a37485e7ef1d2eb6465334a26ba0dab8c}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!restoring\_forces@{restoring\_forces}} +\index{restoring\_forces@{restoring\_forces}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{restoring\_forces()}{restoring\_forces()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+restoring\+\_\+forces (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return the restoring force vector.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a53f8c57037b37c6f9245b00d71482b8d}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a53f8c57037b37c6f9245b00d71482b8d}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!rotBtoI@{rotBtoI}} +\index{rotBtoI@{rotBtoI}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{rotBtoI()}{rotBtoI()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+rot\+BtoI (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return rotation from BODY to INERTIAL frame using the zyx convention + to retrieve Euler angles from the quaternion vector (Fossen, 2011). +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a44b57f3313e3ded3e7721930b1170b9f}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a44b57f3313e3ded3e7721930b1170b9f}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!rotItoB@{rotItoB}} +\index{rotItoB@{rotItoB}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{rotItoB()}{rotItoB()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+rot\+ItoB (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return rotation from INERTIAL to BODY frame\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a6d005052594343c0042293ab46a0907e}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a6d005052594343c0042293ab46a0907e}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!set\_added\_mass@{set\_added\_mass}} +\index{set\_added\_mass@{set\_added\_mass}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{set\_added\_mass()}{set\_added\_mass()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+set\+\_\+added\+\_\+mass (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{Ma }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set added-mass matrix coefficients.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a00377bec4259cddf133cb6ee3c32eccf}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a00377bec4259cddf133cb6ee3c32eccf}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!set\_damping\_coef@{set\_damping\_coef}} +\index{set\_damping\_coef@{set\_damping\_coef}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{set\_damping\_coef()}{set\_damping\_coef()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+set\+\_\+damping\+\_\+coef (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{linear\+\_\+damping, }\item[{}]{quad\+\_\+damping }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set linear and quadratic damping coefficients.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_af13f5337c305f74238630e6ba5aa014f}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_af13f5337c305f74238630e6ba5aa014f}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!TBtoIquat@{TBtoIquat}} +\index{TBtoIquat@{TBtoIquat}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{TBtoIquat()}{TBtoIquat()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+T\+Bto\+Iquat (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return matrix for transformation of BODY-fixed angular velocities in the +BODY frame in relation to the INERTIAL frame into quaternion rate. +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a2191d660f52d7e7c73cdd278a0f0923b}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_a2191d660f52d7e7c73cdd278a0f0923b}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!update\_odometry@{update\_odometry}} +\index{update\_odometry@{update\_odometry}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{update\_odometry()}{update\_odometry()}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+update\+\_\+odometry (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{msg }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Odometry topic subscriber callback function.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_abb4a52554737e5d33cea4060db7ca0ec}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_abb4a52554737e5d33cea4060db7ca0ec}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!vel@{vel}} +\index{vel@{vel}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{vel()}{vel()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+vel (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return linear and angular velocity vector.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aa725d4189b5720ff517a692ee3196c17}\label{classuuv__control__interfaces_1_1vehicle_1_1Vehicle_aa725d4189b5720ff517a692ee3196c17}} +\index{uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}!vel@{vel}} +\index{vel@{vel}!uuv\_control\_interfaces.vehicle.Vehicle@{uuv\_control\_interfaces.vehicle.Vehicle}} +\doxysubsubsection{\texorpdfstring{vel()}{vel()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}} +{\footnotesize\ttfamily def uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle.\+vel (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{velocity }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set the velocity vector in the BODY frame.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+control\+\_\+interfaces/vehicle.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__thrusters_1_1models_1_1thruster_1_1Thruster.eps b/docs/latex/classuuv__thrusters_1_1models_1_1thruster_1_1Thruster.eps new file mode 100644 index 0000000..af176a2 --- /dev/null +++ b/docs/latex/classuuv__thrusters_1_1models_1_1thruster_1_1Thruster.eps @@ -0,0 +1,209 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 78.534031 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 6.366667 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 3 def +/cols 2 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_thrusters.models.thruster.Thruster) cw +(object) cw +(uuv_thrusters.models.thruster_custom.ThrusterCustom) cw +(uuv_thrusters.models.thruster_proportional.ThrusterProportional) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_thrusters.models.thruster.Thruster) 0.500000 1.000000 box + (object) 0.500000 2.000000 box + (uuv_thrusters.models.thruster_custom.ThrusterCustom) 0.000000 0.000000 box + (uuv_thrusters.models.thruster_proportional.ThrusterProportional) 1.000000 0.000000 box + +% ----- relations ----- + +solid +0 0.500000 1.000000 out +solid +1 0.500000 2.000000 in +solid +1 0.500000 0.250000 out +solid +0.000000 1.000000 1.000000 conn +solid +0 0.000000 0.750000 in +solid +0 1.000000 0.750000 in diff --git a/docs/latex/classuuv__thrusters_1_1models_1_1thruster_1_1Thruster.tex b/docs/latex/classuuv__thrusters_1_1models_1_1thruster_1_1Thruster.tex new file mode 100644 index 0000000..707de22 --- /dev/null +++ b/docs/latex/classuuv__thrusters_1_1models_1_1thruster_1_1Thruster.tex @@ -0,0 +1,106 @@ +\hypertarget{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster}{}\doxysection{uuv\+\_\+thrusters.\+models.\+thruster.\+Thruster Class Reference} +\label{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster}\index{uuv\_thrusters.models.thruster.Thruster@{uuv\_thrusters.models.thruster.Thruster}} +Inheritance diagram for uuv\+\_\+thrusters.\+models.\+thruster.\+Thruster\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.198953cm]{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +def \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a5d472c0b1187de31ecbecade71fb77e9}{\+\_\+\+\_\+init\+\_\+\+\_\+}} (self, index, topic, pos, orientation, axis=D\+E\+F\+A\+U\+L\+T\+\_\+\+A\+X\+IS) +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a606b5281acdce060a4d448059e3d2755}\label{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a606b5281acdce060a4d448059e3d2755}} +def {\bfseries tam\+\_\+column} (self) +\item +def \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a822a77083f976afe5b370555e2cd5f0f}{get\+\_\+command\+\_\+value}} (self, thrust) +\item +def \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a8ac586d53fe484de470043b23bd9eded}{get\+\_\+thrust\+\_\+value}} (self, command) +\item +def \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a82e413f504f341cbee6b200906045b30}{get\+\_\+curve}} (self, min\+\_\+value, max\+\_\+value, n\+\_\+points) +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_acfa4ed030080803c78ee8cffaadabb84}\label{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_acfa4ed030080803c78ee8cffaadabb84}} +def {\bfseries publish\+\_\+command} (self, thrust) +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a3b4909072029030b2529104ff9698f0b}\label{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a3b4909072029030b2529104ff9698f0b}} +def {\bfseries create\+\_\+thruster} (model\+\_\+name, $\ast$args, $\ast$$\ast$kwargs) +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_ac7ec40c1c035a1fc052d2a549c24e6e8}\label{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_ac7ec40c1c035a1fc052d2a549c24e6e8}} +string {\bfseries L\+A\+B\+EL} = \textquotesingle{}\textquotesingle{} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a3cca2e266275373ca6c33c4ed1488bcc}\label{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a3cca2e266275373ca6c33c4ed1488bcc}} +{\bfseries D\+E\+F\+A\+U\+L\+T\+\_\+\+A\+X\+IS} = numpy.\+array(\mbox{[}1, 0, 0, 0\mbox{]}) +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Abstract function to all the thruster models avaialble. The instance +of a thruster model must use the factory method.\end{DoxyVerb} + + +\doxysubsection{Constructor \& Destructor Documentation} +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a5d472c0b1187de31ecbecade71fb77e9}\label{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a5d472c0b1187de31ecbecade71fb77e9}} +\index{uuv\_thrusters.models.thruster.Thruster@{uuv\_thrusters.models.thruster.Thruster}!\_\_init\_\_@{\_\_init\_\_}} +\index{\_\_init\_\_@{\_\_init\_\_}!uuv\_thrusters.models.thruster.Thruster@{uuv\_thrusters.models.thruster.Thruster}} +\doxysubsubsection{\texorpdfstring{\_\_init\_\_()}{\_\_init\_\_()}} +{\footnotesize\ttfamily def uuv\+\_\+thrusters.\+models.\+thruster.\+Thruster.\+\_\+\+\_\+init\+\_\+\+\_\+ (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{index, }\item[{}]{topic, }\item[{}]{pos, }\item[{}]{orientation, }\item[{}]{axis = {\ttfamily DEFAULT\+\_\+AXIS} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Thruster class constructor. + +Parameters +---------- +index: int + Thruster's index. +topic: str + Name of the thruster's command topic. +pos: numpy.array + 3D position of the thruster with relation to the reference frame. +orientation: numpy.array + Quaternion with the orientation of the thruster with relation to + the reference frame. +\end{DoxyVerb} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a822a77083f976afe5b370555e2cd5f0f}\label{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a822a77083f976afe5b370555e2cd5f0f}} +\index{uuv\_thrusters.models.thruster.Thruster@{uuv\_thrusters.models.thruster.Thruster}!get\_command\_value@{get\_command\_value}} +\index{get\_command\_value@{get\_command\_value}!uuv\_thrusters.models.thruster.Thruster@{uuv\_thrusters.models.thruster.Thruster}} +\doxysubsubsection{\texorpdfstring{get\_command\_value()}{get\_command\_value()}} +{\footnotesize\ttfamily def uuv\+\_\+thrusters.\+models.\+thruster.\+Thruster.\+get\+\_\+command\+\_\+value (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{thrust }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Convert desired thrust force to input command according to this +function. Overwrite this method to implement custom models.\end{DoxyVerb} + + +Reimplemented in \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom_a85c0c229aa03b521ecc0431114e721f7}{uuv\+\_\+thrusters.\+models.\+thruster\+\_\+custom.\+Thruster\+Custom}}, and \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional_ac6dbd251b6c6e043a2158e755ecc2ed7}{uuv\+\_\+thrusters.\+models.\+thruster\+\_\+proportional.\+Thruster\+Proportional}}. + +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a82e413f504f341cbee6b200906045b30}\label{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a82e413f504f341cbee6b200906045b30}} +\index{uuv\_thrusters.models.thruster.Thruster@{uuv\_thrusters.models.thruster.Thruster}!get\_curve@{get\_curve}} +\index{get\_curve@{get\_curve}!uuv\_thrusters.models.thruster.Thruster@{uuv\_thrusters.models.thruster.Thruster}} +\doxysubsubsection{\texorpdfstring{get\_curve()}{get\_curve()}} +{\footnotesize\ttfamily def uuv\+\_\+thrusters.\+models.\+thruster.\+Thruster.\+get\+\_\+curve (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{min\+\_\+value, }\item[{}]{max\+\_\+value, }\item[{}]{n\+\_\+points }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Sample the conversion curve and return the values.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a8ac586d53fe484de470043b23bd9eded}\label{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a8ac586d53fe484de470043b23bd9eded}} +\index{uuv\_thrusters.models.thruster.Thruster@{uuv\_thrusters.models.thruster.Thruster}!get\_thrust\_value@{get\_thrust\_value}} +\index{get\_thrust\_value@{get\_thrust\_value}!uuv\_thrusters.models.thruster.Thruster@{uuv\_thrusters.models.thruster.Thruster}} +\doxysubsubsection{\texorpdfstring{get\_thrust\_value()}{get\_thrust\_value()}} +{\footnotesize\ttfamily def uuv\+\_\+thrusters.\+models.\+thruster.\+Thruster.\+get\+\_\+thrust\+\_\+value (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{command }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Computes the thrust force for the given command.\end{DoxyVerb} + + +Reimplemented in \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom_ab745b92cb62dc58b4e68d7789aeb57d9}{uuv\+\_\+thrusters.\+models.\+thruster\+\_\+custom.\+Thruster\+Custom}}, and \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional_a8ce50c4afd1fbd05d4fb700385cd69b0}{uuv\+\_\+thrusters.\+models.\+thruster\+\_\+proportional.\+Thruster\+Proportional}}. + + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+thruster\+\_\+manager/src/uuv\+\_\+thrusters/models/thruster.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom.eps b/docs/latex/classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom.eps new file mode 100644 index 0000000..49a624b --- /dev/null +++ b/docs/latex/classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom.eps @@ -0,0 +1,203 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 184.615385 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 2.708333 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 3 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_thrusters.models.thruster_custom.ThrusterCustom) cw +(uuv_thrusters.models.thruster.Thruster) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_thrusters.models.thruster_custom.ThrusterCustom) 0.000000 0.000000 box + (uuv_thrusters.models.thruster.Thruster) 0.000000 1.000000 box + (object) 0.000000 2.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in +solid +0 0.000000 1.000000 out +solid +1 0.000000 2.000000 in diff --git a/docs/latex/classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom.tex b/docs/latex/classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom.tex new file mode 100644 index 0000000..fb54aa5 --- /dev/null +++ b/docs/latex/classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom.tex @@ -0,0 +1,78 @@ +\hypertarget{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom}{}\doxysection{uuv\+\_\+thrusters.\+models.\+thruster\+\_\+custom.\+Thruster\+Custom Class Reference} +\label{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom}\index{uuv\_thrusters.models.thruster\_custom.ThrusterCustom@{uuv\_thrusters.models.thruster\_custom.ThrusterCustom}} +Inheritance diagram for uuv\+\_\+thrusters.\+models.\+thruster\+\_\+custom.\+Thruster\+Custom\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=3.000000cm]{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +def \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom_a1a5847a4ffe4b2137ddde38b3779974b}{\+\_\+\+\_\+init\+\_\+\+\_\+}} (self, $\ast$args, $\ast$$\ast$kwargs) +\item +def \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom_a85c0c229aa03b521ecc0431114e721f7}{get\+\_\+command\+\_\+value}} (self, thrust) +\item +def \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom_ab745b92cb62dc58b4e68d7789aeb57d9}{get\+\_\+thrust\+\_\+value}} (self, command) +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom_adbeb7e20a1f91e54ca6ed180f2ddbf0a}\label{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom_adbeb7e20a1f91e54ca6ed180f2ddbf0a}} +string {\bfseries L\+A\+B\+EL} = \textquotesingle{}custom\textquotesingle{} +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Class describing a custom conversion curve between the command input, +usually the angular velocity, and the correspondent output thrust force. +Here the inverse of the conversion function can be computed so that the +command for the desired thrust force is retrieved. +The input vector corresponds to sampled values for the command input, and +the output vector corresponds to the sampled values for the correspondent +thrust forces. +This information is usually available in the datasheet of the thruster's +manufacturer. +\end{DoxyVerb} + + +\doxysubsection{Constructor \& Destructor Documentation} +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom_a1a5847a4ffe4b2137ddde38b3779974b}\label{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom_a1a5847a4ffe4b2137ddde38b3779974b}} +\index{uuv\_thrusters.models.thruster\_custom.ThrusterCustom@{uuv\_thrusters.models.thruster\_custom.ThrusterCustom}!\_\_init\_\_@{\_\_init\_\_}} +\index{\_\_init\_\_@{\_\_init\_\_}!uuv\_thrusters.models.thruster\_custom.ThrusterCustom@{uuv\_thrusters.models.thruster\_custom.ThrusterCustom}} +\doxysubsubsection{\texorpdfstring{\_\_init\_\_()}{\_\_init\_\_()}} +{\footnotesize\ttfamily def uuv\+\_\+thrusters.\+models.\+thruster\+\_\+custom.\+Thruster\+Custom.\+\_\+\+\_\+init\+\_\+\+\_\+ (\begin{DoxyParamCaption}\item[{}]{self, }\item[{$\ast$}]{args, }\item[{$\ast$$\ast$}]{kwargs }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Class constructor.\end{DoxyVerb} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom_a85c0c229aa03b521ecc0431114e721f7}\label{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom_a85c0c229aa03b521ecc0431114e721f7}} +\index{uuv\_thrusters.models.thruster\_custom.ThrusterCustom@{uuv\_thrusters.models.thruster\_custom.ThrusterCustom}!get\_command\_value@{get\_command\_value}} +\index{get\_command\_value@{get\_command\_value}!uuv\_thrusters.models.thruster\_custom.ThrusterCustom@{uuv\_thrusters.models.thruster\_custom.ThrusterCustom}} +\doxysubsubsection{\texorpdfstring{get\_command\_value()}{get\_command\_value()}} +{\footnotesize\ttfamily def uuv\+\_\+thrusters.\+models.\+thruster\+\_\+custom.\+Thruster\+Custom.\+get\+\_\+command\+\_\+value (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{thrust }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Convert desired thrust force to input command according to this +function. Overwrite this method to implement custom models.\end{DoxyVerb} + + +Reimplemented from \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a822a77083f976afe5b370555e2cd5f0f}{uuv\+\_\+thrusters.\+models.\+thruster.\+Thruster}}. + +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom_ab745b92cb62dc58b4e68d7789aeb57d9}\label{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom_ab745b92cb62dc58b4e68d7789aeb57d9}} +\index{uuv\_thrusters.models.thruster\_custom.ThrusterCustom@{uuv\_thrusters.models.thruster\_custom.ThrusterCustom}!get\_thrust\_value@{get\_thrust\_value}} +\index{get\_thrust\_value@{get\_thrust\_value}!uuv\_thrusters.models.thruster\_custom.ThrusterCustom@{uuv\_thrusters.models.thruster\_custom.ThrusterCustom}} +\doxysubsubsection{\texorpdfstring{get\_thrust\_value()}{get\_thrust\_value()}} +{\footnotesize\ttfamily def uuv\+\_\+thrusters.\+models.\+thruster\+\_\+custom.\+Thruster\+Custom.\+get\+\_\+thrust\+\_\+value (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{command }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Computes the thrust force for the given command.\end{DoxyVerb} + + +Reimplemented from \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a8ac586d53fe484de470043b23bd9eded}{uuv\+\_\+thrusters.\+models.\+thruster.\+Thruster}}. + + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+thruster\+\_\+manager/src/uuv\+\_\+thrusters/models/thruster\+\_\+custom.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional.eps b/docs/latex/classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional.eps new file mode 100644 index 0000000..7a4054e --- /dev/null +++ b/docs/latex/classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional.eps @@ -0,0 +1,203 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 157.068063 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.183333 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 3 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_thrusters.models.thruster_proportional.ThrusterProportional) cw +(uuv_thrusters.models.thruster.Thruster) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_thrusters.models.thruster_proportional.ThrusterProportional) 0.000000 0.000000 box + (uuv_thrusters.models.thruster.Thruster) 0.000000 1.000000 box + (object) 0.000000 2.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in +solid +0 0.000000 1.000000 out +solid +1 0.000000 2.000000 in diff --git a/docs/latex/classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional.tex b/docs/latex/classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional.tex new file mode 100644 index 0000000..87f6571 --- /dev/null +++ b/docs/latex/classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional.tex @@ -0,0 +1,63 @@ +\hypertarget{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional}{}\doxysection{uuv\+\_\+thrusters.\+models.\+thruster\+\_\+proportional.\+Thruster\+Proportional Class Reference} +\label{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional}\index{uuv\_thrusters.models.thruster\_proportional.ThrusterProportional@{uuv\_thrusters.models.thruster\_proportional.ThrusterProportional}} +Inheritance diagram for uuv\+\_\+thrusters.\+models.\+thruster\+\_\+proportional.\+Thruster\+Proportional\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=3.000000cm]{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional_a71d97aae671034fc2e4587cfbe455d00}\label{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional_a71d97aae671034fc2e4587cfbe455d00}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, $\ast$args, $\ast$$\ast$kwargs) +\item +def \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional_ac6dbd251b6c6e043a2158e755ecc2ed7}{get\+\_\+command\+\_\+value}} (self, thrust) +\item +def \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional_a8ce50c4afd1fbd05d4fb700385cd69b0}{get\+\_\+thrust\+\_\+value}} (self, command) +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional_ab3da0e36e405e748dbddccb82855361e}\label{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional_ab3da0e36e405e748dbddccb82855361e}} +string {\bfseries L\+A\+B\+EL} = \textquotesingle{}proportional\textquotesingle{} +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}This model corresponds to the linear relation between a function +abs(command)*command of the command input (usually the command angular +velocity) to the thrust force. A constant gain has to be provided. +\end{DoxyVerb} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional_ac6dbd251b6c6e043a2158e755ecc2ed7}\label{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional_ac6dbd251b6c6e043a2158e755ecc2ed7}} +\index{uuv\_thrusters.models.thruster\_proportional.ThrusterProportional@{uuv\_thrusters.models.thruster\_proportional.ThrusterProportional}!get\_command\_value@{get\_command\_value}} +\index{get\_command\_value@{get\_command\_value}!uuv\_thrusters.models.thruster\_proportional.ThrusterProportional@{uuv\_thrusters.models.thruster\_proportional.ThrusterProportional}} +\doxysubsubsection{\texorpdfstring{get\_command\_value()}{get\_command\_value()}} +{\footnotesize\ttfamily def uuv\+\_\+thrusters.\+models.\+thruster\+\_\+proportional.\+Thruster\+Proportional.\+get\+\_\+command\+\_\+value (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{thrust }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Convert desired thrust force to input command according to this +function. Overwrite this method to implement custom models.\end{DoxyVerb} + + +Reimplemented from \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a822a77083f976afe5b370555e2cd5f0f}{uuv\+\_\+thrusters.\+models.\+thruster.\+Thruster}}. + +\mbox{\Hypertarget{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional_a8ce50c4afd1fbd05d4fb700385cd69b0}\label{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional_a8ce50c4afd1fbd05d4fb700385cd69b0}} +\index{uuv\_thrusters.models.thruster\_proportional.ThrusterProportional@{uuv\_thrusters.models.thruster\_proportional.ThrusterProportional}!get\_thrust\_value@{get\_thrust\_value}} +\index{get\_thrust\_value@{get\_thrust\_value}!uuv\_thrusters.models.thruster\_proportional.ThrusterProportional@{uuv\_thrusters.models.thruster\_proportional.ThrusterProportional}} +\doxysubsubsection{\texorpdfstring{get\_thrust\_value()}{get\_thrust\_value()}} +{\footnotesize\ttfamily def uuv\+\_\+thrusters.\+models.\+thruster\+\_\+proportional.\+Thruster\+Proportional.\+get\+\_\+thrust\+\_\+value (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{command }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Computes the thrust force for the given command.\end{DoxyVerb} + + +Reimplemented from \mbox{\hyperlink{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster_a8ac586d53fe484de470043b23bd9eded}{uuv\+\_\+thrusters.\+models.\+thruster.\+Thruster}}. + + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+thruster\+\_\+manager/src/uuv\+\_\+thrusters/models/thruster\+\_\+proportional.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager.tex b/docs/latex/classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager.tex new file mode 100644 index 0000000..1c03d4b --- /dev/null +++ b/docs/latex/classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager.tex @@ -0,0 +1,118 @@ +\hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager}{}\doxysection{uuv\+\_\+thrusters.\+thruster\+\_\+manager.\+Thruster\+Manager Class Reference} +\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager}\index{uuv\_thrusters.thruster\_manager.ThrusterManager@{uuv\_thrusters.thruster\_manager.ThrusterManager}} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +def \mbox{\hyperlink{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a256d947278c99ab4f6096c8e1c97949e}{\+\_\+\+\_\+init\+\_\+\+\_\+}} (self) +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a59997e838d43dab3ff43694a4494169b}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a59997e838d43dab3ff43694a4494169b}} +def {\bfseries parse\+\_\+urdf} (self, urdf\+\_\+str) +\item +def \mbox{\hyperlink{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a62be58f0aa543045939ac466f2f18374}{update\+\_\+tam}} (self, recalculate=False) +\item +def \mbox{\hyperlink{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a452943d71a58fa6c8119b8abe06d11a3}{command\+\_\+thrusters}} (self) +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a25851daa60de3aaa3208ec077e413f88}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a25851daa60de3aaa3208ec077e413f88}} +def {\bfseries publish\+\_\+thrust\+\_\+forces} (self, control\+\_\+forces, control\+\_\+torques, frame\+\_\+id=None) +\item +def \mbox{\hyperlink{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a4a6d039fe6c2eeb7d5e0eae1e022fe96}{compute\+\_\+thruster\+\_\+forces}} (self, gen\+\_\+forces) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a3999f4928c68deb5f569cfcada2eca91}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a3999f4928c68deb5f569cfcada2eca91}} +{\bfseries namespace} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a46e6fa6d4482ed72b79b30d72c6da7fb}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a46e6fa6d4482ed72b79b30d72c6da7fb}} +{\bfseries config} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a9b02281905c15789606b9f00ccf7be80}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a9b02281905c15789606b9f00ccf7be80}} +{\bfseries use\+\_\+robot\+\_\+descr} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a1ea46a1e2b8d097ec2979b20710dc752}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a1ea46a1e2b8d097ec2979b20710dc752}} +{\bfseries axes} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_abce659a8e7924caa33cce78221271d6c}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_abce659a8e7924caa33cce78221271d6c}} +{\bfseries base\+\_\+link\+\_\+ned\+\_\+to\+\_\+enu} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_ac4ca89d0c9ff2473c128bf2d033a9321}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_ac4ca89d0c9ff2473c128bf2d033a9321}} +{\bfseries output\+\_\+dir} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a0b4aebbcedb7424aea19386c86b87c1b}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a0b4aebbcedb7424aea19386c86b87c1b}} +{\bfseries n\+\_\+thrusters} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a00c15531be398264d19a0ffb81cd811a}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a00c15531be398264d19a0ffb81cd811a}} +{\bfseries thrusters} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_aea626cb654681a8c2aa38f8f505ab323}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_aea626cb654681a8c2aa38f8f505ab323}} +{\bfseries thrust} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a78b11082894fc45d5cfdb159b27b2af3}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a78b11082894fc45d5cfdb159b27b2af3}} +{\bfseries configuration\+\_\+matrix} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a93fb352d387588d109824dbcef8efcb1}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a93fb352d387588d109824dbcef8efcb1}} +{\bfseries inverse\+\_\+configuration\+\_\+matrix} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_ac3179ee98415afd7f7dd9a78b6e2fe08}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_ac3179ee98415afd7f7dd9a78b6e2fe08}} +{\bfseries ready} +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a6e9b74a4007244362a11dc95bf6b0b5d}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a6e9b74a4007244362a11dc95bf6b0b5d}} +int {\bfseries M\+A\+X\+\_\+\+T\+H\+R\+U\+S\+T\+E\+RS} = 16 +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}The thruster manager generates the thruster allocation matrix using the +TF information and publishes the thruster forces assuming the the thruster +topics are named in the following pattern + +// + +Thruster frames should also be named as follows + +_ +\end{DoxyVerb} + + +\doxysubsection{Constructor \& Destructor Documentation} +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a256d947278c99ab4f6096c8e1c97949e}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a256d947278c99ab4f6096c8e1c97949e}} +\index{uuv\_thrusters.thruster\_manager.ThrusterManager@{uuv\_thrusters.thruster\_manager.ThrusterManager}!\_\_init\_\_@{\_\_init\_\_}} +\index{\_\_init\_\_@{\_\_init\_\_}!uuv\_thrusters.thruster\_manager.ThrusterManager@{uuv\_thrusters.thruster\_manager.ThrusterManager}} +\doxysubsubsection{\texorpdfstring{\_\_init\_\_()}{\_\_init\_\_()}} +{\footnotesize\ttfamily def uuv\+\_\+thrusters.\+thruster\+\_\+manager.\+Thruster\+Manager.\+\_\+\+\_\+init\+\_\+\+\_\+ (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Class constructor.\end{DoxyVerb} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a452943d71a58fa6c8119b8abe06d11a3}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a452943d71a58fa6c8119b8abe06d11a3}} +\index{uuv\_thrusters.thruster\_manager.ThrusterManager@{uuv\_thrusters.thruster\_manager.ThrusterManager}!command\_thrusters@{command\_thrusters}} +\index{command\_thrusters@{command\_thrusters}!uuv\_thrusters.thruster\_manager.ThrusterManager@{uuv\_thrusters.thruster\_manager.ThrusterManager}} +\doxysubsubsection{\texorpdfstring{command\_thrusters()}{command\_thrusters()}} +{\footnotesize\ttfamily def uuv\+\_\+thrusters.\+thruster\+\_\+manager.\+Thruster\+Manager.\+command\+\_\+thrusters (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Publish the thruster input into their specific topic.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a4a6d039fe6c2eeb7d5e0eae1e022fe96}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a4a6d039fe6c2eeb7d5e0eae1e022fe96}} +\index{uuv\_thrusters.thruster\_manager.ThrusterManager@{uuv\_thrusters.thruster\_manager.ThrusterManager}!compute\_thruster\_forces@{compute\_thruster\_forces}} +\index{compute\_thruster\_forces@{compute\_thruster\_forces}!uuv\_thrusters.thruster\_manager.ThrusterManager@{uuv\_thrusters.thruster\_manager.ThrusterManager}} +\doxysubsubsection{\texorpdfstring{compute\_thruster\_forces()}{compute\_thruster\_forces()}} +{\footnotesize\ttfamily def uuv\+\_\+thrusters.\+thruster\+\_\+manager.\+Thruster\+Manager.\+compute\+\_\+thruster\+\_\+forces (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{gen\+\_\+forces }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Compute desired thruster forces using the inverse configuration +matrix. +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a62be58f0aa543045939ac466f2f18374}\label{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager_a62be58f0aa543045939ac466f2f18374}} +\index{uuv\_thrusters.thruster\_manager.ThrusterManager@{uuv\_thrusters.thruster\_manager.ThrusterManager}!update\_tam@{update\_tam}} +\index{update\_tam@{update\_tam}!uuv\_thrusters.thruster\_manager.ThrusterManager@{uuv\_thrusters.thruster\_manager.ThrusterManager}} +\doxysubsubsection{\texorpdfstring{update\_tam()}{update\_tam()}} +{\footnotesize\ttfamily def uuv\+\_\+thrusters.\+thruster\+\_\+manager.\+Thruster\+Manager.\+update\+\_\+tam (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{recalculate = {\ttfamily False} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Calculate the thruster allocation matrix, if one is not given.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+thruster\+\_\+manager/src/uuv\+\_\+thrusters/thruster\+\_\+manager.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve.eps b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve.eps new file mode 100644 index 0000000..bd2f764 --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 98.039216 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 5.100000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_trajectory_generator.path_generator.bezier_curve.BezierCurve) 0.000000 0.000000 box + (object) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve.tex b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve.tex new file mode 100644 index 0000000..fc38858 --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve.tex @@ -0,0 +1,54 @@ +\hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve}{}\doxysection{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+bezier\+\_\+curve.\+Bezier\+Curve Class Reference} +\label{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve}\index{uuv\_trajectory\_generator.path\_generator.bezier\_curve.BezierCurve@{uuv\_trajectory\_generator.path\_generator.bezier\_curve.BezierCurve}} +Inheritance diagram for uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+bezier\+\_\+curve.\+Bezier\+Curve\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_aec9ae9def8c2af614061e4dd48dbead5}\label{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_aec9ae9def8c2af614061e4dd48dbead5}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, pnts, order, tangents=None, normals=None) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_a304cf7918064949b61e43213ae872565}\label{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_a304cf7918064949b61e43213ae872565}} +def {\bfseries control\+\_\+pnts} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_a821630c0eb9cbd45ef9a3befcaf34e9d}\label{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_a821630c0eb9cbd45ef9a3befcaf34e9d}} +def {\bfseries interpolate} (self, u) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_ab509016f03e7d5b4585e61538a9e4385}\label{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_ab509016f03e7d5b4585e61538a9e4385}} +def {\bfseries get\+\_\+derivative} (self, u, order=1) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_aef57d022474bb02e69cc5fd33c499a8a}\label{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_aef57d022474bb02e69cc5fd33c499a8a}} +def {\bfseries get\+\_\+length} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_a81849b78981df7c43f738821449e0ba3}\label{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_a81849b78981df7c43f738821449e0ba3}} +def {\bfseries compute\+\_\+polynomial} (self, n, i, u) +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_a772bef89a3b771066af31c5f0eba2b20}\label{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_a772bef89a3b771066af31c5f0eba2b20}} +def {\bfseries distance} (p1, p2) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_a723a5887df791e2c89ca68b61f49ba45}\label{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_a723a5887df791e2c89ca68b61f49ba45}} +def {\bfseries generate\+\_\+cubic\+\_\+curve} (pnts) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_ad7bf32a3ab998dc9db0aae120d9a5a67}\label{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve_ad7bf32a3ab998dc9db0aae120d9a5a67}} +def {\bfseries generate\+\_\+quintic\+\_\+curve} (pnts) +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Implementation of Bezier curves of orders 3, 4 and 5 based on [1]. + +[1] Biagiotti, Luigi, and Claudio Melchiorri. Trajectory planning for + automatic machines and robots. Springer Science & Business Media, 2008. +\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+trajectory\+\_\+generator/path\+\_\+generator/bezier\+\_\+curve.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator.eps b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator.eps new file mode 100644 index 0000000..b06675f --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator.eps @@ -0,0 +1,203 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 139.534884 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.583333 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 3 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator) cw +(uuv_trajectory_generator.path_generator.path_generator.PathGenerator) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator) 0.000000 0.000000 box + (uuv_trajectory_generator.path_generator.path_generator.PathGenerator) 0.000000 1.000000 box + (object) 0.000000 2.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in +solid +0 0.000000 1.000000 out +solid +1 0.000000 2.000000 in diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator.tex b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator.tex new file mode 100644 index 0000000..c623050 --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator.tex @@ -0,0 +1,62 @@ +\hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator}{}\doxysection{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+cs\+\_\+interpolator.\+C\+S\+Interpolator Class Reference} +\label{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator}\index{uuv\_trajectory\_generator.path\_generator.cs\_interpolator.CSInterpolator@{uuv\_trajectory\_generator.path\_generator.cs\_interpolator.CSInterpolator}} +Inheritance diagram for uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+cs\+\_\+interpolator.\+C\+S\+Interpolator\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=3.000000cm]{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_ab5abe5006e2558313bc94fd667e260c9}\label{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_ab5abe5006e2558313bc94fd667e260c9}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_a0362de5d6a59289ae15ce524bf50486e}\label{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_a0362de5d6a59289ae15ce524bf50486e}} +def {\bfseries init\+\_\+interpolator} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_a5709f4bea7806927fd5d471bea615695}{set\+\_\+parameters}} (self, params) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_a001d024a504e763270a801db9369cc5f}\label{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_a001d024a504e763270a801db9369cc5f}} +def {\bfseries get\+\_\+samples} (self, max\+\_\+time, step=0.\+001) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_a95dda4651417d524eb468a59a91608ff}\label{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_a95dda4651417d524eb468a59a91608ff}} +def {\bfseries generate\+\_\+pos} (self, s) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_a1d0bc4a0b18374b274577836c23684ac}\label{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_a1d0bc4a0b18374b274577836c23684ac}} +def {\bfseries generate\+\_\+pnt} (self, s, t, $\ast$args) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_af7d91bfeabccf16d4d9095e9281abc74}\label{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_af7d91bfeabccf16d4d9095e9281abc74}} +def {\bfseries generate\+\_\+quat} (self, s) +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_aaa519ab2cb687727d59a83dd4d5cf0b6}\label{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_aaa519ab2cb687727d59a83dd4d5cf0b6}} +string {\bfseries L\+A\+B\+EL} = \textquotesingle{}cubic\textquotesingle{} +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Interpolator that will generate cubic Bezier curve segments for a set of waypoints. +\end{DoxyVerb} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_a5709f4bea7806927fd5d471bea615695}\label{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator_a5709f4bea7806927fd5d471bea615695}} +\index{uuv\_trajectory\_generator.path\_generator.cs\_interpolator.CSInterpolator@{uuv\_trajectory\_generator.path\_generator.cs\_interpolator.CSInterpolator}!set\_parameters@{set\_parameters}} +\index{set\_parameters@{set\_parameters}!uuv\_trajectory\_generator.path\_generator.cs\_interpolator.CSInterpolator@{uuv\_trajectory\_generator.path\_generator.cs\_interpolator.CSInterpolator}} +\doxysubsubsection{\texorpdfstring{set\_parameters()}{set\_parameters()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+cs\+\_\+interpolator.\+C\+S\+Interpolator.\+set\+\_\+parameters (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{params }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Not implemented for this interpolator.\end{DoxyVerb} + + +Reimplemented from \mbox{\hyperlink{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+path\+\_\+generator.\+Path\+Generator}}. + + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+trajectory\+\_\+generator/path\+\_\+generator/cs\+\_\+interpolator.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator.eps b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator.eps new file mode 100644 index 0000000..206c9cf --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator.eps @@ -0,0 +1,203 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 126.849894 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.941667 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 3 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator) cw +(uuv_trajectory_generator.path_generator.path_generator.PathGenerator) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator) 0.000000 0.000000 box + (uuv_trajectory_generator.path_generator.path_generator.PathGenerator) 0.000000 1.000000 box + (object) 0.000000 2.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in +solid +0 0.000000 1.000000 out +solid +1 0.000000 2.000000 in diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator.tex b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator.tex new file mode 100644 index 0000000..b92fdd4 --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator.tex @@ -0,0 +1,49 @@ +\hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator}{}\doxysection{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+dubins\+\_\+interpolator.\+Dubins\+Interpolator Class Reference} +\label{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator}\index{uuv\_trajectory\_generator.path\_generator.dubins\_interpolator.DubinsInterpolator@{uuv\_trajectory\_generator.path\_generator.dubins\_interpolator.DubinsInterpolator}} +Inheritance diagram for uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+dubins\+\_\+interpolator.\+Dubins\+Interpolator\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=3.000000cm]{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_a9617766c385bbc3c0d7a16ed8694d17c}\label{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_a9617766c385bbc3c0d7a16ed8694d17c}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_af4e03b47779f7388f4c06b2c3c9a0677}\label{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_af4e03b47779f7388f4c06b2c3c9a0677}} +def {\bfseries init\+\_\+interpolator} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_a4005bc913523b4540796110b27d25efc}\label{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_a4005bc913523b4540796110b27d25efc}} +def {\bfseries set\+\_\+parameters} (self, params) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_a3326e407a715dfca02ae5ef90c1f9271}\label{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_a3326e407a715dfca02ae5ef90c1f9271}} +def {\bfseries get\+\_\+samples} (self, max\+\_\+time, step=0.\+001) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_aa20c13496b4c2196169632a48f984e00}\label{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_aa20c13496b4c2196169632a48f984e00}} +def {\bfseries generate\+\_\+pos} (self, s) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_a517bb22bea9b35466e61cf52ba224831}\label{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_a517bb22bea9b35466e61cf52ba224831}} +def {\bfseries generate\+\_\+pnt} (self, s, t, $\ast$args) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_a7940350f5c244e433547a4d0235b7cf7}\label{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_a7940350f5c244e433547a4d0235b7cf7}} +def {\bfseries generate\+\_\+quat} (self, s) +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_aa447cb1a312ea49b9c85e07a2b9dff3c}\label{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator_aa447cb1a312ea49b9c85e07a2b9dff3c}} +string {\bfseries L\+A\+B\+EL} = \textquotesingle{}dubins\textquotesingle{} +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}3D Dubins path interpolator +\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+trajectory\+\_\+generator/path\+\_\+generator/dubins\+\_\+interpolator.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment.eps b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment.eps new file mode 100644 index 0000000..44cdc1b --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 91.116173 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 5.487500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment) 0.000000 0.000000 box + (object) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment.tex b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment.tex new file mode 100644 index 0000000..f4746bc --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment.tex @@ -0,0 +1,28 @@ +\hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment}{}\doxysection{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+helical\+\_\+segment.\+Helical\+Segment Class Reference} +\label{classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment}\index{uuv\_trajectory\_generator.path\_generator.helical\_segment.HelicalSegment@{uuv\_trajectory\_generator.path\_generator.helical\_segment.HelicalSegment}} +Inheritance diagram for uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+helical\+\_\+segment.\+Helical\+Segment\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment_a24cd1792f5247ff725fed130c0c36d43}\label{classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment_a24cd1792f5247ff725fed130c0c36d43}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, center, radius, n\+\_\+turns, delta\+\_\+z, angle\+\_\+offset, is\+\_\+clockwise=True) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment_a629cb0cdbe5d5d7c91c2198d0b024084}\label{classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment_a629cb0cdbe5d5d7c91c2198d0b024084}} +def {\bfseries get\+\_\+length} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment_acff99fcfcb2246fe7ed422b91186b98e}\label{classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment_acff99fcfcb2246fe7ed422b91186b98e}} +def {\bfseries get\+\_\+pitch} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment_a03b024443ace910883c336bf5c905877}\label{classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment_a03b024443ace910883c336bf5c905877}} +def {\bfseries interpolate} (self, u) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+trajectory\+\_\+generator/path\+\_\+generator/helical\+\_\+segment.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment.eps b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment.eps new file mode 100644 index 0000000..41c378e --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 98.280098 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 5.087500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_trajectory_generator.path_generator.line_segment.LineSegment) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_trajectory_generator.path_generator.line_segment.LineSegment) 0.000000 0.000000 box + (object) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment.tex b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment.tex new file mode 100644 index 0000000..6b05905 --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment.tex @@ -0,0 +1,31 @@ +\hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment}{}\doxysection{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+line\+\_\+segment.\+Line\+Segment Class Reference} +\label{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment}\index{uuv\_trajectory\_generator.path\_generator.line\_segment.LineSegment@{uuv\_trajectory\_generator.path\_generator.line\_segment.LineSegment}} +Inheritance diagram for uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+line\+\_\+segment.\+Line\+Segment\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment_acb49e9fa3b6ab890625daa5abe61ef31}\label{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment_acb49e9fa3b6ab890625daa5abe61ef31}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, p\+\_\+init, p\+\_\+target) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment_a9aad830ce5fa990021cea72f950ee193}\label{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment_a9aad830ce5fa990021cea72f950ee193}} +def {\bfseries interpolate} (self, u) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment_a432702165e0c6f8dfc3f062b4dacdbe1}\label{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment_a432702165e0c6f8dfc3f062b4dacdbe1}} +def {\bfseries get\+\_\+derivative} (self, $\ast$args) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment_a7618de32bc394fe55ec18018f51ebb33}\label{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment_a7618de32bc394fe55ec18018f51ebb33}} +def {\bfseries get\+\_\+length} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment_a35328684d4961cff4901629475474ba2}\label{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment_a35328684d4961cff4901629475474ba2}} +def {\bfseries get\+\_\+tangent} (self) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+trajectory\+\_\+generator/path\+\_\+generator/line\+\_\+segment.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator.eps b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator.eps new file mode 100644 index 0000000..e9d1570 --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator.eps @@ -0,0 +1,203 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 129.032258 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.875000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 3 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator) cw +(uuv_trajectory_generator.path_generator.path_generator.PathGenerator) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator) 0.000000 0.000000 box + (uuv_trajectory_generator.path_generator.path_generator.PathGenerator) 0.000000 1.000000 box + (object) 0.000000 2.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in +solid +0 0.000000 1.000000 out +solid +1 0.000000 2.000000 in diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator.tex b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator.tex new file mode 100644 index 0000000..4e29c7b --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator.tex @@ -0,0 +1,62 @@ +\hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator}{}\doxysection{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+linear\+\_\+interpolator.\+Linear\+Interpolator Class Reference} +\label{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator}\index{uuv\_trajectory\_generator.path\_generator.linear\_interpolator.LinearInterpolator@{uuv\_trajectory\_generator.path\_generator.linear\_interpolator.LinearInterpolator}} +Inheritance diagram for uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+linear\+\_\+interpolator.\+Linear\+Interpolator\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=3.000000cm]{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_a156e00f0c1133260a0c9a3fa417eccfe}\label{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_a156e00f0c1133260a0c9a3fa417eccfe}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_a124d940e6ed64dc12371dd748a1eb1da}\label{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_a124d940e6ed64dc12371dd748a1eb1da}} +def {\bfseries init\+\_\+interpolator} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_aaf9e32094bc17645ffa2846aae9e5d79}{set\+\_\+parameters}} (self, params) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_a645b70f404c9ef99d21d66946590705d}\label{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_a645b70f404c9ef99d21d66946590705d}} +def {\bfseries get\+\_\+samples} (self, max\+\_\+time, step=0.\+001) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_a00eb363f3086e4311755d8588f97969f}\label{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_a00eb363f3086e4311755d8588f97969f}} +def {\bfseries generate\+\_\+pos} (self, s) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_a088f384cbf503988ce26284512751163}\label{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_a088f384cbf503988ce26284512751163}} +def {\bfseries generate\+\_\+pnt} (self, s, t, $\ast$args) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_ac3cd4dc5ebcc1fac51eed720dae170d5}\label{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_ac3cd4dc5ebcc1fac51eed720dae170d5}} +def {\bfseries generate\+\_\+quat} (self, s) +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_ae99812efadf9ce27863ddd21fce60ba2}\label{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_ae99812efadf9ce27863ddd21fce60ba2}} +string {\bfseries L\+A\+B\+EL} = \textquotesingle{}linear\textquotesingle{} +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Simple linear interpolator +\end{DoxyVerb} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_aaf9e32094bc17645ffa2846aae9e5d79}\label{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator_aaf9e32094bc17645ffa2846aae9e5d79}} +\index{uuv\_trajectory\_generator.path\_generator.linear\_interpolator.LinearInterpolator@{uuv\_trajectory\_generator.path\_generator.linear\_interpolator.LinearInterpolator}!set\_parameters@{set\_parameters}} +\index{set\_parameters@{set\_parameters}!uuv\_trajectory\_generator.path\_generator.linear\_interpolator.LinearInterpolator@{uuv\_trajectory\_generator.path\_generator.linear\_interpolator.LinearInterpolator}} +\doxysubsubsection{\texorpdfstring{set\_parameters()}{set\_parameters()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+linear\+\_\+interpolator.\+Linear\+Interpolator.\+set\+\_\+parameters (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{params }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Not implemented for this interpolator.\end{DoxyVerb} + + +Reimplemented from \mbox{\hyperlink{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+path\+\_\+generator.\+Path\+Generator}}. + + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+trajectory\+\_\+generator/path\+\_\+generator/linear\+\_\+interpolator.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator.eps b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator.eps new file mode 100644 index 0000000..b74fb51 --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator.eps @@ -0,0 +1,203 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 135.440181 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.691667 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 3 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator) cw +(uuv_trajectory_generator.path_generator.path_generator.PathGenerator) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator) 0.000000 0.000000 box + (uuv_trajectory_generator.path_generator.path_generator.PathGenerator) 0.000000 1.000000 box + (object) 0.000000 2.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in +solid +0 0.000000 1.000000 out +solid +1 0.000000 2.000000 in diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator.tex b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator.tex new file mode 100644 index 0000000..fcad053 --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator.tex @@ -0,0 +1,52 @@ +\hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator}{}\doxysection{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+lipb\+\_\+interpolator.\+L\+I\+P\+B\+Interpolator Class Reference} +\label{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator}\index{uuv\_trajectory\_generator.path\_generator.lipb\_interpolator.LIPBInterpolator@{uuv\_trajectory\_generator.path\_generator.lipb\_interpolator.LIPBInterpolator}} +Inheritance diagram for uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+lipb\+\_\+interpolator.\+L\+I\+P\+B\+Interpolator\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=3.000000cm]{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_af3cc6ccb8ee6bd08d40a2757938e0f14}\label{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_af3cc6ccb8ee6bd08d40a2757938e0f14}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_a2490b88875b3a864c7046dc7ee92f003}\label{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_a2490b88875b3a864c7046dc7ee92f003}} +def {\bfseries init\+\_\+interpolator} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_aad73f99de216001fb8f7fc9f1eebf023}\label{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_aad73f99de216001fb8f7fc9f1eebf023}} +def {\bfseries set\+\_\+parameters} (self, params) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_ad76b24a8d35fea573b558ff4454d8fbd}\label{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_ad76b24a8d35fea573b558ff4454d8fbd}} +def {\bfseries get\+\_\+samples} (self, max\+\_\+time, step=0.\+001) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_a4ed337af00e5f869be51dfeeebb70097}\label{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_a4ed337af00e5f869be51dfeeebb70097}} +def {\bfseries generate\+\_\+pos} (self, s, $\ast$args) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_af4b74688f48f2b4881c766744b9e8c47}\label{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_af4b74688f48f2b4881c766744b9e8c47}} +def {\bfseries generate\+\_\+pnt} (self, s, t=0.\+0, $\ast$args) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_a7a339049eb6d8e76fb0b18f56f314050}\label{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_a7a339049eb6d8e76fb0b18f56f314050}} +def {\bfseries generate\+\_\+quat} (self, s) +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_a0d4bed3882cffbbe5807e5fd81286407}\label{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator_a0d4bed3882cffbbe5807e5fd81286407}} +string {\bfseries L\+A\+B\+EL} = \textquotesingle{}lipb\textquotesingle{} +\end{DoxyCompactItemize} +\doxysubsection*{Additional Inherited Members} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Linear interpolator with polynomial blends. + +[1] Biagiotti, Luigi, and Claudio Melchiorri. Trajectory planning for + automatic machines and robots. Springer Science & Business Media, 2008. +\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+trajectory\+\_\+generator/path\+\_\+generator/lipb\+\_\+interpolator.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator.eps b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator.eps new file mode 100644 index 0000000..c03097f --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator.eps @@ -0,0 +1,217 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 31.712474 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 15.766666 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 3 def +/cols 4 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_trajectory_generator.path_generator.path_generator.PathGenerator) cw +(object) cw +(uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator) cw +(uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator) cw +(uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator) cw +(uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_trajectory_generator.path_generator.path_generator.PathGenerator) 1.500000 1.000000 box + (object) 1.500000 2.000000 box + (uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator) 0.000000 0.000000 box + (uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator) 1.000000 0.000000 box + (uuv_trajectory_generator.path_generator.linear_interpolator.LinearInterpolator) 2.000000 0.000000 box + (uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator) 3.000000 0.000000 box + +% ----- relations ----- + +solid +0 1.500000 1.000000 out +solid +1 1.500000 2.000000 in +solid +1 1.500000 0.250000 out +solid +0.000000 3.000000 1.000000 conn +solid +0 0.000000 0.750000 in +solid +0 1.000000 0.750000 in +solid +0 2.000000 0.750000 in +solid +0 3.000000 0.750000 in diff --git a/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator.tex b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator.tex new file mode 100644 index 0000000..0a3ee94 --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator.tex @@ -0,0 +1,152 @@ +\hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator}{}\doxysection{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+path\+\_\+generator.\+Path\+Generator Class Reference} +\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator}\index{uuv\_trajectory\_generator.path\_generator.path\_generator.PathGenerator@{uuv\_trajectory\_generator.path\_generator.path\_generator.PathGenerator}} +Inheritance diagram for uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+path\+\_\+generator.\+Path\+Generator\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=0.887949cm]{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ae256fd2600082519cf221ac47e843177}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ae256fd2600082519cf221ac47e843177}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, full\+\_\+dof=False) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a3ab6beae9cdeba04c6f4049e596a3132}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a3ab6beae9cdeba04c6f4049e596a3132}} +def {\bfseries waypoints} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a12b343356c421cccc8040b99234c9f91}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a12b343356c421cccc8040b99234c9f91}} +def {\bfseries max\+\_\+time} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a96f0479075619bf1982c1d22ef511ecb}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a96f0479075619bf1982c1d22ef511ecb}} +def {\bfseries duration} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ada2ccea9674c6dda127387ac56e9e7fe}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ada2ccea9674c6dda127387ac56e9e7fe}} +def {\bfseries duration} (self, t) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a82e6bc5363a081fe0a5448a1476a9f63}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a82e6bc5363a081fe0a5448a1476a9f63}} +def {\bfseries start\+\_\+time} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a17359749dd2109e44ecb4a3c3493c185}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a17359749dd2109e44ecb4a3c3493c185}} +def {\bfseries start\+\_\+time} (self, time) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a8449403b82c02c24779c0d40e069ded2}{closest\+\_\+waypoint}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_af3a4de4f82a617259d58227dd29deca9}{closest\+\_\+waypoint\+\_\+idx}} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ad0ed3d93d6c53a25416eb5f583a8dfd6}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ad0ed3d93d6c53a25416eb5f583a8dfd6}} +def {\bfseries s\+\_\+step} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a28cb3c39fb06503a1929a6df0fbcd780}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a28cb3c39fb06503a1929a6df0fbcd780}} +def {\bfseries s\+\_\+step} (self, step) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ad7068850b0b17ab7f791ae58717b6888}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ad7068850b0b17ab7f791ae58717b6888}} +def {\bfseries termination\+\_\+by\+\_\+time} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ac59ebc73abef571066b99442d1e86691}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ac59ebc73abef571066b99442d1e86691}} +def {\bfseries reset} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ae225d6f11a81029507d31ffb81a9462a}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ae225d6f11a81029507d31ffb81a9462a}} +def {\bfseries get\+\_\+segment\+\_\+idx} (self, s) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a5c56389d15e7d622d8f8998a3e8641ae}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a5c56389d15e7d622d8f8998a3e8641ae}} +def {\bfseries get\+\_\+remaining\+\_\+waypoints\+\_\+idx} (self, s) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a8bdc7471c330fc2222e3bd2419a8eacc}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a8bdc7471c330fc2222e3bd2419a8eacc}} +def {\bfseries is\+\_\+full\+\_\+dof} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a5f58e3edd4c1e1bf95010df08757b211}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a5f58e3edd4c1e1bf95010df08757b211}} +def {\bfseries set\+\_\+full\+\_\+dof} (self, flag) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_aa201e44ca11585475382d8cfc866e01b}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_aa201e44ca11585475382d8cfc866e01b}} +def {\bfseries get\+\_\+label} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a8e9cdfc095a5a2417e9d97358b687336}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a8e9cdfc095a5a2417e9d97358b687336}} +def {\bfseries init\+\_\+interpolator} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a810cd94c40b81886c001cacc1dfda788}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a810cd94c40b81886c001cacc1dfda788}} +def {\bfseries get\+\_\+samples} (self, max\+\_\+time, step=0.\+005) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a35fc530bdd6326ae7bf801e0c37eec10}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a35fc530bdd6326ae7bf801e0c37eec10}} +def {\bfseries get\+\_\+visual\+\_\+markers} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a2f15fad09ee7eefb190518597d1a00f8}{add\+\_\+waypoint}} (self, waypoint, add\+\_\+to\+\_\+beginning=False) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a62d95be544e94d37ff9e665d1f2590d2}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a62d95be544e94d37ff9e665d1f2590d2}} +def {\bfseries init\+\_\+waypoints} (self, waypoints=None, init\+\_\+rot=np.\+array(\mbox{[}0, 0, 0, 1\mbox{]})) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_af17568dc4a278acb92081d4d872be18d}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_af17568dc4a278acb92081d4d872be18d}} +def {\bfseries interpolate} (self, tag, s) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a7e96bd04c10f82ffd2463b5e0ed104b9}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a7e96bd04c10f82ffd2463b5e0ed104b9}} +def {\bfseries is\+\_\+finished} (self, t) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_aa62c0ca42aeb9970aa8cbbaced6830b2}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_aa62c0ca42aeb9970aa8cbbaced6830b2}} +def {\bfseries has\+\_\+started} (self, t) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a3a37a23345d8289b985737e0d73c6ca0}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a3a37a23345d8289b985737e0d73c6ca0}} +def {\bfseries generate\+\_\+pnt} (self, s) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a7aab3401a71c8d4bef2d6e279f36f3b5}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a7aab3401a71c8d4bef2d6e279f36f3b5}} +def {\bfseries generate\+\_\+pos} (self, s) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a8e914cc5d5df4bf3a5c27db9edb082dd}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a8e914cc5d5df4bf3a5c27db9edb082dd}} +def {\bfseries generate\+\_\+quat} (self, s) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a0648aa979518d6a1ebaff5f2e27eeb67}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a0648aa979518d6a1ebaff5f2e27eeb67}} +def {\bfseries set\+\_\+parameters} (self, params) +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ab28c0443bf5b39539f8e1f2c6a095323}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ab28c0443bf5b39539f8e1f2c6a095323}} +def {\bfseries get\+\_\+generator} (\mbox{\hyperlink{classname}{name}}, $\ast$args, $\ast$$\ast$kwargs) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a4a143da6f727b6d948bedc24b3cf9150}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a4a143da6f727b6d948bedc24b3cf9150}} +def {\bfseries get\+\_\+all\+\_\+generators} () +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ab44e0569f08f6b2be58226da770993ee}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_ab44e0569f08f6b2be58226da770993ee}} +string {\bfseries L\+A\+B\+EL} = \textquotesingle{}\textquotesingle{} +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Abstract class to be inherited by custom path generator to interpolate +waypoints +\end{DoxyVerb} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a2f15fad09ee7eefb190518597d1a00f8}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a2f15fad09ee7eefb190518597d1a00f8}} +\index{uuv\_trajectory\_generator.path\_generator.path\_generator.PathGenerator@{uuv\_trajectory\_generator.path\_generator.path\_generator.PathGenerator}!add\_waypoint@{add\_waypoint}} +\index{add\_waypoint@{add\_waypoint}!uuv\_trajectory\_generator.path\_generator.path\_generator.PathGenerator@{uuv\_trajectory\_generator.path\_generator.path\_generator.PathGenerator}} +\doxysubsubsection{\texorpdfstring{add\_waypoint()}{add\_waypoint()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+path\+\_\+generator.\+Path\+Generator.\+add\+\_\+waypoint (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{waypoint, }\item[{}]{add\+\_\+to\+\_\+beginning = {\ttfamily False} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Add waypoint to the existing waypoint set. If no waypoint set has +been initialized, create new waypoint set structure and add the given +waypoint.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a8449403b82c02c24779c0d40e069ded2}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_a8449403b82c02c24779c0d40e069ded2}} +\index{uuv\_trajectory\_generator.path\_generator.path\_generator.PathGenerator@{uuv\_trajectory\_generator.path\_generator.path\_generator.PathGenerator}!closest\_waypoint@{closest\_waypoint}} +\index{closest\_waypoint@{closest\_waypoint}!uuv\_trajectory\_generator.path\_generator.path\_generator.PathGenerator@{uuv\_trajectory\_generator.path\_generator.path\_generator.PathGenerator}} +\doxysubsubsection{\texorpdfstring{closest\_waypoint()}{closest\_waypoint()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+path\+\_\+generator.\+Path\+Generator.\+closest\+\_\+waypoint (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return the closest waypoint to the current position on the path.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_af3a4de4f82a617259d58227dd29deca9}\label{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator_af3a4de4f82a617259d58227dd29deca9}} +\index{uuv\_trajectory\_generator.path\_generator.path\_generator.PathGenerator@{uuv\_trajectory\_generator.path\_generator.path\_generator.PathGenerator}!closest\_waypoint\_idx@{closest\_waypoint\_idx}} +\index{closest\_waypoint\_idx@{closest\_waypoint\_idx}!uuv\_trajectory\_generator.path\_generator.path\_generator.PathGenerator@{uuv\_trajectory\_generator.path\_generator.path\_generator.PathGenerator}} +\doxysubsubsection{\texorpdfstring{closest\_waypoint\_idx()}{closest\_waypoint\_idx()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+path\+\_\+generator.\+Path\+Generator.\+closest\+\_\+waypoint\+\_\+idx (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return the index of the closest waypoint to the current position on the +path. +\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+trajectory\+\_\+generator/path\+\_\+generator/path\+\_\+generator.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator.eps b/docs/latex/classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator.eps new file mode 100644 index 0000000..9470d2f --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 99.255583 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 5.037500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator) 0.000000 0.000000 box + (object) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator.tex b/docs/latex/classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator.tex new file mode 100644 index 0000000..5db6686 --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator.tex @@ -0,0 +1,159 @@ +\hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator}{}\doxysection{uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+generator.\+Trajectory\+Generator Class Reference} +\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator}\index{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator@{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator}} +Inheritance diagram for uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+generator.\+Trajectory\+Generator\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ae73c4ec1520a0a12e81f5713936d6961}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ae73c4ec1520a0a12e81f5713936d6961}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, full\+\_\+dof=False, stamped\+\_\+pose\+\_\+only=False) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a7d4b5395a6e7ec778014bb1c403a224e}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a7d4b5395a6e7ec778014bb1c403a224e}} +def {\bfseries points} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a25785e77dbbf0cadb4d660ef088e7dd2}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a25785e77dbbf0cadb4d660ef088e7dd2}} +def {\bfseries time} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a0eab4e06723a61eedffb3c6a5792026b}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a0eab4e06723a61eedffb3c6a5792026b}} +def {\bfseries use\+\_\+finite\+\_\+diff} (self, flag) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_aed277ac64d297e7480257462b93a06ca}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_aed277ac64d297e7480257462b93a06ca}} +def {\bfseries is\+\_\+using\+\_\+finite\+\_\+diff} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a7d357902ad8697ed502a1cda1e1a869c}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a7d357902ad8697ed502a1cda1e1a869c}} +def {\bfseries set\+\_\+stamped\+\_\+pose\+\_\+only} (self, flag) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a9c142a63189066953f524d5a19431075}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a9c142a63189066953f524d5a19431075}} +def {\bfseries is\+\_\+using\+\_\+stamped\+\_\+pose\+\_\+only} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a4b237acd8acbbd3ec945d62e5480820f}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a4b237acd8acbbd3ec945d62e5480820f}} +def {\bfseries set\+\_\+interp\+\_\+method} (self, method) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ae9dbb18935c3357adf3050227d699e3d}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ae9dbb18935c3357adf3050227d699e3d}} +def {\bfseries get\+\_\+interp\+\_\+method} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a0e2fcca01f0b73b64f469c11fa8efe49}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a0e2fcca01f0b73b64f469c11fa8efe49}} +def {\bfseries get\+\_\+interpolator\+\_\+tags} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a298f53e080f421d03f5288a0a5ef0608}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a298f53e080f421d03f5288a0a5ef0608}} +def {\bfseries set\+\_\+interpolator\+\_\+parameters} (self, method, params) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a079c64d10c51d813f44a4cc73167e3aa}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a079c64d10c51d813f44a4cc73167e3aa}} +def {\bfseries get\+\_\+visual\+\_\+markers} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ac20ef7a2834637ce1bb3a4fbb20f13c3}{get\+\_\+trajectory\+\_\+as\+\_\+message}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_adf015447be4b59b204f9707290e25617}{is\+\_\+using\+\_\+waypoints}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ac7b74558b327f72f4ab9136e2141716d}{set\+\_\+waypoints}} (self, waypoints, init\+\_\+rot=(0, 0, 0, 1)) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a709ddb98e006ae50ea832fc84388c9ea}{get\+\_\+waypoints}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ac8912537047916a29cf716147c3ad34f}{add\+\_\+waypoint}} (self, waypoint, add\+\_\+to\+\_\+beginning=False) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ad6e2e43caa2910bc218f949f6a5ca3b0}{add\+\_\+trajectory\+\_\+point}} (self, pnt) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_aa46bb967bea9589d5a52a3f57f73be07}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_aa46bb967bea9589d5a52a3f57f73be07}} +def {\bfseries add\+\_\+trajectory\+\_\+point\+\_\+from\+\_\+msg} (self, msg) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a7d7a2ca65a6c3c5278a0d9dc2cce514e}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a7d7a2ca65a6c3c5278a0d9dc2cce514e}} +def {\bfseries set\+\_\+duration} (self, t) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a1769d482efb74f6d23b8b17d736e75b1}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a1769d482efb74f6d23b8b17d736e75b1}} +def {\bfseries get\+\_\+max\+\_\+time} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a66045cfe3e399bf3806cc85aeac91750}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a66045cfe3e399bf3806cc85aeac91750}} +def {\bfseries is\+\_\+running} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a9e9c72393121383a5fba0b79597a46e3}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a9e9c72393121383a5fba0b79597a46e3}} +def {\bfseries has\+\_\+started} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ac362e582382758ae413e0de506c66a00}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ac362e582382758ae413e0de506c66a00}} +def {\bfseries has\+\_\+finished} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a29092b986779f852e9777b9ea48bfbbe}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a29092b986779f852e9777b9ea48bfbbe}} +def {\bfseries init\+\_\+from\+\_\+trajectory\+\_\+message} (self, msg) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_aea5b06becd07b0ee04f99175b364298c}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_aea5b06becd07b0ee04f99175b364298c}} +def {\bfseries init\+\_\+from\+\_\+waypoint\+\_\+message} (self, msg) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a4c20ea885f068e171a9d5faad1fa0c6d}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a4c20ea885f068e171a9d5faad1fa0c6d}} +def {\bfseries init\+\_\+from\+\_\+waypoint\+\_\+file} (self, filename) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a7795876f5f6f674244a6949a6d584a02}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a7795876f5f6f674244a6949a6d584a02}} +def {\bfseries gen\+\_\+trajectory\+\_\+message} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_aa18074d1ac5f1556ffb8de818a70b59b}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_aa18074d1ac5f1556ffb8de818a70b59b}} +def {\bfseries get\+\_\+path\+\_\+message} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a42207bba7823eeb7c763edcd88ad6c2a}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a42207bba7823eeb7c763edcd88ad6c2a}} +def {\bfseries set\+\_\+start\+\_\+time} (self, t) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a45104c92c2d6c300a307cc9f0fcfe5f9}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a45104c92c2d6c300a307cc9f0fcfe5f9}} +def {\bfseries generate\+\_\+reference} (self, t, $\ast$args) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ac780aa5d5d6cd48956d19e8abb136069}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ac780aa5d5d6cd48956d19e8abb136069}} +def {\bfseries interpolate} (self, t, $\ast$args) +\end{DoxyCompactItemize} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ad6e2e43caa2910bc218f949f6a5ca3b0}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ad6e2e43caa2910bc218f949f6a5ca3b0}} +\index{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator@{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator}!add\_trajectory\_point@{add\_trajectory\_point}} +\index{add\_trajectory\_point@{add\_trajectory\_point}!uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator@{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{add\_trajectory\_point()}{add\_trajectory\_point()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+generator.\+Trajectory\+Generator.\+add\+\_\+trajectory\+\_\+point (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{pnt }\end{DoxyParamCaption})} + +\begin{DoxyVerb}If a trajectory set is currently being used in the interpolation +process, add a trajectory point to the set. +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ac8912537047916a29cf716147c3ad34f}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ac8912537047916a29cf716147c3ad34f}} +\index{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator@{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator}!add\_waypoint@{add\_waypoint}} +\index{add\_waypoint@{add\_waypoint}!uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator@{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{add\_waypoint()}{add\_waypoint()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+generator.\+Trajectory\+Generator.\+add\+\_\+waypoint (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{waypoint, }\item[{}]{add\+\_\+to\+\_\+beginning = {\ttfamily False} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Add waypoint to the current waypoint set, if one has been initialized. +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ac20ef7a2834637ce1bb3a4fbb20f13c3}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ac20ef7a2834637ce1bb3a4fbb20f13c3}} +\index{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator@{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator}!get\_trajectory\_as\_message@{get\_trajectory\_as\_message}} +\index{get\_trajectory\_as\_message@{get\_trajectory\_as\_message}!uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator@{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{get\_trajectory\_as\_message()}{get\_trajectory\_as\_message()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+generator.\+Trajectory\+Generator.\+get\+\_\+trajectory\+\_\+as\+\_\+message (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return the trajectory points as a Trajectory type message. If waypoints +are currently in use, then sample the interpolated path and return the +poses only. +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a709ddb98e006ae50ea832fc84388c9ea}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_a709ddb98e006ae50ea832fc84388c9ea}} +\index{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator@{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator}!get\_waypoints@{get\_waypoints}} +\index{get\_waypoints@{get\_waypoints}!uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator@{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{get\_waypoints()}{get\_waypoints()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+generator.\+Trajectory\+Generator.\+get\+\_\+waypoints (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return the waypoints used by the waypoint interpolator, +if any exist. +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_adf015447be4b59b204f9707290e25617}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_adf015447be4b59b204f9707290e25617}} +\index{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator@{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator}!is\_using\_waypoints@{is\_using\_waypoints}} +\index{is\_using\_waypoints@{is\_using\_waypoints}!uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator@{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{is\_using\_waypoints()}{is\_using\_waypoints()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+generator.\+Trajectory\+Generator.\+is\+\_\+using\+\_\+waypoints (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return true if the waypoint interpolation is being used.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ac7b74558b327f72f4ab9136e2141716d}\label{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator_ac7b74558b327f72f4ab9136e2141716d}} +\index{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator@{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator}!set\_waypoints@{set\_waypoints}} +\index{set\_waypoints@{set\_waypoints}!uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator@{uuv\_trajectory\_generator.trajectory\_generator.TrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{set\_waypoints()}{set\_waypoints()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+generator.\+Trajectory\+Generator.\+set\+\_\+waypoints (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{waypoints, }\item[{}]{init\+\_\+rot = {\ttfamily (0,~0,~0,~1)} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Initializes the waypoint interpolator with a set of waypoints.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+trajectory\+\_\+generator/trajectory\+\_\+generator.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint.eps b/docs/latex/classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint.eps new file mode 100644 index 0000000..6750ed7 --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 115.606936 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 4.325000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_trajectory_generator.trajectory_point.TrajectoryPoint) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_trajectory_generator.trajectory_point.TrajectoryPoint) 0.000000 0.000000 box + (object) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint.tex b/docs/latex/classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint.tex new file mode 100644 index 0000000..5eef977 --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint.tex @@ -0,0 +1,193 @@ +\hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint}{}\doxysection{uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point Class Reference} +\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint}\index{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}} +Inheritance diagram for uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_ac060e753188f10265788aedb7680b584}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_ac060e753188f10265788aedb7680b584}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a2a5511e0e59353e487d5fcc2634e3752}{t}}=0.\+0, pos=\mbox{[}0, 0, 0\mbox{]}, quat=\mbox{[}0, 0, 0, 1\mbox{]}, lin\+\_\+vel=\mbox{[}0, 0, 0\mbox{]}, ang\+\_\+vel=\mbox{[}0, 0, 0\mbox{]}, lin\+\_\+acc=\mbox{[}0, 0, 0\mbox{]}, ang\+\_\+acc=\mbox{[}0, 0, 0\mbox{]}) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a850afeed55ad132080c5a9e92b5fb7c6}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a850afeed55ad132080c5a9e92b5fb7c6}} +def {\bfseries \+\_\+\+\_\+str\+\_\+\+\_\+} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a8c485a36f38183e019639a1a21adf911}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a8c485a36f38183e019639a1a21adf911}} +def {\bfseries \+\_\+\+\_\+eq\+\_\+\+\_\+} (self, pnt) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a66ed66d9b06bf656b70677f3a312dc9d}{p}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_aa4274f2ffb28eb49b8903d1628f118b3}{q}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a00fdc511268a6559422ce66efa656cc0}{v}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a0be6869da30466b31aa4acdcb9bf22b6}{w}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_ae7c8b21e3111506543cf285b635677a3}{a}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a76208f65a16b8fd8ccbcb5d51231551e}{alpha}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a91981a4777494f5099085faf01907c5d}{x}} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a3f1355c3b88cd97f4d756590efdc1b6f}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a3f1355c3b88cd97f4d756590efdc1b6f}} +def {\bfseries x} (self, x) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a41fdc3c4bc27c0296408ce25c43a440b}{y}} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_af66be7d5855b2f085a6b0617b432a534}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_af66be7d5855b2f085a6b0617b432a534}} +def {\bfseries y} (self, y) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_aaf2a2aead2997d1646fd72e0dc29d24d}{z}} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_af63ad8044baff3bca9a2150a297a7ff7}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_af63ad8044baff3bca9a2150a297a7ff7}} +def {\bfseries z} (self, z) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a2a5511e0e59353e487d5fcc2634e3752}{t}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a5911fc064e9e198f1692abe34be0bded}{t}} (self, new\+\_\+t) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a40369acbd4859dfee364334d73b146e1}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a40369acbd4859dfee364334d73b146e1}} +def {\bfseries pos} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_ab51d08bc1a41bad81e1f680ddb3fa89f}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_ab51d08bc1a41bad81e1f680ddb3fa89f}} +def {\bfseries pos} (self, new\+\_\+pos) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a6ac2baf435e04c277f2605c1fdfc7746}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a6ac2baf435e04c277f2605c1fdfc7746}} +def {\bfseries rot} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a45c28e53587dbb2a4803264bf5fd08f8}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a45c28e53587dbb2a4803264bf5fd08f8}} +def {\bfseries rot} (self, new\+\_\+rot) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a87004959689e65e74d812e4b41844fce}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a87004959689e65e74d812e4b41844fce}} +def {\bfseries rot\+\_\+matrix} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_ab25e01d6a8d3fa751b7cf51ab88871a7}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_ab25e01d6a8d3fa751b7cf51ab88871a7}} +def {\bfseries rotq} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_aa80ca0b0b8510dc8af8b21f3451e6bf0}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_aa80ca0b0b8510dc8af8b21f3451e6bf0}} +def {\bfseries rotq} (self, quat) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a72ad78b18c1dbe2addfc434862b52224}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a72ad78b18c1dbe2addfc434862b52224}} +def {\bfseries vel} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a0c7a127734e33bf84756eee480096777}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a0c7a127734e33bf84756eee480096777}} +def {\bfseries vel} (self, new\+\_\+vel) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_ac03f51b258e6c08dd8086fb52e4debdf}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_ac03f51b258e6c08dd8086fb52e4debdf}} +def {\bfseries acc} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_abaa7b24149e5e4ca320898b142a84dbe}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_abaa7b24149e5e4ca320898b142a84dbe}} +def {\bfseries acc} (self, new\+\_\+acc) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a2ededda87c952b694c364cc4fb4e66f9}{to\+\_\+message}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a857731ec59cfa67dbceed8d1993942c3}{from\+\_\+message}} (self, msg) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a7315a923ab0b85edc3e90cef14fee3db}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a7315a923ab0b85edc3e90cef14fee3db}} +def {\bfseries from\+\_\+dict} (self, data) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a4fbd2ac759df4cf6864140c079a576f6}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a4fbd2ac759df4cf6864140c079a576f6}} +def {\bfseries to\+\_\+dict} (self) +\end{DoxyCompactItemize} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_ae7c8b21e3111506543cf285b635677a3}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_ae7c8b21e3111506543cf285b635677a3}} +\index{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}!a@{a}} +\index{a@{a}!uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}} +\doxysubsubsection{\texorpdfstring{a()}{a()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point.\+a (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return linear acceleration vector.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a76208f65a16b8fd8ccbcb5d51231551e}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a76208f65a16b8fd8ccbcb5d51231551e}} +\index{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}!alpha@{alpha}} +\index{alpha@{alpha}!uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}} +\doxysubsubsection{\texorpdfstring{alpha()}{alpha()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point.\+alpha (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return angular acceleration vector.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a857731ec59cfa67dbceed8d1993942c3}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a857731ec59cfa67dbceed8d1993942c3}} +\index{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}!from\_message@{from\_message}} +\index{from\_message@{from\_message}!uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}} +\doxysubsubsection{\texorpdfstring{from\_message()}{from\_message()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point.\+from\+\_\+message (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{msg }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Read trajectory point message and initialize internal attributes.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a66ed66d9b06bf656b70677f3a312dc9d}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a66ed66d9b06bf656b70677f3a312dc9d}} +\index{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}!p@{p}} +\index{p@{p}!uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}} +\doxysubsubsection{\texorpdfstring{p()}{p()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point.\+p (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return position vector.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_aa4274f2ffb28eb49b8903d1628f118b3}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_aa4274f2ffb28eb49b8903d1628f118b3}} +\index{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}!q@{q}} +\index{q@{q}!uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}} +\doxysubsubsection{\texorpdfstring{q()}{q()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point.\+q (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return rotation quaterinon.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a2a5511e0e59353e487d5fcc2634e3752}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a2a5511e0e59353e487d5fcc2634e3752}} +\index{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}!t@{t}} +\index{t@{t}!uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}} +\doxysubsubsection{\texorpdfstring{t()}{t()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point.\+t (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return time stamp in seconds.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a5911fc064e9e198f1692abe34be0bded}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a5911fc064e9e198f1692abe34be0bded}} +\index{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}!t@{t}} +\index{t@{t}!uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}} +\doxysubsubsection{\texorpdfstring{t()}{t()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point.\+t (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{new\+\_\+t }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set time stamp in seconds.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a2ededda87c952b694c364cc4fb4e66f9}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a2ededda87c952b694c364cc4fb4e66f9}} +\index{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}!to\_message@{to\_message}} +\index{to\_message@{to\_message}!uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}} +\doxysubsubsection{\texorpdfstring{to\_message()}{to\_message()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point.\+to\+\_\+message (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Convert current data to a trajectory point message.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a00fdc511268a6559422ce66efa656cc0}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a00fdc511268a6559422ce66efa656cc0}} +\index{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}!v@{v}} +\index{v@{v}!uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}} +\doxysubsubsection{\texorpdfstring{v()}{v()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point.\+v (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return linear velocity vector.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a0be6869da30466b31aa4acdcb9bf22b6}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a0be6869da30466b31aa4acdcb9bf22b6}} +\index{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}!w@{w}} +\index{w@{w}!uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}} +\doxysubsubsection{\texorpdfstring{w()}{w()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point.\+w (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return angular velocity vector.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a91981a4777494f5099085faf01907c5d}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a91981a4777494f5099085faf01907c5d}} +\index{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}!x@{x}} +\index{x@{x}!uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}} +\doxysubsubsection{\texorpdfstring{x()}{x()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point.\+x (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return X coordinate from the position vector.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a41fdc3c4bc27c0296408ce25c43a440b}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_a41fdc3c4bc27c0296408ce25c43a440b}} +\index{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}!y@{y}} +\index{y@{y}!uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}} +\doxysubsubsection{\texorpdfstring{y()}{y()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point.\+y (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return Y coordinate from the position vector.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_aaf2a2aead2997d1646fd72e0dc29d24d}\label{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint_aaf2a2aead2997d1646fd72e0dc29d24d}} +\index{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}!z@{z}} +\index{z@{z}!uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint@{uuv\_trajectory\_generator.trajectory\_point.TrajectoryPoint}} +\doxysubsubsection{\texorpdfstring{z()}{z()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point.\+z (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return Z coordinate from the position vector.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+trajectory\+\_\+generator/trajectory\+\_\+point.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator.eps b/docs/latex/classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator.eps new file mode 100644 index 0000000..45a8c3b --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 89.887640 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 5.562500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator) 0.000000 0.000000 box + (object) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator.tex b/docs/latex/classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator.tex new file mode 100644 index 0000000..9d0be82 --- /dev/null +++ b/docs/latex/classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator.tex @@ -0,0 +1,224 @@ +\hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator}{}\doxysection{uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator Class Reference} +\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator}\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +Inheritance diagram for uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a8b7c95b3f0708670b211e6588664c5b1}{\+\_\+\+\_\+init\+\_\+\+\_\+}} (self, full\+\_\+dof=False, use\+\_\+finite\+\_\+diff=True, interpolation\+\_\+method=\textquotesingle{}cubic\textquotesingle{}, stamped\+\_\+pose\+\_\+only=False) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a916c25b4e0efec75c688a8a186ef6022}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a916c25b4e0efec75c688a8a186ef6022}} +def {\bfseries \+\_\+\+\_\+del\+\_\+\+\_\+} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_ab54d9bebb04cad2f4f2f32124b3ba3e0}{started}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a376a1bc4c0da0188c1320eedd7f3dca6}{closest\+\_\+waypoint}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a6e8520aca079e316262c0da596efebd2}{closest\+\_\+waypoint\+\_\+idx}} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a121d8a10c25f22b0a876181d47eb5aa7}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a121d8a10c25f22b0a876181d47eb5aa7}} +def {\bfseries interpolator} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a541a47b2297bfa68be42b25a951b00e1}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a541a47b2297bfa68be42b25a951b00e1}} +def {\bfseries interpolator\+\_\+tags} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a97c132fc1f1f369f18678f86caf7dbf0}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a97c132fc1f1f369f18678f86caf7dbf0}} +def {\bfseries use\+\_\+finite\+\_\+diff} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_adf02ac56bfbfc41a6df0f64c210ae022}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_adf02ac56bfbfc41a6df0f64c210ae022}} +def {\bfseries use\+\_\+finite\+\_\+diff} (self, flag) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a27aa23d80768a0563c3c6dfdac32dce0}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a27aa23d80768a0563c3c6dfdac32dce0}} +def {\bfseries stamped\+\_\+pose\+\_\+only} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a4d7123676927d75986780b9c855c1da6}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a4d7123676927d75986780b9c855c1da6}} +def {\bfseries stamped\+\_\+pose\+\_\+only} (self, flag) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a18c1440c144ebda5c2b20d823af1411a}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a18c1440c144ebda5c2b20d823af1411a}} +def {\bfseries get\+\_\+interpolation\+\_\+method} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a193b0a306d0589ee11a796e52c31a4fa}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a193b0a306d0589ee11a796e52c31a4fa}} +def {\bfseries get\+\_\+visual\+\_\+markers} (self) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_abfd368a68f4d2b16de783a73283c9ee2}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_abfd368a68f4d2b16de783a73283c9ee2}} +def {\bfseries set\+\_\+interpolation\+\_\+method} (self, method) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a55e5accec1759c55b16ac14dfae26465}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a55e5accec1759c55b16ac14dfae26465}} +def {\bfseries set\+\_\+interpolator\+\_\+parameters} (self, method, params) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a188ac3db61ec1d7fddce639f6d9789f5}{is\+\_\+full\+\_\+dof}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_af508c05f2d08ea360edefa811c364313}{get\+\_\+max\+\_\+time}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a1fd70c3f4d411817c9b5826e8694bfe1}{set\+\_\+duration}} (self, t) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_ae24f85d1b7ff7423f401306d9e5c4fa8}{is\+\_\+finished}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a5b2a7e36542d6c770abcd2fb1f67b0b9}{reset}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a90271f97748286475362bb9ea66aa0f1}{init\+\_\+waypoints}} (self, waypoint\+\_\+set, init\+\_\+rot=(0, 0, 0, 1)) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a82927f85ed2ef82ae6bc5bb43baddd85}{add\+\_\+waypoint}} (self, waypoint, add\+\_\+to\+\_\+beginning=False) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a11d14d2d95f8630c3ef0134e38706ba5}{get\+\_\+waypoints}} (self) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_ad3272c72b79272c9efc76d51e3a65ab6}{update\+\_\+dt}} (self, t) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_ae0ce59c4452e14e220c80fb322f70f58}{get\+\_\+samples}} (self, step=0.\+005) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_ab929f88ac25b6d2523ee4c967d32f994}{set\+\_\+start\+\_\+time}} (self, t) +\item +def \mbox{\hyperlink{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a800b983d8c02147abafbe1a4e56a4120}{generate\+\_\+pnt}} (self, t, $\ast$args) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a1166c7373b1e5397ddbe89d8a3238a3d}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a1166c7373b1e5397ddbe89d8a3238a3d}} +def {\bfseries generate\+\_\+reference} (self, t, $\ast$args) +\item +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a8680a22c2de2f5c8a26c09559442e1e9}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a8680a22c2de2f5c8a26c09559442e1e9}} +def {\bfseries interpolate} (self, t, $\ast$args) +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Class that generates a trajectory from the interpolated path generated +from a set of waypoints. It uses the information given for the waypoint's +maximum forward speed to estimate the velocity between waypoint and +parametrize the interpolated curve. +The velocity and acceleration profiles are the generated through finite +discretization. These profiles are not optimized, this class is a +simple solution for quick trajectory generation for waypoint navigation. +\end{DoxyVerb} + + +\doxysubsection{Constructor \& Destructor Documentation} +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a8b7c95b3f0708670b211e6588664c5b1}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a8b7c95b3f0708670b211e6588664c5b1}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!\_\_init\_\_@{\_\_init\_\_}} +\index{\_\_init\_\_@{\_\_init\_\_}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{\_\_init\_\_()}{\_\_init\_\_()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+\_\+\+\_\+init\+\_\+\+\_\+ (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{full\+\_\+dof = {\ttfamily False}, }\item[{}]{use\+\_\+finite\+\_\+diff = {\ttfamily True}, }\item[{}]{interpolation\+\_\+method = {\ttfamily \textquotesingle{}cubic\textquotesingle{}}, }\item[{}]{stamped\+\_\+pose\+\_\+only = {\ttfamily False} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Class constructor.\end{DoxyVerb} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a82927f85ed2ef82ae6bc5bb43baddd85}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a82927f85ed2ef82ae6bc5bb43baddd85}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!add\_waypoint@{add\_waypoint}} +\index{add\_waypoint@{add\_waypoint}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{add\_waypoint()}{add\_waypoint()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+add\+\_\+waypoint (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{waypoint, }\item[{}]{add\+\_\+to\+\_\+beginning = {\ttfamily False} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Add waypoint to the existing waypoint set. If no waypoint set has +been initialized, create new waypoint set structure and add the given +waypoint.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a376a1bc4c0da0188c1320eedd7f3dca6}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a376a1bc4c0da0188c1320eedd7f3dca6}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!closest\_waypoint@{closest\_waypoint}} +\index{closest\_waypoint@{closest\_waypoint}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{closest\_waypoint()}{closest\_waypoint()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+closest\+\_\+waypoint (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return the closest waypoint to the current position on the path.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a6e8520aca079e316262c0da596efebd2}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a6e8520aca079e316262c0da596efebd2}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!closest\_waypoint\_idx@{closest\_waypoint\_idx}} +\index{closest\_waypoint\_idx@{closest\_waypoint\_idx}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{closest\_waypoint\_idx()}{closest\_waypoint\_idx()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+closest\+\_\+waypoint\+\_\+idx (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return the index of the closest waypoint to the current position on the +path. +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a800b983d8c02147abafbe1a4e56a4120}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a800b983d8c02147abafbe1a4e56a4120}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!generate\_pnt@{generate\_pnt}} +\index{generate\_pnt@{generate\_pnt}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{generate\_pnt()}{generate\_pnt()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+generate\+\_\+pnt (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{t, }\item[{$\ast$}]{args }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return trajectory sample for the current parameter s.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_af508c05f2d08ea360edefa811c364313}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_af508c05f2d08ea360edefa811c364313}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!get\_max\_time@{get\_max\_time}} +\index{get\_max\_time@{get\_max\_time}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{get\_max\_time()}{get\_max\_time()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+get\+\_\+max\+\_\+time (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return maximum trajectory time.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_ae0ce59c4452e14e220c80fb322f70f58}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_ae0ce59c4452e14e220c80fb322f70f58}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!get\_samples@{get\_samples}} +\index{get\_samples@{get\_samples}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{get\_samples()}{get\_samples()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+get\+\_\+samples (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{step = {\ttfamily 0.005} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return pose samples from the interpolated path.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a11d14d2d95f8630c3ef0134e38706ba5}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a11d14d2d95f8630c3ef0134e38706ba5}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!get\_waypoints@{get\_waypoints}} +\index{get\_waypoints@{get\_waypoints}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{get\_waypoints()}{get\_waypoints()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+get\+\_\+waypoints (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return waypoint set.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a90271f97748286475362bb9ea66aa0f1}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a90271f97748286475362bb9ea66aa0f1}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!init\_waypoints@{init\_waypoints}} +\index{init\_waypoints@{init\_waypoints}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{init\_waypoints()}{init\_waypoints()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+init\+\_\+waypoints (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{waypoint\+\_\+set, }\item[{}]{init\+\_\+rot = {\ttfamily (0,~0,~0,~1)} }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Initialize the waypoint set.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_ae24f85d1b7ff7423f401306d9e5c4fa8}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_ae24f85d1b7ff7423f401306d9e5c4fa8}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!is\_finished@{is\_finished}} +\index{is\_finished@{is\_finished}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{is\_finished()}{is\_finished()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+is\+\_\+finished (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return true if the trajectory has finished.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a188ac3db61ec1d7fddce639f6d9789f5}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a188ac3db61ec1d7fddce639f6d9789f5}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!is\_full\_dof@{is\_full\_dof}} +\index{is\_full\_dof@{is\_full\_dof}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{is\_full\_dof()}{is\_full\_dof()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+is\+\_\+full\+\_\+dof (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return true if the trajectory is generated for all 6 degrees of +freedom. +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a5b2a7e36542d6c770abcd2fb1f67b0b9}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a5b2a7e36542d6c770abcd2fb1f67b0b9}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!reset@{reset}} +\index{reset@{reset}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{reset()}{reset()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+reset (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Reset all class attributes to allow a new trajectory to be +computed. +\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a1fd70c3f4d411817c9b5826e8694bfe1}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_a1fd70c3f4d411817c9b5826e8694bfe1}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!set\_duration@{set\_duration}} +\index{set\_duration@{set\_duration}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{set\_duration()}{set\_duration()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+set\+\_\+duration (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{t }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set a new maximum trajectory time.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_ab929f88ac25b6d2523ee4c967d32f994}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_ab929f88ac25b6d2523ee4c967d32f994}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!set\_start\_time@{set\_start\_time}} +\index{set\_start\_time@{set\_start\_time}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{set\_start\_time()}{set\_start\_time()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+set\+\_\+start\+\_\+time (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{t }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Set a custom starting time to the interpolated trajectory.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_ab54d9bebb04cad2f4f2f32124b3ba3e0}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_ab54d9bebb04cad2f4f2f32124b3ba3e0}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!started@{started}} +\index{started@{started}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{started()}{started()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+started (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return true if the interpolation has started.\end{DoxyVerb} + \mbox{\Hypertarget{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_ad3272c72b79272c9efc76d51e3a65ab6}\label{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator_ad3272c72b79272c9efc76d51e3a65ab6}} +\index{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}!update\_dt@{update\_dt}} +\index{update\_dt@{update\_dt}!uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator@{uuv\_trajectory\_generator.wp\_trajectory\_generator.WPTrajectoryGenerator}} +\doxysubsubsection{\texorpdfstring{update\_dt()}{update\_dt()}} +{\footnotesize\ttfamily def uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator.\+update\+\_\+dt (\begin{DoxyParamCaption}\item[{}]{self, }\item[{}]{t }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Update the time stamp.\end{DoxyVerb} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+trajectory\+\_\+generator/wp\+\_\+trajectory\+\_\+generator.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__waypoints_1_1waypoint_1_1Waypoint.eps b/docs/latex/classuuv__waypoints_1_1waypoint_1_1Waypoint.eps new file mode 100644 index 0000000..c7e8b55 --- /dev/null +++ b/docs/latex/classuuv__waypoints_1_1waypoint_1_1Waypoint.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 186.915888 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 2.675000 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_waypoints.waypoint.Waypoint) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_waypoints.waypoint.Waypoint) 0.000000 0.000000 box + (object) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classuuv__waypoints_1_1waypoint_1_1Waypoint.tex b/docs/latex/classuuv__waypoints_1_1waypoint_1_1Waypoint.tex new file mode 100644 index 0000000..f882e9c --- /dev/null +++ b/docs/latex/classuuv__waypoints_1_1waypoint_1_1Waypoint.tex @@ -0,0 +1,109 @@ +\hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint}{}\doxysection{uuv\+\_\+waypoints.\+waypoint.\+Waypoint Class Reference} +\label{classuuv__waypoints_1_1waypoint_1_1Waypoint}\index{uuv\_waypoints.waypoint.Waypoint@{uuv\_waypoints.waypoint.Waypoint}} +Inheritance diagram for uuv\+\_\+waypoints.\+waypoint.\+Waypoint\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classuuv__waypoints_1_1waypoint_1_1Waypoint} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a741d3b495505109d69e92913ca3f82b6}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a741d3b495505109d69e92913ca3f82b6}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, x=0, y=0, z=0, max\+\_\+forward\+\_\+speed=0, heading\+\_\+offset=0, use\+\_\+fixed\+\_\+heading=False, inertial\+\_\+frame\+\_\+id=\textquotesingle{}world\textquotesingle{}, radius\+\_\+acceptance=0.\+0) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a978af17ffb180cf720919bf6b3d8b39d}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a978af17ffb180cf720919bf6b3d8b39d}} +def {\bfseries \+\_\+\+\_\+eq\+\_\+\+\_\+} (self, other) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a5f0ba71aa4392a93893c04291f0869dd}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a5f0ba71aa4392a93893c04291f0869dd}} +def {\bfseries \+\_\+\+\_\+ne\+\_\+\+\_\+} (self, other) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a6d1cc3f6859e7cbf65869f3548a93026}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a6d1cc3f6859e7cbf65869f3548a93026}} +def {\bfseries \+\_\+\+\_\+str\+\_\+\+\_\+} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a5a69908666ff1bb890b1c00591a08978}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a5a69908666ff1bb890b1c00591a08978}} +def {\bfseries inertial\+\_\+frame\+\_\+id} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_aca0cddcfdfd6b8c46cf7b1eec4cb86f8}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_aca0cddcfdfd6b8c46cf7b1eec4cb86f8}} +def {\bfseries inertial\+\_\+frame\+\_\+id} (self, frame\+\_\+id) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_ac787b26bba3b94f0e05e621ee561ba42}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_ac787b26bba3b94f0e05e621ee561ba42}} +def {\bfseries x} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a706236c1e72d56ab6eabd3eff991b8d5}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a706236c1e72d56ab6eabd3eff991b8d5}} +def {\bfseries y} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_ac0d7ca3c59dc6584865f85483eef528a}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_ac0d7ca3c59dc6584865f85483eef528a}} +def {\bfseries z} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_aeae86e376904b91e6c27f9702d1c047d}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_aeae86e376904b91e6c27f9702d1c047d}} +def {\bfseries pos} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a7c2d14545f6c901017cd94ccd1897d6a}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a7c2d14545f6c901017cd94ccd1897d6a}} +def {\bfseries pos} (self, new\+\_\+pos) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a0295cbcf2214a800e720dde5a606a5a9}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a0295cbcf2214a800e720dde5a606a5a9}} +def {\bfseries violates\+\_\+constraint} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a58bc1d595b3aec5ce6b543a66cb7ee37}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a58bc1d595b3aec5ce6b543a66cb7ee37}} +def {\bfseries violates\+\_\+constraint} (self, flag) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a07c2489347359722437fcb513f99de6d}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a07c2489347359722437fcb513f99de6d}} +def {\bfseries max\+\_\+forward\+\_\+speed} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_ae9763bbc66d17cdc144ca6a5e309245a}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_ae9763bbc66d17cdc144ca6a5e309245a}} +def {\bfseries max\+\_\+forward\+\_\+speed} (self, vel) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a09e207027adbaa929a38cb9596d4b3af}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a09e207027adbaa929a38cb9596d4b3af}} +def {\bfseries heading\+\_\+offset} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a6bb60c230dec4ac54051ea99e770233c}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a6bb60c230dec4ac54051ea99e770233c}} +def {\bfseries heading} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a2754c42073eda031ad6ce664fa209d4b}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a2754c42073eda031ad6ce664fa209d4b}} +def {\bfseries heading} (self, angle) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_ae781edf70a5991ce8553c9c4bf20bbd8}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_ae781edf70a5991ce8553c9c4bf20bbd8}} +def {\bfseries radius\+\_\+of\+\_\+acceptance} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_af1b44f56e9216cde88f496f5f36940b2}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_af1b44f56e9216cde88f496f5f36940b2}} +def {\bfseries radius\+\_\+of\+\_\+acceptance} (self, radius) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a471bd9cfea03d640cad0af29c385a48c}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a471bd9cfea03d640cad0af29c385a48c}} +def {\bfseries using\+\_\+heading\+\_\+offset} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a88743fbcf5aa2082dd0002957ffb7109}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a88743fbcf5aa2082dd0002957ffb7109}} +def {\bfseries get\+\_\+color} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_aebc5e668ad4a2a3110f83f0fd68bae0a}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_aebc5e668ad4a2a3110f83f0fd68bae0a}} +def {\bfseries get\+\_\+final\+\_\+color} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a4b01da8cafb090b88d48b8ea49648c0f}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a4b01da8cafb090b88d48b8ea49648c0f}} +def {\bfseries from\+\_\+message} (self, msg) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a7a7cc8128aaa3e11a4982e7762f3f058}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a7a7cc8128aaa3e11a4982e7762f3f058}} +def {\bfseries to\+\_\+message} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a3ac810406a00fec1ae8719cef169be87}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a3ac810406a00fec1ae8719cef169be87}} +def {\bfseries dist} (self, pos) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a83647b94a8481f1b21240a5182b15541}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a83647b94a8481f1b21240a5182b15541}} +def {\bfseries calculate\+\_\+heading} (self, target) +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_aaadafb31565e1efb7f6dc2d449ec9120}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_aaadafb31565e1efb7f6dc2d449ec9120}} +list {\bfseries F\+I\+N\+A\+L\+\_\+\+W\+A\+Y\+P\+O\+I\+N\+T\+\_\+\+C\+O\+L\+OR} = \mbox{[}1.\+0, 131.\+0 / 255, 0.\+0\mbox{]} +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_aeb34be1beaef48d5e1fdef067d39c102}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_aeb34be1beaef48d5e1fdef067d39c102}} +list {\bfseries O\+K\+\_\+\+W\+A\+Y\+P\+O\+I\+NT} = \mbox{[}31. / 255, 106. / 255, 226. / 255\mbox{]} +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint_1_1Waypoint_a0eb11d0f519d635450a939b867677c89}\label{classuuv__waypoints_1_1waypoint_1_1Waypoint_a0eb11d0f519d635450a939b867677c89}} +list {\bfseries F\+A\+I\+L\+E\+D\+\_\+\+W\+A\+Y\+P\+O\+I\+NT} = \mbox{[}1.\+0, 0.\+0, 0.\+0\mbox{]} +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+waypoints/waypoint.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classuuv__waypoints_1_1waypoint__set_1_1WaypointSet.eps b/docs/latex/classuuv__waypoints_1_1waypoint__set_1_1WaypointSet.eps new file mode 100644 index 0000000..57d1810 --- /dev/null +++ b/docs/latex/classuuv__waypoints_1_1waypoint__set_1_1WaypointSet.eps @@ -0,0 +1,197 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: ClassName +%%Creator: Doxygen +%%CreationDate: Time +%%For: +%Magnification: 1.00 +%%Orientation: Portrait +%%BoundingBox: 0 0 500 156.862745 +%%Pages: 0 +%%BeginSetup +%%EndSetup +%%EndComments + +% ----- variables ----- + +/boxwidth 0 def +/boxheight 40 def +/fontheight 24 def +/marginwidth 10 def +/distx 20 def +/disty 40 def +/boundaspect 3.187500 def % aspect ratio of the BoundingBox (width/height) +/boundx 500 def +/boundy boundx boundaspect div def +/xspacing 0 def +/yspacing 0 def +/rows 2 def +/cols 1 def +/scalefactor 0 def +/boxfont /Times-Roman findfont fontheight scalefont def + +% ----- procedures ----- + +/dotted { [1 4] 0 setdash } def +/dashed { [5] 0 setdash } def +/solid { [] 0 setdash } def + +/max % result = MAX(arg1,arg2) +{ + /a exch def + /b exch def + a b gt {a} {b} ifelse +} def + +/xoffset % result = MAX(0,(scalefactor-(boxwidth*cols+distx*(cols-1)))/2) +{ + 0 scalefactor boxwidth cols mul distx cols 1 sub mul add sub 2 div max +} def + +/cw % boxwidth = MAX(boxwidth, stringwidth(arg1)) +{ + /str exch def + /boxwidth boxwidth str stringwidth pop max def +} def + +/box % draws a box with text 'arg1' at grid pos (arg2,arg3) +{ gsave + 2 setlinewidth + newpath + exch xspacing mul xoffset add + exch yspacing mul + moveto + boxwidth 0 rlineto + 0 boxheight rlineto + boxwidth neg 0 rlineto + 0 boxheight neg rlineto + closepath + dup stringwidth pop neg boxwidth add 2 div + boxheight fontheight 2 div sub 2 div + rmoveto show stroke + grestore +} def + +/mark +{ newpath + exch xspacing mul xoffset add boxwidth add + exch yspacing mul + moveto + 0 boxheight 4 div rlineto + boxheight neg 4 div boxheight neg 4 div rlineto + closepath + eofill + stroke +} def + +/arrow +{ newpath + moveto + 3 -8 rlineto + -6 0 rlineto + 3 8 rlineto + closepath + eofill + stroke +} def + +/out % draws an output connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight add + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/in % draws an input connector for the block at (arg1,arg2) +{ + newpath + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul disty 2 div sub + /y exch def + /x exch def + x y moveto + 0 disty 2 div rlineto + stroke + 1 eq { x y disty 2 div add arrow } if +} def + +/hedge +{ + exch xspacing mul xoffset add boxwidth 2 div add + exch yspacing mul boxheight 2 div sub + /y exch def + /x exch def + newpath + x y moveto + boxwidth 2 div distx add 0 rlineto + stroke + 1 eq + { newpath x boxwidth 2 div distx add add y moveto + -8 3 rlineto + 0 -6 rlineto + 8 3 rlineto + closepath + eofill + stroke + } if +} def + +/vedge +{ + /ye exch def + /ys exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add dup + ys yspacing mul boxheight 2 div sub + moveto + ye yspacing mul boxheight 2 div sub + lineto + stroke +} def + +/conn % connections the blocks from col 'arg1' to 'arg2' of row 'arg3' +{ + /ys exch def + /xe exch def + /xs exch def + newpath + xs xspacing mul xoffset add boxwidth 2 div add + ys yspacing mul disty 2 div sub + moveto + xspacing xe xs sub mul 0 + rlineto + stroke +} def + +% ----- main ------ + +boxfont setfont +1 boundaspect scale +(uuv_waypoints.waypoint_set.WaypointSet) cw +(object) cw +/boxwidth boxwidth marginwidth 2 mul add def +/xspacing boxwidth distx add def +/yspacing boxheight disty add def +/scalefactor + boxwidth cols mul distx cols 1 sub mul add + boxheight rows mul disty rows 1 sub mul add boundaspect mul + max def +boundx scalefactor div boundy scalefactor div scale + +% ----- classes ----- + + (uuv_waypoints.waypoint_set.WaypointSet) 0.000000 0.000000 box + (object) 0.000000 1.000000 box + +% ----- relations ----- + +solid +0 0.000000 0.000000 out +solid +1 0.000000 1.000000 in diff --git a/docs/latex/classuuv__waypoints_1_1waypoint__set_1_1WaypointSet.tex b/docs/latex/classuuv__waypoints_1_1waypoint__set_1_1WaypointSet.tex new file mode 100644 index 0000000..922d1eb --- /dev/null +++ b/docs/latex/classuuv__waypoints_1_1waypoint__set_1_1WaypointSet.tex @@ -0,0 +1,121 @@ +\hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet}{}\doxysection{uuv\+\_\+waypoints.\+waypoint\+\_\+set.\+Waypoint\+Set Class Reference} +\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet}\index{uuv\_waypoints.waypoint\_set.WaypointSet@{uuv\_waypoints.waypoint\_set.WaypointSet}} +Inheritance diagram for uuv\+\_\+waypoints.\+waypoint\+\_\+set.\+Waypoint\+Set\+:\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[height=2.000000cm]{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet} +\end{center} +\end{figure} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a08bab2a7be0eaf986e54640361447c58}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a08bab2a7be0eaf986e54640361447c58}} +def {\bfseries \+\_\+\+\_\+init\+\_\+\+\_\+} (self, scale=0.\+1, inertial\+\_\+frame\+\_\+id=\textquotesingle{}world\textquotesingle{}, max\+\_\+surge\+\_\+speed=None) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_ab2b2155a02632e3244608bd942539927}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_ab2b2155a02632e3244608bd942539927}} +def {\bfseries \+\_\+\+\_\+str\+\_\+\+\_\+} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_af6f79d95c49e31ad1d53e97c910610fe}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_af6f79d95c49e31ad1d53e97c910610fe}} +def {\bfseries num\+\_\+waypoints} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a8c88dfa0e0f9fd7dfac32a54ba9ca48f}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a8c88dfa0e0f9fd7dfac32a54ba9ca48f}} +def {\bfseries x} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a790b0ba31e2504e76832a5572df05fe8}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a790b0ba31e2504e76832a5572df05fe8}} +def {\bfseries y} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a161732a5ba23bc502569bc8bce5bd1cd}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a161732a5ba23bc502569bc8bce5bd1cd}} +def {\bfseries z} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a8175c1ffe05c7b478bbf100e887e147f}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a8175c1ffe05c7b478bbf100e887e147f}} +def {\bfseries is\+\_\+empty} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a70aba72390d98e4f48b1b3db87b0d858}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a70aba72390d98e4f48b1b3db87b0d858}} +def {\bfseries inertial\+\_\+frame\+\_\+id} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a24fad5bc9eef10bf3e565a67d5ef20df}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a24fad5bc9eef10bf3e565a67d5ef20df}} +def {\bfseries inertial\+\_\+frame\+\_\+id} (self, frame\+\_\+id) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_ae48c2c0d7301e44feb27e27dfa7d7f02}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_ae48c2c0d7301e44feb27e27dfa7d7f02}} +def {\bfseries clear\+\_\+waypoints} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a3e7dd0844b1454cb8474c0943e81d909}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a3e7dd0844b1454cb8474c0943e81d909}} +def {\bfseries set\+\_\+constraint\+\_\+status} (self, index, flag) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a6f421eedec8d98624a76817892d10574}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a6f421eedec8d98624a76817892d10574}} +def {\bfseries get\+\_\+waypoint} (self, index) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_ab6eb2bbef0cc3b78be7570e4d1394063}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_ab6eb2bbef0cc3b78be7570e4d1394063}} +def {\bfseries add\+\_\+waypoint} (self, waypoint, add\+\_\+to\+\_\+beginning=False) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_ad9cc151d2c3ecae858b016d4daf7fa03}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_ad9cc151d2c3ecae858b016d4daf7fa03}} +def {\bfseries add\+\_\+waypoint\+\_\+from\+\_\+msg} (self, msg) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_ad74bb59a23450f939e7a9dab156e103a}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_ad74bb59a23450f939e7a9dab156e103a}} +def {\bfseries get\+\_\+start\+\_\+waypoint} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_afc19b906ad568a6afb25df6764c22f33}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_afc19b906ad568a6afb25df6764c22f33}} +def {\bfseries get\+\_\+last\+\_\+waypoint} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a399211f8ce8b307e24f36cc1ce4c9aca}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a399211f8ce8b307e24f36cc1ce4c9aca}} +def {\bfseries remove\+\_\+waypoint} (self, waypoint) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_ac445c30f14cfa711473d3d9f9facac53}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_ac445c30f14cfa711473d3d9f9facac53}} +def {\bfseries read\+\_\+from\+\_\+file} (self, filename) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a21b432e9e98c3b15780c6cd54008cc0d}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a21b432e9e98c3b15780c6cd54008cc0d}} +def {\bfseries export\+\_\+to\+\_\+file} (self, path, filename) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a174b6833ca8bed3270b2743b4233d887}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a174b6833ca8bed3270b2743b4233d887}} +def {\bfseries to\+\_\+message} (self) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a8e387f2eee287ad64ae5ce0e3be7f52e}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a8e387f2eee287ad64ae5ce0e3be7f52e}} +def {\bfseries from\+\_\+message} (self, msg) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_aeebcae6df2ee017fb9ae11c204664b45}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_aeebcae6df2ee017fb9ae11c204664b45}} +def {\bfseries dist\+\_\+to\+\_\+waypoint} (self, pos, index=0) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a14c97b5a8553949c039b064f15542c90}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a14c97b5a8553949c039b064f15542c90}} +def {\bfseries set\+\_\+radius\+\_\+of\+\_\+acceptance} (self, index, radius) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a479e9277a1e86d680eac919a1d84d86a}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a479e9277a1e86d680eac919a1d84d86a}} +def {\bfseries get\+\_\+radius\+\_\+of\+\_\+acceptance} (self, index) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_aa2b9ff9338d6ed2aef40cf03c3e37e3e}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_aa2b9ff9338d6ed2aef40cf03c3e37e3e}} +def {\bfseries to\+\_\+path\+\_\+marker} (self, clear=False) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_afd5c95bc074b2f4e4e1ce8f66f1ae74a}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_afd5c95bc074b2f4e4e1ce8f66f1ae74a}} +def {\bfseries to\+\_\+marker\+\_\+list} (self, clear=False) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a92314cfdf9b557444c9f48840a52a591}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a92314cfdf9b557444c9f48840a52a591}} +def {\bfseries generate\+\_\+circle} (self, radius, center, num\+\_\+points, max\+\_\+forward\+\_\+speed, theta\+\_\+offset=0.\+0, heading\+\_\+offset=0.\+0, append=False) +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a9d90662b32e599605a6dc4e6c6b03162}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a9d90662b32e599605a6dc4e6c6b03162}} +def {\bfseries generate\+\_\+helix} (self, radius, center, num\+\_\+points, max\+\_\+forward\+\_\+speed, delta\+\_\+z, num\+\_\+turns, theta\+\_\+offset=0.\+0, heading\+\_\+offset=0.\+0, append=False) +\end{DoxyCompactItemize} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a6ba85c9c07646cca0864efaae90c8132}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a6ba85c9c07646cca0864efaae90c8132}} +{\bfseries inertial\+\_\+frame\+\_\+id} +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a68d2898978db05ef85983dd92a0c56a9}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a68d2898978db05ef85983dd92a0c56a9}} +{\bfseries num\+\_\+waypoints} +\end{DoxyCompactItemize} +\doxysubsection*{Static Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_ae7647d7830bad645dd98987eaa8ad8cf}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_ae7647d7830bad645dd98987eaa8ad8cf}} +list {\bfseries F\+I\+N\+A\+L\+\_\+\+W\+A\+Y\+P\+O\+I\+N\+T\+\_\+\+C\+O\+L\+OR} = \mbox{[}1.\+0, 131.\+0 / 255, 0.\+0\mbox{]} +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a3107c719800eb8f8dbe4d53395d0a169}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a3107c719800eb8f8dbe4d53395d0a169}} +list {\bfseries O\+K\+\_\+\+W\+A\+Y\+P\+O\+I\+NT} = \mbox{[}31. / 255, 106. / 255, 226. / 255\mbox{]} +\item +\mbox{\Hypertarget{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a72c0939635300a1fc6196b36a7ff75f8}\label{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet_a72c0939635300a1fc6196b36a7ff75f8}} +list {\bfseries F\+A\+I\+L\+E\+D\+\_\+\+W\+A\+Y\+P\+O\+I\+NT} = \mbox{[}1.\+0, 0.\+0, 0.\+0\mbox{]} +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} +\item +control\+\_\+layer/uuv\+\_\+trajectory\+\_\+control/src/uuv\+\_\+waypoints/waypoint\+\_\+set.\+py\end{DoxyCompactItemize} diff --git a/docs/latex/classvision__commons_1_1Contour.tex b/docs/latex/classvision__commons_1_1Contour.tex new file mode 100644 index 0000000..1901f75 --- /dev/null +++ b/docs/latex/classvision__commons_1_1Contour.tex @@ -0,0 +1,29 @@ +\hypertarget{classvision__commons_1_1Contour}{}\doxysection{vision\+\_\+commons\+::Contour Class Reference} +\label{classvision__commons_1_1Contour}\index{vision\_commons::Contour@{vision\_commons::Contour}} +\doxysubsection*{Static Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classvision__commons_1_1Contour_afbf0efa9f03f40eb38f3b889262e8284}\label{classvision__commons_1_1Contour_afbf0efa9f03f40eb38f3b889262e8284}} +static std\+::vector$<$ std\+::vector$<$ cv\+::\+Point $>$ $>$ {\bfseries get\+BestX} (cv\+::\+Mat \&raw, int x) +\item +\mbox{\Hypertarget{classvision__commons_1_1Contour_a194702cb0e126c5d006b3a63b755fdc8}\label{classvision__commons_1_1Contour_a194702cb0e126c5d006b3a63b755fdc8}} +static std\+::vector$<$ std\+::vector$<$ cv\+::\+Point $>$ $>$ {\bfseries get\+Best\+X\+Convex\+Hulled} (cv\+::\+Mat \&raw, int x) +\item +\mbox{\Hypertarget{classvision__commons_1_1Contour_a58ce1db921cc4e834038de296d0fad6a}\label{classvision__commons_1_1Contour_a58ce1db921cc4e834038de296d0fad6a}} +static std\+::vector$<$ cv\+::\+Point $>$ {\bfseries get\+Largest\+Contour} (cv\+::\+Mat \&raw) +\item +\mbox{\Hypertarget{classvision__commons_1_1Contour_a71b6dd8585b3a0113f121b79aea43cfa}\label{classvision__commons_1_1Contour_a71b6dd8585b3a0113f121b79aea43cfa}} +static void {\bfseries filter\+Contours} (const std\+::vector$<$ std\+::vector$<$ cv\+::\+Point $>$ $>$ \&contours, std\+::vector$<$ int $>$ \&idx, double threshold) +\item +\mbox{\Hypertarget{classvision__commons_1_1Contour_a4925cbaeffe176f452546194009079f0}\label{classvision__commons_1_1Contour_a4925cbaeffe176f452546194009079f0}} +static std\+::vector$<$ std\+::vector$<$ cv\+::\+Point $>$ $>$ {\bfseries filter\+Contours} (const std\+::vector$<$ std\+::vector$<$ cv\+::\+Point $>$ $>$ \&contours, double threshold) +\item +\mbox{\Hypertarget{classvision__commons_1_1Contour_a83cc11df062249a286aa0390ed3c6b7c}\label{classvision__commons_1_1Contour_a83cc11df062249a286aa0390ed3c6b7c}} +static void {\bfseries sort\+From\+Big\+To\+Small} (std\+::vector$<$ std\+::vector$<$ cv\+::\+Point $>$ $>$ \&contours) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+commons/include/contour.\+h\item +vision\+\_\+layer/vision\+\_\+commons/src/contour.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classvision__commons_1_1Filter.tex b/docs/latex/classvision__commons_1_1Filter.tex new file mode 100644 index 0000000..74deac0 --- /dev/null +++ b/docs/latex/classvision__commons_1_1Filter.tex @@ -0,0 +1,23 @@ +\hypertarget{classvision__commons_1_1Filter}{}\doxysection{vision\+\_\+commons\+::Filter Class Reference} +\label{classvision__commons_1_1Filter}\index{vision\_commons::Filter@{vision\_commons::Filter}} +\doxysubsection*{Static Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classvision__commons_1_1Filter_a54fcd78039a49ff9d0b323013052219b}\label{classvision__commons_1_1Filter_a54fcd78039a49ff9d0b323013052219b}} +static cv\+::\+Mat {\bfseries clahe} (cv\+::\+Mat \&image, double clahe\+\_\+clip, int clahe\+\_\+grid\+\_\+size) +\item +\mbox{\Hypertarget{classvision__commons_1_1Filter_a372a71db1d4802c610ad7aae69ab325f}\label{classvision__commons_1_1Filter_a372a71db1d4802c610ad7aae69ab325f}} +static cv\+::\+Mat {\bfseries balance\+\_\+white} (cv\+::\+Mat \&image) +\item +\mbox{\Hypertarget{classvision__commons_1_1Filter_ae111029e3b0f4fe991af1edcf1393310}\label{classvision__commons_1_1Filter_ae111029e3b0f4fe991af1edcf1393310}} +static cv\+::\+Mat {\bfseries blue\+\_\+filter} (cv\+::\+Mat \&image, double clahe\+\_\+clip, int clahe\+\_\+grid\+\_\+size, int clahe\+\_\+bilateral\+\_\+iter, int balanced\+\_\+bilateral\+\_\+iter, double denoise\+\_\+h) +\item +\mbox{\Hypertarget{classvision__commons_1_1Filter_ab12e10894d0272f7add8c77638000c78}\label{classvision__commons_1_1Filter_ab12e10894d0272f7add8c77638000c78}} +static void {\bfseries bilateral} (cv\+::\+Mat \&src, int iterations) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+commons/include/filter.\+h\item +vision\+\_\+layer/vision\+\_\+commons/src/filter.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classvision__commons_1_1Geometry.tex b/docs/latex/classvision__commons_1_1Geometry.tex new file mode 100644 index 0000000..f03b7c9 --- /dev/null +++ b/docs/latex/classvision__commons_1_1Geometry.tex @@ -0,0 +1,17 @@ +\hypertarget{classvision__commons_1_1Geometry}{}\doxysection{vision\+\_\+commons\+::Geometry Class Reference} +\label{classvision__commons_1_1Geometry}\index{vision\_commons::Geometry@{vision\_commons::Geometry}} +\doxysubsection*{Static Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classvision__commons_1_1Geometry_aa3787f4923df9b302c4ddc780fa357cc}\label{classvision__commons_1_1Geometry_aa3787f4923df9b302c4ddc780fa357cc}} +static double {\bfseries distance} (cv\+::\+Point \&p1, cv\+::\+Point \&p2) +\item +\mbox{\Hypertarget{classvision__commons_1_1Geometry_a1576d1ef96bf4e57a8e132715c8be2bd}\label{classvision__commons_1_1Geometry_a1576d1ef96bf4e57a8e132715c8be2bd}} +static double {\bfseries angle\+WrtY} (cv\+::\+Point \&p1, cv\+::\+Point \&p2) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+commons/include/geometry.\+h\item +vision\+\_\+layer/vision\+\_\+commons/src/geometry.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classvision__commons_1_1Morph.tex b/docs/latex/classvision__commons_1_1Morph.tex new file mode 100644 index 0000000..8745a98 --- /dev/null +++ b/docs/latex/classvision__commons_1_1Morph.tex @@ -0,0 +1,17 @@ +\hypertarget{classvision__commons_1_1Morph}{}\doxysection{vision\+\_\+commons\+::Morph Class Reference} +\label{classvision__commons_1_1Morph}\index{vision\_commons::Morph@{vision\_commons::Morph}} +\doxysubsection*{Static Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classvision__commons_1_1Morph_a84d97e31e9ed1c16527fc23679811a8c}\label{classvision__commons_1_1Morph_a84d97e31e9ed1c16527fc23679811a8c}} +static void {\bfseries open} (cv\+::\+Mat \&raw, int element\+\_\+size, int element\+\_\+centerX, int element\+\_\+centerY, int iterations) +\item +\mbox{\Hypertarget{classvision__commons_1_1Morph_a7eedf10d8eea01b258630e0992c98275}\label{classvision__commons_1_1Morph_a7eedf10d8eea01b258630e0992c98275}} +static void {\bfseries close} (cv\+::\+Mat \&raw, int element\+\_\+size, int element\+\_\+centerX, int element\+\_\+centerY, int iterations) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+commons/include/morph.\+h\item +vision\+\_\+layer/vision\+\_\+commons/src/morph.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/classvision__commons_1_1Threshold.tex b/docs/latex/classvision__commons_1_1Threshold.tex new file mode 100644 index 0000000..567b8f2 --- /dev/null +++ b/docs/latex/classvision__commons_1_1Threshold.tex @@ -0,0 +1,17 @@ +\hypertarget{classvision__commons_1_1Threshold}{}\doxysection{vision\+\_\+commons\+::Threshold Class Reference} +\label{classvision__commons_1_1Threshold}\index{vision\_commons::Threshold@{vision\_commons::Threshold}} +\doxysubsection*{Static Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{classvision__commons_1_1Threshold_a63410bd74e4a866c110d593c6fee7b42}\label{classvision__commons_1_1Threshold_a63410bd74e4a866c110d593c6fee7b42}} +static cv\+::\+Mat {\bfseries threshold} (cv\+::\+Mat \&raw, int low\+\_\+a, int high\+\_\+a, int low\+\_\+b, int high\+\_\+b, int low\+\_\+c, int high\+\_\+c) +\item +\mbox{\Hypertarget{classvision__commons_1_1Threshold_a08523cd43ea3b967c84eb1576d90fc09}\label{classvision__commons_1_1Threshold_a08523cd43ea3b967c84eb1576d90fc09}} +static cv\+::\+Mat {\bfseries threshold} (const cv\+::\+Mat \&raw, const cv\+::\+Scalar \&bgr\+\_\+min, const cv\+::\+Scalar \&bgr\+\_\+max) +\end{DoxyCompactItemize} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +vision\+\_\+layer/vision\+\_\+commons/include/threshold.\+h\item +vision\+\_\+layer/vision\+\_\+commons/src/threshold.\+cpp\end{DoxyCompactItemize} diff --git a/docs/latex/hierarchy.tex b/docs/latex/hierarchy.tex index 25ae69a..bc05215 100644 --- a/docs/latex/hierarchy.tex +++ b/docs/latex/hierarchy.tex @@ -1,8 +1,131 @@ \doxysection{Class Hierarchy} This inheritance list is sorted roughly, but not completely, alphabetically\+:\begin{DoxyCompactList} +\item \contentsline{section}{Acceleration\+Control.\+Acceleration\+Controller\+Node}{\pageref{classAccelerationControl_1_1AccelerationControllerNode}}{} +\item \contentsline{section}{Base\+\_\+class}{\pageref{classBase__class}}{} +\begin{DoxyCompactList} +\item \contentsline{section}{Buoy}{\pageref{classBuoy}}{} +\item \contentsline{section}{Crucifix}{\pageref{classCrucifix}}{} +\item \contentsline{section}{Gate}{\pageref{classGate}}{} +\item \contentsline{section}{Grabber}{\pageref{classGrabber}}{} +\item \contentsline{section}{Line}{\pageref{classLine}}{} +\item \contentsline{section}{Marker}{\pageref{classMarker}}{} +\item \contentsline{section}{Marker\+Dropper}{\pageref{classMarkerDropper}}{} +\item \contentsline{section}{Octagon}{\pageref{classOctagon}}{} +\item \contentsline{section}{Path\+Marker}{\pageref{classPathMarker}}{} +\item \contentsline{section}{Pinger}{\pageref{classPinger}}{} +\item \contentsline{section}{Start\+Gate}{\pageref{classStartGate}}{} +\item \contentsline{section}{Test\+Gate}{\pageref{classTestGate}}{} +\item \contentsline{section}{Torpedo}{\pageref{classTorpedo}}{} +\item \contentsline{section}{Triangular\+Buoy}{\pageref{classTriangularBuoy}}{} +\end{DoxyCompactList} +\item \contentsline{section}{image\+\_\+undistort\+::Base\+Camera\+Parameters}{\pageref{classimage__undistort_1_1BaseCameraParameters}}{} +\begin{DoxyCompactList} +\item \contentsline{section}{image\+\_\+undistort\+::Input\+Camera\+Parameters}{\pageref{classimage__undistort_1_1InputCameraParameters}}{} +\item \contentsline{section}{image\+\_\+undistort\+::Output\+Camera\+Parameters}{\pageref{classimage__undistort_1_1OutputCameraParameters}}{} +\end{DoxyCompactList} +\item \contentsline{section}{image\+\_\+undistort\+::Camera\+Parameters\+Pair}{\pageref{classimage__undistort_1_1CameraParametersPair}}{} +\item \contentsline{section}{color\+\_\+correction}{\pageref{classcolor__correction}}{} +\item \contentsline{section}{vision\+\_\+commons\+::Contour}{\pageref{classvision__commons_1_1Contour}}{} +\item \contentsline{section}{color\+\_\+correction\+::contrast\+\_\+stretching}{\pageref{classcolor__correction_1_1contrast__stretching}}{} +\item \contentsline{section}{mtdef.\+Deprecated\+M\+ID}{\pageref{classmtdef_1_1DeprecatedMID}}{} +\item \contentsline{section}{image\+\_\+undistort\+::Depth}{\pageref{classimage__undistort_1_1Depth}}{} +\item \contentsline{section}{mtdef.\+Device\+State}{\pageref{classmtdef_1_1DeviceState}}{} +\item \contentsline{section}{disturbance\+\_\+manager.\+Disturbance\+Manager}{\pageref{classdisturbance__manager_1_1DisturbanceManager}}{} +\item \contentsline{section}{D\+V\+L\+Data}{\pageref{structDVLData}}{} +\item \contentsline{section}{D\+V\+L\+Ethernet}{\pageref{classDVLEthernet}}{} +\item \contentsline{section}{D\+V\+Lformat21\+\_\+t}{\pageref{structDVLformat21__t}}{} +\item \contentsline{section}{D\+V\+L\+Header}{\pageref{structDVLHeader}}{} +\item \contentsline{section}{hardware\+\_\+dvl\+::D\+V\+L\+Node}{\pageref{classhardware__dvl_1_1DVLNode}}{} +\item \contentsline{section}{D\+V\+Lstatus}{\pageref{structDVLstatus}}{} +\item \contentsline{section}{mapping\+::E\+KF$<$ n, m, b $>$}{\pageref{classmapping_1_1EKF}}{} +\item \contentsline{section}{mapping\+::E\+KF$<$ 3, 3, 3 $>$}{\pageref{classmapping_1_1EKF}}{} +\begin{DoxyCompactList} +\item \contentsline{section}{mapping\+::Slam\+E\+KF$<$ n, m, b $>$}{\pageref{classmapping_1_1SlamEKF}}{} +\end{DoxyCompactList} +\item \contentsline{section}{Error\+Descriptor}{\pageref{classErrorDescriptor}}{} +\item Exception\begin{DoxyCompactList} +\item \contentsline{section}{mtdef.\+M\+T\+Exception}{\pageref{classmtdef_1_1MTException}}{} +\begin{DoxyCompactList} +\item \contentsline{section}{mtdef.\+M\+T\+Error\+Message}{\pageref{classmtdef_1_1MTErrorMessage}}{} +\item \contentsline{section}{mtdef.\+M\+T\+Timeout\+Exception}{\pageref{classmtdef_1_1MTTimeoutException}}{} +\end{DoxyCompactList} +\end{DoxyCompactList} +\item \contentsline{section}{navigation\+::Extended\+Kalman\+Filter}{\pageref{classnavigation_1_1ExtendedKalmanFilter}}{} +\item \contentsline{section}{vision\+\_\+commons\+::Filter}{\pageref{classvision__commons_1_1Filter}}{} +\item \contentsline{section}{vision\+\_\+commons\+::Geometry}{\pageref{classvision__commons_1_1Geometry}}{} +\item \contentsline{section}{color\+\_\+correction\+::gray\+\_\+edge}{\pageref{classcolor__correction_1_1gray__edge}}{} +\item \contentsline{section}{color\+\_\+correction\+::gray\+\_\+world}{\pageref{classcolor__correction_1_1gray__world}}{} +\item \contentsline{section}{image\+\_\+undistort\+::Image\+Undistort}{\pageref{classimage__undistort_1_1ImageUndistort}}{} +\item \contentsline{section}{Laplacian\+Blending}{\pageref{classLaplacianBlending}}{} +\item \contentsline{section}{mapping\+::Mapping\+Node}{\pageref{classmapping_1_1MappingNode}}{} +\item \contentsline{section}{color\+\_\+correction\+::max\+\_\+edge}{\pageref{classcolor__correction_1_1max__edge}}{} +\item \contentsline{section}{color\+\_\+correction\+::max\+R\+GB}{\pageref{classcolor__correction_1_1maxRGB}}{} +\item \contentsline{section}{mtdef.\+M\+ID}{\pageref{classmtdef_1_1MID}}{} +\item \contentsline{section}{vision\+\_\+commons\+::Morph}{\pageref{classvision__commons_1_1Morph}}{} +\item \contentsline{section}{M\+S5837}{\pageref{classMS5837}}{} +\item \contentsline{section}{name}{\pageref{classname}}{} +\item \contentsline{section}{navigation\+::Navigation\+Device}{\pageref{classnavigation_1_1NavigationDevice}}{} +\begin{DoxyCompactList} +\item \contentsline{section}{navigation\+::Dvl\+Data}{\pageref{classnavigation_1_1DvlData}}{} +\item \contentsline{section}{navigation\+::I\+M\+U\+Data}{\pageref{classnavigation_1_1IMUData}}{} +\end{DoxyCompactList} +\item \contentsline{section}{navigation\+::Navigation\+Node}{\pageref{classnavigation_1_1NavigationNode}}{} +\item Nodelet\begin{DoxyCompactList} +\item \contentsline{section}{image\+\_\+undistort\+::Depth\+Nodelet}{\pageref{classimage__undistort_1_1DepthNodelet}}{} +\item \contentsline{section}{image\+\_\+undistort\+::Image\+Undistort\+Nodelet}{\pageref{classimage__undistort_1_1ImageUndistortNodelet}}{} +\item \contentsline{section}{image\+\_\+undistort\+::Point\+To\+Bearing\+Nodelet}{\pageref{classimage__undistort_1_1PointToBearingNodelet}}{} +\item \contentsline{section}{image\+\_\+undistort\+::Stereo\+Info\+Nodelet}{\pageref{classimage__undistort_1_1StereoInfoNodelet}}{} +\item \contentsline{section}{image\+\_\+undistort\+::Stereo\+Undistort\+Nodelet}{\pageref{classimage__undistort_1_1StereoUndistortNodelet}}{} +\end{DoxyCompactList} \item object\begin{DoxyCompactList} \item \contentsline{section}{master\+\_\+layer.\+anahita\+\_\+thruster\+\_\+manager.\+Anahita\+Thruster\+Manager}{\pageref{classmaster__layer_1_1anahita__thruster__manager_1_1AnahitaThrusterManager}}{} +\item \contentsline{section}{mtdef.\+Baudrates}{\pageref{classmtdef_1_1Baudrates}}{} +\item \contentsline{section}{mtdevice.\+M\+T\+Device}{\pageref{classmtdevice_1_1MTDevice}}{} +\item \contentsline{section}{mtnode.\+X\+Sens\+Driver}{\pageref{classmtnode_1_1XSensDriver}}{} +\item \contentsline{section}{teledyne\+\_\+navigator.\+driver.\+Teledyne\+Navigator}{\pageref{classteledyne__navigator_1_1driver_1_1TeledyneNavigator}}{} +\item \contentsline{section}{uuv\+\_\+auv\+\_\+actuator\+\_\+interface.\+actuator\+\_\+manager.\+Actuator\+Manager}{\pageref{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager}}{} +\item \contentsline{section}{uuv\+\_\+auv\+\_\+actuator\+\_\+interface.\+fin\+\_\+model.\+Fin\+Model}{\pageref{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel}}{} +\item \contentsline{section}{uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+base.\+D\+P\+Controller\+Base}{\pageref{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase}}{} +\begin{DoxyCompactList} +\item \contentsline{section}{uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+pid\+\_\+controller\+\_\+base.\+D\+P\+P\+I\+D\+Controller\+Base}{\pageref{classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase}}{} +\end{DoxyCompactList} +\item \contentsline{section}{uuv\+\_\+control\+\_\+interfaces.\+dp\+\_\+controller\+\_\+local\+\_\+planner.\+D\+P\+Controller\+Local\+Planner}{\pageref{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner}}{} +\item \contentsline{section}{uuv\+\_\+control\+\_\+interfaces.\+vehicle.\+Vehicle}{\pageref{classuuv__control__interfaces_1_1vehicle_1_1Vehicle}}{} +\begin{DoxyCompactList} +\item \contentsline{section}{uuv\+\_\+control\+\_\+interfaces.\+sym\+\_\+vehicle.\+Sym\+Vehicle}{\pageref{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle}}{} \end{DoxyCompactList} +\item \contentsline{section}{uuv\+\_\+thrusters.\+models.\+thruster.\+Thruster}{\pageref{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster}}{} +\begin{DoxyCompactList} +\item \contentsline{section}{uuv\+\_\+thrusters.\+models.\+thruster\+\_\+custom.\+Thruster\+Custom}{\pageref{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom}}{} +\item \contentsline{section}{uuv\+\_\+thrusters.\+models.\+thruster\+\_\+proportional.\+Thruster\+Proportional}{\pageref{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional}}{} +\end{DoxyCompactList} +\item \contentsline{section}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+bezier\+\_\+curve.\+Bezier\+Curve}{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve}}{} +\item \contentsline{section}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+helical\+\_\+segment.\+Helical\+Segment}{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment}}{} +\item \contentsline{section}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+line\+\_\+segment.\+Line\+Segment}{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment}}{} +\item \contentsline{section}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+path\+\_\+generator.\+Path\+Generator}{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator}}{} +\begin{DoxyCompactList} +\item \contentsline{section}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+cs\+\_\+interpolator.\+C\+S\+Interpolator}{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator}}{} +\item \contentsline{section}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+dubins\+\_\+interpolator.\+Dubins\+Interpolator}{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator}}{} +\item \contentsline{section}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+linear\+\_\+interpolator.\+Linear\+Interpolator}{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator}}{} +\item \contentsline{section}{uuv\+\_\+trajectory\+\_\+generator.\+path\+\_\+generator.\+lipb\+\_\+interpolator.\+L\+I\+P\+B\+Interpolator}{\pageref{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator}}{} +\end{DoxyCompactList} +\item \contentsline{section}{uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+generator.\+Trajectory\+Generator}{\pageref{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator}}{} +\item \contentsline{section}{uuv\+\_\+trajectory\+\_\+generator.\+trajectory\+\_\+point.\+Trajectory\+Point}{\pageref{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint}}{} +\item \contentsline{section}{uuv\+\_\+trajectory\+\_\+generator.\+wp\+\_\+trajectory\+\_\+generator.\+W\+P\+Trajectory\+Generator}{\pageref{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator}}{} +\item \contentsline{section}{uuv\+\_\+waypoints.\+waypoint.\+Waypoint}{\pageref{classuuv__waypoints_1_1waypoint_1_1Waypoint}}{} +\item \contentsline{section}{uuv\+\_\+waypoints.\+waypoint\+\_\+set.\+Waypoint\+Set}{\pageref{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet}}{} +\end{DoxyCompactList} +\item \contentsline{section}{Observation}{\pageref{structObservation}}{} +\item \contentsline{section}{mtdef.\+Output\+Mode}{\pageref{classmtdef_1_1OutputMode}}{} +\item \contentsline{section}{mtdef.\+Output\+Settings}{\pageref{classmtdef_1_1OutputSettings}}{} +\item \contentsline{section}{P\+I\+D.\+P\+I\+D\+Regulator.\+P\+I\+D\+Regulator}{\pageref{classPID_1_1PIDRegulator_1_1PIDRegulator}}{} +\item \contentsline{section}{image\+\_\+undistort\+::Point\+To\+Bearing}{\pageref{classimage__undistort_1_1PointToBearing}}{} +\item \contentsline{section}{Position\+Control\+Underactuated.\+Position\+Controller\+Node}{\pageref{classPositionControlUnderactuated_1_1PositionControllerNode}}{} +\item \contentsline{section}{Position\+Control.\+Position\+Controller\+Node}{\pageref{classPositionControl_1_1PositionControllerNode}}{} +\item \contentsline{section}{mapping\+::Slam\+Client}{\pageref{classmapping_1_1SlamClient}}{} +\item \contentsline{section}{mapping\+::Slam\+Filter}{\pageref{classmapping_1_1SlamFilter}}{} +\item \contentsline{section}{mapping\+::Slam\+Particle}{\pageref{classmapping_1_1SlamParticle}}{} +\item \contentsline{section}{mapping\+::Slam\+Server}{\pageref{classmapping_1_1SlamServer}}{} \item State\begin{DoxyCompactList} \item \contentsline{section}{master\+\_\+layer.\+state\+\_\+mach.\+Find\+Bottom\+Target}{\pageref{classmaster__layer_1_1state__mach_1_1FindBottomTarget}}{} \item \contentsline{section}{master\+\_\+layer.\+state\+\_\+mach.\+Find\+Front\+Target}{\pageref{classmaster__layer_1_1state__mach_1_1FindFrontTarget}}{} @@ -39,4 +162,25 @@ \item \contentsline{section}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Too\+Far}{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1TooFar}}{} \item \contentsline{section}{master\+\_\+layer.\+state\+\_\+mach\+\_\+gate\+\_\+torpedo.\+Transition}{\pageref{classmaster__layer_1_1state__mach__gate__torpedo_1_1Transition}}{} \end{DoxyCompactList} +\item \contentsline{section}{image\+\_\+undistort\+::Stereo\+Camera\+Parameters}{\pageref{classimage__undistort_1_1StereoCameraParameters}}{} +\item \contentsline{section}{image\+\_\+undistort\+::Stereo\+Info}{\pageref{classimage__undistort_1_1StereoInfo}}{} +\item \contentsline{section}{image\+\_\+undistort\+::Stereo\+Undistort}{\pageref{classimage__undistort_1_1StereoUndistort}}{} +\item \contentsline{section}{Test}{\pageref{classTest}}{} +\item Test\+Case\begin{DoxyCompactList} +\item \contentsline{section}{test\+\_\+trajectory\+\_\+point.\+Test\+Trajectory\+Point}{\pageref{classtest__trajectory__point_1_1TestTrajectoryPoint}}{} +\item \contentsline{section}{test\+\_\+waypoint.\+Test\+Waypoint}{\pageref{classtest__waypoint_1_1TestWaypoint}}{} +\item \contentsline{section}{test\+\_\+waypoint\+\_\+set.\+Test\+Waypoint\+Set}{\pageref{classtest__waypoint__set_1_1TestWaypointSet}}{} +\end{DoxyCompactList} +\item \contentsline{section}{vision\+\_\+commons\+::Threshold}{\pageref{classvision__commons_1_1Threshold}}{} +\item \contentsline{section}{uuv\+\_\+thrusters.\+thruster\+\_\+manager.\+Thruster\+Manager}{\pageref{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager}}{} +\item \contentsline{section}{trajectory\+\_\+marker\+\_\+publisher.\+Trajectory\+Marker\+Publisher}{\pageref{classtrajectory__marker__publisher_1_1TrajectoryMarkerPublisher}}{} +\item \contentsline{section}{image\+\_\+undistort\+::Undistorter}{\pageref{classimage__undistort_1_1Undistorter}}{} +\item \contentsline{section}{Velocity\+Control.\+Velocity\+Controller\+Node}{\pageref{classVelocityControl_1_1VelocityControllerNode}}{} +\item \contentsline{section}{mtdef.\+X\+D\+I\+Group}{\pageref{classmtdef_1_1XDIGroup}}{} +\item D\+P\+Controller\+Base\begin{DoxyCompactList} +\item \contentsline{section}{cascaded\+\_\+pid\+\_\+dp\+\_\+controller.\+R\+O\+V\+\_\+\+Cascaded\+Controller}{\pageref{classcascaded__pid__dp__controller_1_1ROV__CascadedController}}{} +\end{DoxyCompactList} +\item Thruster\+Manager\begin{DoxyCompactList} +\item \contentsline{section}{thruster\+\_\+allocator.\+Thruster\+Allocator\+Node}{\pageref{classthruster__allocator_1_1ThrusterAllocatorNode}}{} +\end{DoxyCompactList} \end{DoxyCompactList} diff --git a/docs/latex/md_README.tex b/docs/latex/md_README.tex index 19943b8..895953a 100644 --- a/docs/latex/md_README.tex +++ b/docs/latex/md_README.tex @@ -12,7 +12,7 @@ \endhead \PBS\centering 1. &\PBS\centering \href{http://releases.ubuntu.com/18.04/}{\texttt{ Ubuntu 18.\+04 L\+TS}} &\PBS\centering \href{http://wiki.ros.org/Melodic}{\texttt{ Melodic Morenia}} &\PBS\centering \href{https://travis-ci.org/AUV-IITK/Anahita}{\texttt{ }} \\\cline{1-4} \end{longtabu} -\hypertarget{md_README_autotoc_md1}{}\doxysection{How to build the repository?}\label{md_README_autotoc_md1} +\hypertarget{md_README_autotoc_md91}{}\doxysection{How to build the repository?}\label{md_README_autotoc_md91} \begin{DoxyEnumerate} \item {\bfseries{Create a catkin worspace following the guidelines given \href{http://wiki.ros.org/catkin/Tutorials/create_a_workspace}{\texttt{ here}}}} @@ -76,5 +76,5 @@ \DoxyCodeLine{roslaunch uuv\_thruster\_manager thruster\_manager.launch model\_name:=anahita (for simulation)} \DoxyCodeLine{master\_layer/anahita\_thruster\_manager.py (for real navigation) } \end{DoxyCode} -\hypertarget{md_README_autotoc_md2}{}\doxysection{Contribution Guidelines}\label{md_README_autotoc_md2} +\hypertarget{md_README_autotoc_md92}{}\doxysection{Contribution Guidelines}\label{md_README_autotoc_md92} To get started with contributing to this repository, look out for open issues \href{https://github.com/AUV-IITK/auv2018/issues}{\texttt{ here}}. Kindly read the \href{https://github.com/AUV-IITK/AUVWiki/wiki/Developers-Guide}{\texttt{ {\bfseries{Developer\textquotesingle{}s Guide}}}} before sending a pull request! \+:) \ No newline at end of file diff --git a/docs/latex/md_coding_docs_Overview.tex b/docs/latex/md_coding_docs_Overview.tex new file mode 100644 index 0000000..f67e2bb --- /dev/null +++ b/docs/latex/md_coding_docs_Overview.tex @@ -0,0 +1,53 @@ +\hypertarget{md_coding_docs_Overview_autotoc_md18}{}\doxysubsection{This document contains a basic overview of the entire software stack that exists in this repository.}\label{md_coding_docs_Overview_autotoc_md18} +Updated\+: 24th December, 2019\hypertarget{md_coding_docs_Overview_autotoc_md19}{}\doxysection{Control Layer}\label{md_coding_docs_Overview_autotoc_md19} +This layer is basically concerned with the low-\/level controller of the vehicle. Previously we used a simple P\+ID controller each of the D\+OF of Anahita. This was implemented in a decoupled manner, i.\+e. we ran the controllers independently for each of the axes, and according to what we intend to do, we pass the desired position, and just apply the P\+ID formula. The parameters for P\+ID are tuned during the time of testing the vehicle in the pool. + +The current repository contains an implementation of the Cascaded P\+ID Controller, which basically consists of two P\+ID controllers on top of each other, one for position control and one for velocity control. This controller worked well, but since our localisation was heavily dependent on the readings from the D\+VL, the position controller failed to perform well in depths of water less than 1 metre. This controller was implemented w.\+r.\+t positions and velocities in all directions simultaneously (Euclidean distances) in contrast to the previous method. + +We intend to study some new techniques in Controls, and implement them in due course of time. They are\+: + + +\begin{DoxyItemize} +\item {\bfseries{Thruster Allocation Matrix}}\+: This is implemented in the code, but I doubt whether it works correctly. Need to check and fix this. +\item {\bfseries{L\+QR controller}}\+: Used by some teams coming to Robosub, performs well according to them +\item {\bfseries{Reinforcement Learning based Controller}}\+: This would be very advanced, we\textquotesingle{}ll need to setup a simulation environment with A\+P\+Is according to the RL literature. +\end{DoxyItemize}\hypertarget{md_coding_docs_Overview_autotoc_md20}{}\doxysection{Navigation Layer}\label{md_coding_docs_Overview_autotoc_md20} +This layer was mostly written considering the D\+VL in mind. The Doppler Velocity Log provides us with the velocity information of the water profile near the vehicle. Using that along with the I\+MU, we have created a basic structure for odometry for Anahita. Odometry message tell us about the state of the vehicle in the pool, and is therefore necessary for navigation. + +The mapping package is untested. We wrote down the code for an implementation of the Fast\+S\+L\+AM paper, which is basically a landmark-\/based S\+L\+AM. S\+L\+AM stands for Simultaneous Localisation and Mapping, which is the process by which a robot creates a map for the obstacles and landmarks around itself, and further localises itself in the map, by estimating a position with the concerned error in the position. + + +\begin{DoxyItemize} +\item {\bfseries{Vehicle Dynamics Model}}\+: We are currently looking at methods concerning Vehicle Dynamic Model based localisation. This would incorporate the dynamics of our vehicle while estimating its position. +\item {\bfseries{Visual S\+L\+AM}}\+: This is something we are going to implement surely over the next semester. In this, features on images such as corners are located and the change in their positions are processed to calculate your change in state. O\+RB S\+L\+AM is a well-\/known implementation of this technique. +\item {\bfseries{Disparity Map Generation}}\+: With the procurement of new i\+DS cameras, we hope to setup a stereo mapping system, which would allow us to get depth maps, and find how far the objects are from the vehicle. +\end{DoxyItemize}\hypertarget{md_coding_docs_Overview_autotoc_md21}{}\doxysection{Master Layer}\label{md_coding_docs_Overview_autotoc_md21} +This layer basically works as the highest most-\/layer authority for autonomy. Previously, we have used a complex set of {\ttfamily if-\/else} statements combined with timeouts to create this system. This is the basis of intelligent behaviour for the vehicle, and has scope for the most drastic change in all of the stack. + + +\begin{DoxyItemize} +\item {\bfseries{S\+M\+A\+CH}}\+: This is a general-\/purpose library for creating heirarichal state machines, where each behaviour is a state, and we have to code the transitions between them. +\item {\bfseries{Behaviour Trees}}\+: Bascially this is a system of trees, where we would setup a non-\/binary tree-\/like structure for performing tasks. +\item {\bfseries{End-\/\+To-\/\+End Deep Reinforcement Learning for Task Completion}} +\end{DoxyItemize}\hypertarget{md_coding_docs_Overview_autotoc_md22}{}\doxysection{Hardware Layer}\label{md_coding_docs_Overview_autotoc_md22} +Pretty simple to explain, but one of the toughest challenges lie here. Multiple hardware driver packages are present here, such as\+: {\itshape I\+MU, Cameras, D\+VL, Arduino}. + + +\begin{DoxyItemize} +\item {\bfseries{Hydrophones}}\+: Currently we use a Virtual Machine for running the Lab\+View software on our Ubuntu system. This is very unreliable, and has not been tested for longer durations. We need to reverse-\/engineer drivers made available for other Linux-\/distros and configure them to obtain data from the NI D\+AQ board directly to our system. Pure brainstorming and hacking stuff here. +\item {\bfseries{i\+DS Cameras}}\+: Would be pretty easy to implement depending upon the support for the cameras available online. +\end{DoxyItemize}\hypertarget{md_coding_docs_Overview_autotoc_md23}{}\doxysection{Vision Layer}\label{md_coding_docs_Overview_autotoc_md23} +Currently has a pre-\/processing timeline implemented (Fusion Framework). Open\+CV nodes for most tasks have been written following a object-\/oriented structure for changing the current tasks. Along with this, a machine-\/learning based approach is also implemented. We have trained Y\+O\+LO with the data collected from the swimming pool and tested it on the Jetson T\+X2. + + +\begin{DoxyItemize} +\item {\bfseries{Tracking and Filtering}}\+: Would implement tracking for all the tasks and better filtering of random values during object detection +\item {\bfseries{C\+N\+Ns and Style Transfer for Data Generation}}\+: Basically work on the computer vision part of the vision team. +\end{DoxyItemize}\hypertarget{md_coding_docs_Overview_autotoc_md24}{}\doxysection{Debug Layer}\label{md_coding_docs_Overview_autotoc_md24} +Mostly used in the competition and testing time. + + +\begin{DoxyItemize} +\item {\bfseries{G\+UI}}\+: We have developed a basic version of the G\+UI, which works on the local network using {\ttfamily ros-\/bridge}. We need to extend this to have more functionality. +\item {\bfseries{Color Calibration}}\+: Using static values for thresholding makes it suspectible to changing brightness in the pool, and color variations. We need to setup a very abstracted and simplified method for doing this. +\end{DoxyItemize} \ No newline at end of file diff --git a/docs/latex/md_coding_docs_coding_guidelines.tex b/docs/latex/md_coding_docs_coding_guidelines.tex new file mode 100644 index 0000000..0d5ef45 --- /dev/null +++ b/docs/latex/md_coding_docs_coding_guidelines.tex @@ -0,0 +1,143 @@ +Use \href{https://akrabat.com/the-beginners-guide-to-contributing-to-a-github-project/}{\texttt{ usual steps}} to make changes into the project just like other Git\+Hub projects.\hypertarget{md_coding_docs_coding_guidelines_autotoc_md0}{}\doxysection{Code style}\label{md_coding_docs_coding_guidelines_autotoc_md0} + +\begin{DoxyItemize} +\item {\itshape Cpp} follow R\+OS \href{http://wiki.ros.org/CppStyleGuide}{\texttt{ Cpp Style Guide}} rigorously. ~\newline + +\item {\itshape C\+Make} follow Caktin \href{http://docs.ros.org/jade/api/catkin/html/user_guide/standards.html}{\texttt{ C\+Make Style Guide}}. ~\newline + +\item {\itshape Python} code should follow \href{http://www.python.org/dev/peps/pep-0008/}{\texttt{ pep8}}. Please see \href{http://wiki.ros.org/PyStyleGuide}{\texttt{ R\+OS Py\+Style\+Guide}} for details. Use {\ttfamily Anaconda} plugin for sublime text editor for style check. ~\newline + +\item {\itshape Bash} Use this \href{http://arachnoid.com/python/beautify_bash_program.html}{\texttt{ python script}}. ~\newline + +\item {\itshape Roslint} All pkgs (except {\ttfamily commons} pkgs which don\textquotesingle{}t have cpp or py code) depend on \href{http://wiki.ros.org/roslint}{\texttt{ roslint}} for static code analysis. ~\newline + +\end{DoxyItemize} + +{\bfseries{Note\+:}} \href{https://github.com/AUV-IITK/auv2017/tree/master/utils}{\texttt{ Utils}} contains scripts for formatting {\ttfamily cpp}, {\ttfamily python}, {\ttfamily xml}, {\ttfamily C\+Make\+Lists} files. Since these are bash scripts, there is a formatting script for {\ttfamily bash}. + +\DoxyHorRuler{0} +\hypertarget{md_coding_docs_coding_guidelines_autotoc_md1}{}\doxysection{Documentation}\label{md_coding_docs_coding_guidelines_autotoc_md1} +We maintain two forms of online documentation for R\+OS packages\+: ~\newline + +\begin{DoxyItemize} +\item {\itshape wiki pages} / External docs\+: This is the A\+U\+V\+Wiki repo. Home for tutorials, design documents and other sorts of information. This is mainly for people running your code. In general anything that people need to know outside source i.\+e. while only running auv code goes in the auv-\/wiki, anything else goes to package doc. +\item {\itshape auto-\/generated code documentation} Internal docs\+: This is mainly for people integrating with or editing your code. There are auto generated from source code comments using doxygen. Travis CI generated and auto deploys to gh-\/pages branch. Located at \href{http://auv-iitk.github.io/auv/}{\texttt{ http\+://auv-\/iitk.\+github.\+io/auv/}} . Look at \href{https://github.com/AUV-IITK/auv/pull/103/commits/c23d7efdadbfd611276e20509f98e6b39328fa20}{\texttt{ sample commit}} to see how to add documentation. Also \href{https://www.stack.nl/~dimitri/doxygen/manual/docblocks.html}{\texttt{ Doxygen manual}} is good for quick start. +\end{DoxyItemize} + +\DoxyHorRuler{0} +\hypertarget{md_coding_docs_coding_guidelines_autotoc_md2}{}\doxysection{Source control}\label{md_coding_docs_coding_guidelines_autotoc_md2} +We use Git. Read the wiki page on git. + +\DoxyHorRuler{0} +\hypertarget{md_coding_docs_coding_guidelines_autotoc_md3}{}\doxysection{Bug tracking}\label{md_coding_docs_coding_guidelines_autotoc_md3} +We use github issues on auv repo for tracking bugs. + +\DoxyHorRuler{0} + \hypertarget{md_coding_docs_coding_guidelines_autotoc_md4}{}\doxysection{($<$em$>$\+Still missing$<$/em$>$) Testing}\label{md_coding_docs_coding_guidelines_autotoc_md4} +We use two level of testing\+: ~\newline + +\begin{DoxyItemize} +\item Library\+: At the library level, we use standard unit-\/test frameworks. In C++, we use \href{http://wiki.ros.org/gtest}{\texttt{ gtest}}. In Python, we use \href{http://wiki.ros.org/unittest}{\texttt{ unittest}}. ~\newline + +\item Message\+: At the message level, we use \href{http://wiki.ros.org/rostest}{\texttt{ rostest}} to set up a system of R\+OS nodes, run a test node, then tear down the system. +\end{DoxyItemize} + +R\+OS has established best \href{http://wiki.ros.org/UnitTesting}{\texttt{ practices and policies}} for writing and running tests. ~\newline + Auv code is structured in layers, with each layer interacting with the other using {\ttfamily actionlib}. For testing each layer separately we use unit tests nodes which are part of the concerning layer itself. ~\newline + + +\DoxyHorRuler{0} +\hypertarget{md_coding_docs_coding_guidelines_autotoc_md5}{}\doxysection{Standardization}\label{md_coding_docs_coding_guidelines_autotoc_md5} +Code should use R\+OS services, follow guidelines for their use\+: ~\newline + use \href{http://wiki.ros.org/rosout}{\texttt{ rosout}} for printing messages ~\newline + uses the R\+OS \href{http://wiki.ros.org/Clock}{\texttt{ Clock}} for time-\/based routines + +\DoxyHorRuler{0} +\hypertarget{md_coding_docs_coding_guidelines_autotoc_md6}{}\doxysection{Large data files}\label{md_coding_docs_coding_guidelines_autotoc_md6} +Large files (anything over 1MB, really) often don\textquotesingle{}t belong in the auv repositories, especially if they are just used for tests. These large files affect the time that it takes to checkout the repository. + +\DoxyHorRuler{0} +\hypertarget{md_coding_docs_coding_guidelines_autotoc_md7}{}\doxysection{Naming Convention}\label{md_coding_docs_coding_guidelines_autotoc_md7} +Please refer to \href{http://wiki.ros.org/CppStyleGuide\#Naming}{\texttt{ R\+OS Cpp\+Style\+Guide}} and \href{http://wiki.ros.org/ROS/Patterns/Conventions\#Naming_ROS_Resources}{\texttt{ R\+OS Conventions}}. + +Avoid using any sort of Hungarian notation on names and \char`\"{}\+\_\+ptr\char`\"{} on pointers. + +\tabulinesep=1mm +\begin{longtabu}spread 0pt [c]{*{3}{|X[-1]}|} +\hline +\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ {\bfseries{Code Element}} }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ {\bfseries{Style}} }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ {\bfseries{Comment}} }\\\cline{1-3} +\endfirsthead +\hline +\endfoot +\hline +\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ {\bfseries{Code Element}} }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ {\bfseries{Style}} }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ {\bfseries{Comment}} }\\\cline{1-3} +\endhead +Namespace &under\+\_\+scored &Differentiate from class names \\\cline{1-3} +Class name &Camel\+Case &To differentiate from S\+TL types which I\+SO recommends (do not use \char`\"{}\+C\char`\"{} or \char`\"{}\+T\char`\"{} prefixes) \\\cline{1-3} +Function name &camel\+Case &Lower case start is almost universal except for .Net world \\\cline{1-3} +Parameters/\+Locals &under\+\_\+scored &Vast majority of standards recommends this because \+\_\+ is more readable to C++ crowd (although not much to Java/.Net crowd) \\\cline{1-3} +Member variables &under\+\_\+scored\+\_\+with\+\_\+ &The prefix \+\_\+ is heavily discouraged as I\+SO has rules around reserving \+\_\+identifiers, so we recommend suffix instead \\\cline{1-3} +Enums and its members &Camel\+Case &Most except very old standards agree with this one \\\cline{1-3} +Globals &g\+\_\+under\+\_\+scored &You shouldn\textquotesingle{}t have these in first place! \\\cline{1-3} +Constants &U\+P\+P\+E\+R\+\_\+\+C\+A\+SE &Very contentious and we just have to pick one here, unless if is a private constant in class or method, then use naming for Members or Locals \\\cline{1-3} +File names &Match case of class name in file &Lot of pro and cons either way but this removes inconsistency in auto generated code (important for R\+OS) \\\cline{1-3} +\end{longtabu} +\hypertarget{md_coding_docs_coding_guidelines_autotoc_md8}{}\doxysubsection{Header Files}\label{md_coding_docs_coding_guidelines_autotoc_md8} +Use a namespace qualified \#ifdef to protect against multiple inclusion\+: + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\#ifndef msr\_airsim\_MyHeader\_hpp} +\DoxyCodeLine{\#define msr\_airsim\_MyHeader\_hpp} +\DoxyCodeLine{} +\DoxyCodeLine{//-\/-\/your code} +\DoxyCodeLine{} +\DoxyCodeLine{\#endif} +\end{DoxyCode} + + +The reason we don\textquotesingle{}t use \#pragma once is because it\textquotesingle{}s not supported if same header file exists at multiple places (which might be possible under R\+OS build system!).\hypertarget{md_coding_docs_coding_guidelines_autotoc_md9}{}\doxysubsection{Bracketing}\label{md_coding_docs_coding_guidelines_autotoc_md9} +Inside function or method body place curly bracket on same line. Outside that the Namespace, Class and methods levels use separate line. This is called \href{https://en.wikipedia.org/wiki/Indent_style\#K.26R_style}{\texttt{ K\&R style}} and its variants are widely used in C++ vs other styles which are more popular in other languages. Notice that curlies are not required if you have single statement, but complex statements are easier to keep correct with the braces. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{int main(int argc, char* argv[])} +\DoxyCodeLine{\{} +\DoxyCodeLine{ while (x == y) \{} +\DoxyCodeLine{ f0();} +\DoxyCodeLine{ if (cont()) \{} +\DoxyCodeLine{ f1();} +\DoxyCodeLine{ \} else \{} +\DoxyCodeLine{ f2();} +\DoxyCodeLine{ f3();} +\DoxyCodeLine{ \}} +\DoxyCodeLine{ if (x > 100)} +\DoxyCodeLine{ break;} +\DoxyCodeLine{ \}} +\DoxyCodeLine{\}} +\end{DoxyCode} +\hypertarget{md_coding_docs_coding_guidelines_autotoc_md10}{}\doxysubsection{Const and References}\label{md_coding_docs_coding_guidelines_autotoc_md10} +Religiously review all non-\/scalar parameters you declare to be candidate for const and references. If you are coming from languages such as C\#/\+Java/\+Python, the most often mistake you would make is to pass parameters by value instead of {\ttfamily const T\&;} Especially most of the strings, vectors and maps you want to pass as {\ttfamily const T\&;} (if they are readonly) or {\ttfamily T\&} (if they are writable). Also add {\ttfamily const} suffix to methods as much as possible.\hypertarget{md_coding_docs_coding_guidelines_autotoc_md11}{}\doxysubsection{Overriding}\label{md_coding_docs_coding_guidelines_autotoc_md11} +When overriding virtual method, use override suffix.\hypertarget{md_coding_docs_coding_guidelines_autotoc_md12}{}\doxysubsection{Pointers}\label{md_coding_docs_coding_guidelines_autotoc_md12} +This is really about memory management. A simulator has much performance cricial code, so we try and avoid overloading the memory manager with lots of calls to new/delete. We also want to avoid too much copying of things on the stack, so we pass things by reference when ever possible. But when the object really needs to live longer than the call stack you often need to allocate that object on the heap, and so you have a pointer. Now, if management of the lifetime of that object is going to be tricky we recommend using \href{https://cppstyle.wordpress.com/c11-smart-pointers/}{\texttt{ C++ 11 smart pointers}}. But smart pointers do have a cost, so don’t use them blindly everywhere. For private code where performance is paramount, raw pointers can be used. Raw pointers are also often needed when interfacing with legacy systems that only accept pointer types, for example, sockets A\+PI. But we try to wrap those legacy interfaces as much as possible and avoid that style of programming from leaking into the larger code base. ~\newline + + +Religiously check if you can use const everywhere, for example, {\ttfamily const float $\ast$ const xP}. Avoid using prefix or suffix to indicate pointer types in variable names, i.\+e. use {\ttfamily my\+\_\+obj} instead of {\ttfamily myobj\+\_\+ptr} except in cases where it might make sense to differentiate variables better, for example, {\ttfamily int mynum = 5; int$\ast$ mynum\+\_\+ptr = mynum;}\hypertarget{md_coding_docs_coding_guidelines_autotoc_md13}{}\doxysubsection{R\+O\+S Naming Convention}\label{md_coding_docs_coding_guidelines_autotoc_md13} + +\begin{DoxyItemize} +\item Topics and nodes should be names keeping in mind the {\ttfamily ros namespace}. For keeping it noob friendly, global names should be assigned to nodes and topics. ~\newline + +\item Package folder name should be same as package name. ~\newline + +\item Node file name, executable name and ros node name should be same. ~\newline + +\item Dynamic Reconfigure cfg files should be related to what it helps configuring. ~\newline + +\item Action files should be named after what action or task is done through them. ~\newline + +\item Launch files should be named after what state it will launch the nodes in. ~\newline + +\end{DoxyItemize} + +\DoxyHorRuler{0} + \ No newline at end of file diff --git a/docs/latex/md_coding_docs_contributing.tex b/docs/latex/md_coding_docs_contributing.tex new file mode 100644 index 0000000..9fd5827 --- /dev/null +++ b/docs/latex/md_coding_docs_contributing.tex @@ -0,0 +1,15 @@ +\hypertarget{md_coding_docs_contributing_autotoc_md15}{}\doxysection{How To}\label{md_coding_docs_contributing_autotoc_md15} + +\begin{DoxyItemize} +\item Please read our short and sweet coding guidelines. +\item For big changes such as adding new feature or refactoring, \href{https://github.com/Hyperion-Software/issues}{\texttt{ file an issue first}}. We should discuss first! +\item Use \href{https://akrabat.com/the-beginners-guide-to-contributing-to-a-github-project/}{\texttt{ usual steps}} to make contributions just like other Git\+Hub projects. If you are not familiar with Git Branch-\/\+Rebase-\/\+Merge workflow, please \href{http://shitalshah.com/p/git-workflow-branch-rebase-squash-merge/}{\texttt{ read this first}}. +\end{DoxyItemize}\hypertarget{md_coding_docs_contributing_autotoc_md16}{}\doxysection{Do and Don\textquotesingle{}t}\label{md_coding_docs_contributing_autotoc_md16} + +\begin{DoxyItemize} +\item Rebase your branch frequently with master (once every 2-\/3 days is ideal). +\item Use same style and formatting as rest of code even if it\textquotesingle{}s not your preferred one. +\item Change any documentation that goes with code changes. +\item Do not include OS specific header files. +\item Keep your pull request small, ideally under 10 files. +\end{DoxyItemize} \ No newline at end of file diff --git a/docs/latex/md_coding_docs_documentation.tex b/docs/latex/md_coding_docs_documentation.tex new file mode 100644 index 0000000..3f8833a --- /dev/null +++ b/docs/latex/md_coding_docs_documentation.tex @@ -0,0 +1,23 @@ +Doxygen Documentation Generator + +Setting Up Doxygen\+:-\/ 1.\+In directory structure, make a document folder in root directory then run the command doxygen -\/g to generate the dconfig file. + +2.\+Edit the configuration file to fit the project. The config file contains detailed description of all the fields. However the following are important. I\+N\+P\+UT\+:-\/ Set the directories where doxygen should be looking for files. G\+E\+N\+E\+R\+A\+TE H\+T\+ML\+:-\/ Set this to yes. P\+R\+O\+J\+E\+CT N\+A\+ME\+:-\/ Sets the project name R\+E\+C\+U\+R\+S\+I\+VE\+:-\/ To search the subdirectories recursively + +3.\+Comment the code in doxygen format. + +If you place comments before functions or variables use /$\ast$$\ast$ comment line1 +\begin{DoxyItemize} +\item comment line2 +\item comment line3 $\ast$/ +\end{DoxyItemize} + +If you place comments after functions or variables use /$\ast$$\ast$$<$ comment line1 +\begin{DoxyItemize} +\item comment line2 +\item comment line3 $\ast$/ + +@ or \textbackslash{} preceeded text are considered as doxygen commands + +Important commands are\+:-\/ +\end{DoxyItemize} \ No newline at end of file diff --git a/docs/latex/md_debug_layer_anahita_gui_README.tex b/docs/latex/md_debug_layer_anahita_gui_README.tex new file mode 100644 index 0000000..13ea8e7 --- /dev/null +++ b/docs/latex/md_debug_layer_anahita_gui_README.tex @@ -0,0 +1,9 @@ +\hypertarget{md_debug_layer_anahita_gui_README_autotoc_md26}{}\doxysection{A\+U\+V-\/\+I\+I\+TK}\label{md_debug_layer_anahita_gui_README_autotoc_md26} +\hypertarget{md_debug_layer_anahita_gui_README_autotoc_md27}{}\doxysubsection{Usage Instructions}\label{md_debug_layer_anahita_gui_README_autotoc_md27} +{\bfseries{Clone}} the repostitory + +To begin, we will launch R\+OS. To do so, run the following in a terminal\+: {\ttfamily roscore} + +Then launch the rosbridge v2.\+0 server with the following\+: {\ttfamily roslaunch rosbridge\+\_\+server rosbridge\+\_\+websocket.\+launch} + +You should also launch the mmpeg server for video streaming\+: {\ttfamily rosrun web\+\_\+video\+\_\+server ..} \ No newline at end of file diff --git a/docs/latex/md_hardware_layer_hardware_arduino_README.tex b/docs/latex/md_hardware_layer_hardware_arduino_README.tex new file mode 100644 index 0000000..8dfe104 --- /dev/null +++ b/docs/latex/md_hardware_layer_hardware_arduino_README.tex @@ -0,0 +1,118 @@ +\hypertarget{md_hardware_layer_hardware_arduino_README_autotoc_md29}{}\doxysection{Overview}\label{md_hardware_layer_hardware_arduino_README_autotoc_md29} +This is a R\+OS package for interacting arduino through the \href{http://wiki.ros.org/rosserial_arduino}{\texttt{ rosserial\+\_\+arduino}} package. The package is meant to actuate thrusters connected to the arduino through a motor driver, and publish the measurements taken from various sensors connected to the arduino onto separate topics. + +The {\ttfamily hardware\+\_\+arduino} package has been tested under \href{http://www.ros.org}{\texttt{ R\+OS}} Kinetic and Ubuntu 16.\+04 L\+TS. The source code is released under a B\+SD 3-\/\+Clause license. + +The hardware used are as follows\+: +\begin{DoxyItemize} +\item \href{https://store.arduino.cc/usa/arduino-mega-2560-rev3}{\texttt{ Arduino M\+E\+GA}} +\item \href{http://www.nex-robotics.com/products/motor-drivers/8v-28v-5amp-dual-dc-motor-driver-with-current-sense.html}{\texttt{ 8V-\/28V, 5Amp Dual DC Motor Driver with Current Sensor}} +\item \href{https://www.bluerobotics.com/store/electronics/bar30-sensor-r1/}{\texttt{ Pressure Sensor}} +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_arduino_README_autotoc_md30}{}\doxysection{Setting up Arduino}\label{md_hardware_layer_hardware_arduino_README_autotoc_md30} +\hypertarget{md_hardware_layer_hardware_arduino_README_autotoc_md31}{}\doxysubsection{Dependencies}\label{md_hardware_layer_hardware_arduino_README_autotoc_md31} + +\begin{DoxyItemize} +\item \href{http://wiki.ros.org}{\texttt{ Robot Operating System (R\+OS)}} (middleware for robotics), +\item Following R\+OS Packages\+: \href{http://wiki.ros.org/rosserial}{\texttt{ rosserial}}, \href{http://wiki.ros.org/rosserial_arduino}{\texttt{ rosserial\+\_\+arduino}} +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_arduino_README_autotoc_md32}{}\doxysubsection{Setting up the Udev rules for arduino}\label{md_hardware_layer_hardware_arduino_README_autotoc_md32} +Run the following command to copy the udev rules specified for the Arduino port\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{cd \string~/catkin\_ws/src/auv2018/utils} +\DoxyCodeLine{sudo bash clone\_udev.sh} +\end{DoxyCode} + + +{\bfseries{N\+O\+TE\+:}} This connects the arduino always to the port named {\ttfamily /dev/arduino}.\hypertarget{md_hardware_layer_hardware_arduino_README_autotoc_md33}{}\doxysubsection{Preparing the Serial Port}\label{md_hardware_layer_hardware_arduino_README_autotoc_md33} +Arduino will likely connect to computer as port {\ttfamily /dev/arduino}. The easiest way to make the determination is to unplug all other U\+SB devices, plug in your Arduino, then run the command\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{ls /dev*} +\end{DoxyCode} + + +Next make sure you have read/write access to the port. Assuming your Arduino is connected on {\ttfamily /dev/arduino}, run the command\+: + + +\begin{DoxyCode}{0} +\DoxyCodeLine{ls -\/l /dev/arduino} +\end{DoxyCode} + + +You should see an output similar to the following\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{crw-\/rw-\/-\/-\/-\/ 1 root dialout 166, 0 2018-\/03-\/05 08:31 /dev/arduino} +\end{DoxyCode} + + +Note that only root and the \char`\"{}dialout\char`\"{} group have read/write access. Therefore, you need to be a member of the dialout group. You only have to do this once and it should then work for all U\+SB devices you plug in later on. + +To add yourself to the dialout group, run the command\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{sudo usermod -\/a -\/G dialout your\_user\_name} +\end{DoxyCode} + + +where {\ttfamily your\+\_\+user\+\_\+name} is your Linux login name. You will likely have to log out of your X-\/window session then log in again, or simply reboot your machine if you want to be sure. + +When you log back in again, try the command\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{groups} +\end{DoxyCode} + + +and you should see a list of groups you belong to including dialout.\hypertarget{md_hardware_layer_hardware_arduino_README_autotoc_md34}{}\doxysubsection{Building Arduino code}\label{md_hardware_layer_hardware_arduino_README_autotoc_md34} +Run the following command\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{cd \string~/catkin\_ws} +\DoxyCodeLine{catkin\_make -\/-\/pkg hardware\_arduino} +\end{DoxyCode} +\hypertarget{md_hardware_layer_hardware_arduino_README_autotoc_md35}{}\doxysubsection{Uploading code to Arduino}\label{md_hardware_layer_hardware_arduino_README_autotoc_md35} +Run the following command\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{cd \string~/catkin\_ws} +\DoxyCodeLine{source devel/setup.zsh} +\DoxyCodeLine{catkin\_make hardware\_arduino\_firmware\_arduino\_node } +\DoxyCodeLine{catkin\_make hardware\_arduino\_firmware\_arduino\_node-\/upload } +\end{DoxyCode} +\hypertarget{md_hardware_layer_hardware_arduino_README_autotoc_md36}{}\doxysection{Robot Orientation}\label{md_hardware_layer_hardware_arduino_README_autotoc_md36} + +\begin{DoxyCode}{0} +\DoxyCodeLine{ FRONT} +\DoxyCodeLine{ -\/-\/-\/-\/-\/} +\DoxyCodeLine{ SWAY1} +\DoxyCodeLine{ HEAVE1} +\DoxyCodeLine{ -\/} +\DoxyCodeLine{SURGE1 SURGE2} +\DoxyCodeLine{ -\/} +\DoxyCodeLine{ HEAVE2} +\DoxyCodeLine{ SWAY2} +\DoxyCodeLine{ -\/-\/-\/-\/-\/} +\DoxyCodeLine{ BACK} +\end{DoxyCode} + + +For technical definition of terms, refer to documentation \href{https://en.wikipedia.org/wiki/Ship_motions}{\texttt{ here}}.\hypertarget{md_hardware_layer_hardware_arduino_README_autotoc_md37}{}\doxysection{Usage}\label{md_hardware_layer_hardware_arduino_README_autotoc_md37} +To connect to the arduino, run\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{roslaunch hardware\_arduino hardware\_arduino.launch} +\end{DoxyCode} + + +First upload the code on arduino through Arduino I\+DE.\hypertarget{md_hardware_layer_hardware_arduino_README_autotoc_md38}{}\doxysection{Nodes}\label{md_hardware_layer_hardware_arduino_README_autotoc_md38} +\hypertarget{md_hardware_layer_hardware_arduino_README_autotoc_md39}{}\doxysubsection{arduino\+\_\+node}\label{md_hardware_layer_hardware_arduino_README_autotoc_md39} +Subscribes to topics with P\+WM data and actuate the thrusters with that duty cycle, and also publishes the data obtained from pressure sensor + +{\bfseries{N\+O\+TE\+:}} Pins configurations are specified in the \href{include/ArduinoConfig.h}{\texttt{ Arduino\+Config.\+h}} file.\hypertarget{md_hardware_layer_hardware_arduino_README_autotoc_md40}{}\doxysubsubsection{Subscribed Topics}\label{md_hardware_layer_hardware_arduino_README_autotoc_md40} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily /thruster/surge1/pwm}$\ast$$\ast$ (\href{http://docs.ros.org/api/std_msgs/html/msg/Int32.html}{\texttt{ std\+\_\+msgs/\+Int32}}) +\item $\ast$$\ast${\ttfamily /thruster/surge2/pwm}$\ast$$\ast$ (\href{http://docs.ros.org/api/std_msgs/html/msg/Int32.html}{\texttt{ std\+\_\+msgs/\+Int32}}) +\item $\ast$$\ast${\ttfamily /thruster/heave1/pwm}$\ast$$\ast$ (\href{http://docs.ros.org/api/std_msgs/html/msg/Int32.html}{\texttt{ std\+\_\+msgs/\+Int32}}) +\item $\ast$$\ast${\ttfamily /thruster/heave2/pwm}$\ast$$\ast$ (\href{http://docs.ros.org/api/std_msgs/html/msg/Int32.html}{\texttt{ std\+\_\+msgs/\+Int32}}) +\item $\ast$$\ast${\ttfamily /thruster/sway1/pwm}$\ast$$\ast$ (\href{http://docs.ros.org/api/std_msgs/html/msg/Int32.html}{\texttt{ std\+\_\+msgs/\+Int32}}) +\item $\ast$$\ast${\ttfamily /thruster/sway1/pwm}$\ast$$\ast$ (\href{http://docs.ros.org/api/std_msgs/html/msg/Int32.html}{\texttt{ std\+\_\+msgs/\+Int32}}) +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_arduino_README_autotoc_md41}{}\doxysubsubsection{Published Topics}\label{md_hardware_layer_hardware_arduino_README_autotoc_md41} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily /pressure\+\_\+sensor/pressure}$\ast$$\ast$ (\href{http://docs.ros.org/hydro/api/underwater_sensor_msgs/html/msg/Pressure.html}{\texttt{ underwater\+\_\+sensor\+\_\+msgs/\+Pressure}})\+: Pressure sensor data (in Pascals) +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_arduino_README_autotoc_md42}{}\doxysection{Bugs \& Feature Requests}\label{md_hardware_layer_hardware_arduino_README_autotoc_md42} +Please report bugs and request features using the \href{https://github.com/AUV-IITK/auv2017/issues}{\texttt{ Issue Tracker}}. \ No newline at end of file diff --git a/docs/latex/md_hardware_layer_hardware_camera_README.tex b/docs/latex/md_hardware_layer_hardware_camera_README.tex new file mode 100644 index 0000000..0e83616 --- /dev/null +++ b/docs/latex/md_hardware_layer_hardware_camera_README.tex @@ -0,0 +1,61 @@ +\hypertarget{md_hardware_layer_hardware_camera_README_autotoc_md44}{}\doxysection{Overview}\label{md_hardware_layer_hardware_camera_README_autotoc_md44} +This is a R\+OS package for getting feed from the camera using \href{http://wiki.ros.org/usb_cam}{\texttt{ usb\+\_\+cam}} and publishing it as a \href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}} to the other layers. + +The {\ttfamily hardware\+\_\+camera} package has been tested under \href{http://www.ros.org}{\texttt{ R\+OS}} Kinetic and Ubuntu 16.\+04 L\+TS. The source code is released under a B\+SD 3-\/\+Clause license. + +The hardware used are as follows\+: +\begin{DoxyItemize} +\item Front-\/facing Camera\+: \href{https://www.logitech.com/en-in/product/c930e-webcam}{\texttt{ Logitech C930e}} +\item Bottom-\/facing Camera\+: \href{https://www.logitech.com/en-in/product/c930e-webcam}{\texttt{ Logitech C930e}} +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_camera_README_autotoc_md45}{}\doxysection{Setting up hardware\+\_\+camera}\label{md_hardware_layer_hardware_camera_README_autotoc_md45} +\hypertarget{md_hardware_layer_hardware_camera_README_autotoc_md46}{}\doxysubsection{Dependencies}\label{md_hardware_layer_hardware_camera_README_autotoc_md46} + +\begin{DoxyItemize} +\item \href{http://wiki.ros.org}{\texttt{ Robot Operating System (R\+OS)}} (middleware for robotics), +\item Following R\+OS Packages\+: \href{http://wiki.ros.org/usb_cam}{\texttt{ usb\+\_\+cam}} +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_camera_README_autotoc_md47}{}\doxysubsection{Preparing the Serial Port via udev rules}\label{md_hardware_layer_hardware_camera_README_autotoc_md47} +The udev rules for the cameras connected to the robot are present in the \mbox{[}/utils/udev\mbox{]} directory. To copy them to your system, run\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{cd \string~/catkin\_ws/src/auv2018/utils} +\DoxyCodeLine{sudo bash clone\_udev.sh} +\end{DoxyCode} + + +Camera will then be connected to the ports with id {\ttfamily /dev/front\+\_\+cam} and {\ttfamily /dev/bottom\+\_\+cam}.\hypertarget{md_hardware_layer_hardware_camera_README_autotoc_md48}{}\doxysubsection{Building Camera code}\label{md_hardware_layer_hardware_camera_README_autotoc_md48} +Run the following command\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{cd \string~/catkin\_ws} +\DoxyCodeLine{catkin\_make -\/-\/pkg hardware\_camera} +\end{DoxyCode} +\hypertarget{md_hardware_layer_hardware_camera_README_autotoc_md49}{}\doxysection{Usage}\label{md_hardware_layer_hardware_camera_README_autotoc_md49} +To initialize the cmaera nodes, run\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{roslaunch hardware\_camera camera\_logitech.launch} +\end{DoxyCode} +\hypertarget{md_hardware_layer_hardware_camera_README_autotoc_md50}{}\doxysection{Nodes}\label{md_hardware_layer_hardware_camera_README_autotoc_md50} +\hypertarget{md_hardware_layer_hardware_camera_README_autotoc_md51}{}\doxysubsection{front\+\_\+camera}\label{md_hardware_layer_hardware_camera_README_autotoc_md51} +The {\ttfamily usb\+\_\+cam\+\_\+node} interfaces with standard U\+SB cameras (e.\+g. the Logitech Quickcam) using libusb\+\_\+cam and publishes images as {\ttfamily sensor\+\_\+msgs\+::\+Image}. The node belongs to the \href{http://wiki.ros.org/usb_cam}{\texttt{ usb\+\_\+cam}} package.\hypertarget{md_hardware_layer_hardware_camera_README_autotoc_md52}{}\doxysubsubsection{Published Topics}\label{md_hardware_layer_hardware_camera_README_autotoc_md52} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily hardware\+\_\+camera/front\+\_\+cam/image\+\_\+raw}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_camera_README_autotoc_md53}{}\doxysubsubsection{Parameters}\label{md_hardware_layer_hardware_camera_README_autotoc_md53} + +\begin{DoxyItemize} +\item {\ttfamily $\sim$image\+\_\+width} (integer, default\+: 1280) Image width +\item {\ttfamily $\sim$image\+\_\+height} (integer, default\+: 720) Image height +\item {\ttfamily $\sim$framerate} (integer, default\+: 30) The required framerate +\item {\ttfamily $\sim$camera\+\_\+info\+\_\+url} (string, default\+: ) An url to the camera calibration file that will be read by the \href{http://wiki.ros.org/CameraInfoManager}{\texttt{ Camera\+Info\+Manager}} class +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_camera_README_autotoc_md54}{}\doxysubsection{bottom\+\_\+camera}\label{md_hardware_layer_hardware_camera_README_autotoc_md54} +The {\ttfamily usb\+\_\+cam\+\_\+node} interfaces with standard U\+SB cameras (e.\+g. the Logitech Quickcam) using libusb\+\_\+cam and publishes images as {\ttfamily sensor\+\_\+msgs\+::\+Image}. The node belongs to the \href{http://wiki.ros.org/usb_cam}{\texttt{ usb\+\_\+cam}} package.\hypertarget{md_hardware_layer_hardware_camera_README_autotoc_md55}{}\doxysubsubsection{Published Topics}\label{md_hardware_layer_hardware_camera_README_autotoc_md55} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily bottom\+\_\+camera/image\+\_\+raw}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_camera_README_autotoc_md56}{}\doxysubsubsection{Parameters}\label{md_hardware_layer_hardware_camera_README_autotoc_md56} + +\begin{DoxyItemize} +\item {\ttfamily $\sim$image\+\_\+width} (integer, default\+: 1280) Image width +\item {\ttfamily $\sim$image\+\_\+height} (integer, default\+: 720) Image height +\item {\ttfamily $\sim$framerate} (integer, default\+: 30) The required framerate +\item {\ttfamily $\sim$camera\+\_\+info\+\_\+url} (string, default\+: ) An url to the camera calibration file that will be read by the \href{http://wiki.ros.org/CameraInfoManager}{\texttt{ Camera\+Info\+Manager}} class. +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_camera_README_autotoc_md57}{}\doxysection{Bugs \& Feature Requests}\label{md_hardware_layer_hardware_camera_README_autotoc_md57} +Please report bugs and request features using the \href{https://github.com/AUV-IITK/auv2018/issues}{\texttt{ Issue Tracker}}. \ No newline at end of file diff --git a/docs/latex/md_hardware_layer_hardware_dvl_ethernet_README.tex b/docs/latex/md_hardware_layer_hardware_dvl_ethernet_README.tex new file mode 100644 index 0000000..847ff88 --- /dev/null +++ b/docs/latex/md_hardware_layer_hardware_dvl_ethernet_README.tex @@ -0,0 +1,4 @@ +\hypertarget{md_hardware_layer_hardware_dvl_ethernet_README_autotoc_md59}{}\doxysection{Overview}\label{md_hardware_layer_hardware_dvl_ethernet_README_autotoc_md59} +This is a R\+OS package for interfacing with the Teledyne Pathnfider Doppler Velocity Log hardware + +The {\ttfamily hardware\+\_\+dvl} package has been tested under \href{http://www.ros.org}{\texttt{ R\+OS}} Kinetic and Ubuntu 16.\+04 L\+TS. The source code is released under a B\+SD 3-\/\+Clause license. \ No newline at end of file diff --git a/docs/latex/md_hardware_layer_hardware_imu_README.tex b/docs/latex/md_hardware_layer_hardware_imu_README.tex new file mode 100644 index 0000000..4d16536 --- /dev/null +++ b/docs/latex/md_hardware_layer_hardware_imu_README.tex @@ -0,0 +1,113 @@ +\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md61}{}\doxysection{Overview}\label{md_hardware_layer_hardware_imu_README_autotoc_md61} +This is a R\+OS package for interfacing with the \href{http://px4.io/}{\texttt{ P\+X4}} hardware or the \href{https://www.spartonnavex.com/product/ahrs-8/}{\texttt{ Sparton A\+H\+R\+S-\/8}} hardware. + +For the P\+X4, we are using the in-\/built inertial measurement unit (I\+MU) present in the P\+X4 for the robot. For the Sparton A\+H\+R\+S8, the driver communicates with the sensor using N\+M\+EA protocol and publishes the I\+MU data as R\+OS sensor messages. + +The {\ttfamily hardware\+\_\+imu} package has been tested under \href{http://www.ros.org}{\texttt{ R\+OS}} Kinetic and Ubuntu 16.\+04 L\+TS. The source code is released under a B\+SD 3-\/\+Clause license.\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md62}{}\doxysection{Setting up hardware\+\_\+imu}\label{md_hardware_layer_hardware_imu_README_autotoc_md62} +\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md63}{}\doxysubsection{Dependencies}\label{md_hardware_layer_hardware_imu_README_autotoc_md63} + +\begin{DoxyItemize} +\item \href{http://wiki.ros.org}{\texttt{ Robot Operating System (R\+OS)}} (middleware for robotics), +\item Following R\+OS Packages\+: \href{http://wiki.ros.org/mavros}{\texttt{ mavros}}, \href{http://wiki.ros.org/mavros_extras}{\texttt{ mavros\+\_\+extras}} +\end{DoxyItemize} + +According to the installation instructions present \href{https://github.com/mavlink/mavros/blob/master/mavros/README.md\#binary-installation-deb}{\texttt{ here}}, run the following commands to install Geographic\+Lib datasets which is required as a mavros dependency\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install\_geographiclib\_datasets.sh} +\DoxyCodeLine{./install\_geographiclib\_datasets.sh} +\end{DoxyCode} +\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md64}{}\doxysubsection{Calibrating the sensor}\label{md_hardware_layer_hardware_imu_README_autotoc_md64} +Download \href{https://docs.qgroundcontrol.com/en/getting_started/download_and_install.html}{\texttt{ Q\+Ground Control}} and run it with P\+I\+X\+H\+A\+WK attached with your computer. Read the manual \href{https://docs.qgroundcontrol.com/en/SetupView/Sensors.html}{\texttt{ here}} for further instructions.\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md65}{}\doxysubsection{Building the package}\label{md_hardware_layer_hardware_imu_README_autotoc_md65} +Run the following command from the root of your catkin workspace\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{catkin\_make -\/-\/pkg hardware\_imu} +\end{DoxyCode} +\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md66}{}\doxysection{Usage}\label{md_hardware_layer_hardware_imu_README_autotoc_md66} +To run the {\bfseries{P\+I\+X\+H\+A\+WK I\+MU}}\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{roslaunch hardware\_imu imu\_px4.launch} +\end{DoxyCode} + + +where the P\+I\+X\+H\+A\+WK is assumed to be connected at the {\ttfamily /dev/tty\+A\+C\+M0} port. + +To run the {\bfseries{Sparton A\+H\+R\+S8 I\+MU}}\+: + + +\begin{DoxyEnumerate} +\item Check the serial port to which the sensor is connected at and change the device path in the \href{launch/ahrs-8.launch}{\texttt{ launch file}} +\begin{DoxyCode}{0} +\DoxyCodeLine{\# to verify if device is at /dev/ttyUSB0, run:} +\DoxyCodeLine{udevadm info -\/a -\/p \$(udevadm info -\/q path -\/n /dev/ttyUSB0)} +\end{DoxyCode} + +\item Ensure that python cript has executable permission\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{chmod +x sparton\_ahrs8\_driver/scripts/ahrs8\_nmea.py} +\end{DoxyCode} + +\item Run the launch file\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{roslaunch sparton\_ahrs8\_driver ahrs-\/8.launch} +\end{DoxyCode} + +\end{DoxyEnumerate}\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md67}{}\doxysection{Nodes}\label{md_hardware_layer_hardware_imu_README_autotoc_md67} +\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md68}{}\doxysubsection{mavros\+\_\+node}\label{md_hardware_layer_hardware_imu_README_autotoc_md68} +The {\ttfamily mavros\+\_\+node} is the main communication node for the M\+A\+V\+Link communication protocol used in the P\+X4 autopilot. The node belongs to the \href{http://wiki.ros.org/mavros}{\texttt{ mavros}} package.\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md69}{}\doxysubsubsection{Published Topics}\label{md_hardware_layer_hardware_imu_README_autotoc_md69} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily $\sim$imu/data}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html}{\texttt{ sensor\+\_\+msgs/\+Imu}}) Imu data, orientation computed by F\+CU +\item $\ast$$\ast${\ttfamily $\sim$imu/data\+\_\+raw}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html}{\texttt{ sensor\+\_\+msgs/\+Imu}}) Raw I\+MU data without orientation +\item $\ast$$\ast${\ttfamily $\sim$imu/mag}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/MagneticField.html}{\texttt{ sensor\+\_\+msgs/\+Magnetic\+Field}}) F\+CU compass data +\item $\ast$$\ast${\ttfamily $\sim$imu/temperature}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Temperature.html}{\texttt{ sensor\+\_\+msgs/\+Temperature}}) Temperature reported by F\+CU (usually from barometer) +\item $\ast$$\ast${\ttfamily $\sim$imu/atm\+\_\+pressure}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/FluidPressure.html}{\texttt{ sensor\+\_\+msgs/\+Fluid\+Pressure}}) Air pressure. +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md70}{}\doxysubsection{Parameters}\label{md_hardware_layer_hardware_imu_README_autotoc_md70} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily $\sim$imu/frame\+\_\+id}$\ast$$\ast$ (string, default\+: fcu) Frame ID for this plugin. +\item $\ast$$\ast${\ttfamily $\sim$imu/linear\+\_\+acceleration\+\_\+stdev}$\ast$$\ast$ (double, default\+: 0.\+0003) Gyro\textquotesingle{}s standard deviation +\item $\ast$$\ast${\ttfamily $\sim$imu/angular\+\_\+velocity\+\_\+stdev}$\ast$$\ast$ (double, default\+: !dec 0.\+02) Accel\textquotesingle{}s standard deviation +\item $\ast$$\ast${\ttfamily $\sim$imu/orientation\+\_\+stdev}$\ast$$\ast$ (double, default\+: 1.\+0) Standard deviation for I\+M\+U.\+orientation +\item $\ast$$\ast${\ttfamily $\sim$imu/magnetic\+\_\+stdev}$\ast$$\ast$ (double, default\+: 0.\+0) Standard deviation for magnetic field message (undefined if\+: 0.\+0) +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md71}{}\doxysubsection{mavros.\+cpp}\label{md_hardware_layer_hardware_imu_README_autotoc_md71} +This node takes the I\+MU data in quateranion format and convert it into euler angles. We calculate the roll, pitch and yaw using the following formulas\+: + + +\begin{DoxyCode}{0} +\DoxyCodeLine{yaw = atan2 ( 2 * x * y -\/ 2 * w * z, 2 * w * w + 2 * x * x -\/ 1)} +\DoxyCodeLine{roll = atan2(2 * q2 * q3 -\/ 2 * q0 * q1, 2 * q0 * q0 + 2 * q3 * q3 -\/ 1)} +\DoxyCodeLine{pitch = -\/asin(2 * q1 * q3 + 2 * q0 * q2)} +\end{DoxyCode} + + +where {\ttfamily q = (w, x, y, z)} is the quaternion angle.\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md72}{}\doxysubsubsection{Subscribed Topics}\label{md_hardware_layer_hardware_imu_README_autotoc_md72} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily $\sim$/mavros/imu/data}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html}{\texttt{ sensor\+\_\+msgs/\+Imu}}) Imu data, orientation computed by F\+CU +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md73}{}\doxysubsubsection{Published Topics}\label{md_hardware_layer_hardware_imu_README_autotoc_md73} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily /mavros/imu/yaw}$\ast$$\ast$ (\href{http://docs.ros.org/lunar/api/std_msgs/html/msg/Float64.html}{\texttt{ std\+\_\+msgs/\+Float64}}) Yaw data computed using quaternion to euler angles transformation $\ast$$\ast${\ttfamily /mavros/imu/pitch}$\ast$$\ast$ (\href{http://docs.ros.org/lunar/api/std_msgs/html/msg/Float64.html}{\texttt{ std\+\_\+msgs/\+Float64}}) Pitch data computed using quaternion to euler angles transformation $\ast$$\ast${\ttfamily /mavros/imu/roll}$\ast$$\ast$ (\href{http://docs.ros.org/lunar/api/std_msgs/html/msg/Float64.html}{\texttt{ std\+\_\+msgs/\+Float64}}) Roll data computed using quaternion to euler angles transformation +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md74}{}\doxysubsection{ahrs8\+\_\+nmea.\+py}\label{md_hardware_layer_hardware_imu_README_autotoc_md74} +The node communicate with the sensor using the N\+M\+EA protocol and publishes I\+MU data.\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md75}{}\doxysubsubsection{Parameters}\label{md_hardware_layer_hardware_imu_README_autotoc_md75} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily $\sim$frame\+\_\+id}$\ast$$\ast$ (string, default\+: {\ttfamily ahrs8\+\_\+imu}) Frame ID for this plugin +\item $\ast$$\ast${\ttfamily $\sim$port}$\ast$$\ast$ (string, default\+: {\ttfamily /dev/tty\+U\+S\+B0}) Port at which sensor is connected +\item $\ast$$\ast${\ttfamily $\sim$baud}$\ast$$\ast$ (double, default\+: {\ttfamily 115200}) Baud rate for communication with the sensor +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md76}{}\doxysubsubsection{Published Topics}\label{md_hardware_layer_hardware_imu_README_autotoc_md76} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily $\sim$imu/data}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html}{\texttt{ sensor\+\_\+msgs/\+Imu}}) I\+MU orientation data, orientation in the {\ttfamily ahrs8\+\_\+imu} frame +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md77}{}\doxysubsection{sparton.\+cpp}\label{md_hardware_layer_hardware_imu_README_autotoc_md77} +This node takes the I\+MU data in quateranion format and convert it into euler angles. We calculate the roll, pitch and yaw using the above formulas again\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md78}{}\doxysubsubsection{Subscribed Topics}\label{md_hardware_layer_hardware_imu_README_autotoc_md78} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily $\sim$/sparton/imu/data}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html}{\texttt{ sensor\+\_\+msgs/\+Imu}}) Imu data, orientation computed by F\+CU +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md79}{}\doxysubsubsection{Published Topics}\label{md_hardware_layer_hardware_imu_README_autotoc_md79} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily /sparton/imu/yaw}$\ast$$\ast$ (\href{http://docs.ros.org/lunar/api/std_msgs/html/msg/Float64.html}{\texttt{ std\+\_\+msgs/\+Float64}}) Yaw data computed using quaternion to euler angles transformation $\ast$$\ast${\ttfamily /sparton/imu/pitch}$\ast$$\ast$ (\href{http://docs.ros.org/lunar/api/std_msgs/html/msg/Float64.html}{\texttt{ std\+\_\+msgs/\+Float64}}) Pitch data computed using quaternion to euler angles transformation $\ast$$\ast${\ttfamily /sparton/imu/roll}$\ast$$\ast$ (\href{http://docs.ros.org/lunar/api/std_msgs/html/msg/Float64.html}{\texttt{ std\+\_\+msgs/\+Float64}}) Roll data computed using quaternion to euler angles transformation ~\newline + +\end{DoxyItemize}\hypertarget{md_hardware_layer_hardware_imu_README_autotoc_md80}{}\doxysection{Bugs \& Feature Requests}\label{md_hardware_layer_hardware_imu_README_autotoc_md80} +Please report bugs and request features using the \href{https://github.com/AUV-IITK/fourtran/issues}{\texttt{ Issue Tracker}}. \ No newline at end of file diff --git a/docs/latex/md_hardware_layer_teledyne_navigator_README.tex b/docs/latex/md_hardware_layer_teledyne_navigator_README.tex new file mode 100644 index 0000000..92f9b3d --- /dev/null +++ b/docs/latex/md_hardware_layer_teledyne_navigator_README.tex @@ -0,0 +1,75 @@ +\href{https://dev.mcgillrobotics.com/job/ros-teledyne-navigator/job/master}{\texttt{ !\mbox{[}status\mbox{]}}} + +This R\+OS package configures and communicates with the Teledyne Navigator Doppler Velocity Log (D\+VL). {\bfseries{This has only been tested on R\+OS Kinetic and Melodic over R\+S232.}}\hypertarget{md_hardware_layer_teledyne_navigator_README_autotoc_md82}{}\doxysection{Setting up}\label{md_hardware_layer_teledyne_navigator_README_autotoc_md82} +You must clone this repository as {\ttfamily teledyne\+\_\+navigator} into your {\ttfamily catkin} workspace\textquotesingle{}s {\ttfamily src} directory\+: + + +\begin{DoxyCode}{0} +\DoxyCodeLine{roscd} +\DoxyCodeLine{cd src} +\DoxyCodeLine{git clone https://github.com/mcgill-\/robotics/ros-\/teledyne-\/navigator.git teledyne\_navigator} +\end{DoxyCode} +\hypertarget{md_hardware_layer_teledyne_navigator_README_autotoc_md83}{}\doxysection{Dependencies}\label{md_hardware_layer_teledyne_navigator_README_autotoc_md83} +Before proceeding, make sure to install all the dependencies by running\+: + + +\begin{DoxyCode}{0} +\DoxyCodeLine{rosdep update} +\DoxyCodeLine{rosdep install teledyne\_navigator} +\end{DoxyCode} +\hypertarget{md_hardware_layer_teledyne_navigator_README_autotoc_md84}{}\doxysection{Compiling}\label{md_hardware_layer_teledyne_navigator_README_autotoc_md84} +You {\bfseries{must}} compile this package before being able to run it. You can do so by running\+: + + +\begin{DoxyCode}{0} +\DoxyCodeLine{catkin\_make} +\end{DoxyCode} + + +from the root of your workspace.\hypertarget{md_hardware_layer_teledyne_navigator_README_autotoc_md85}{}\doxysection{Running}\label{md_hardware_layer_teledyne_navigator_README_autotoc_md85} +To run, simply connect the D\+VL over R\+S232 and launch the package with\+: + + +\begin{DoxyCode}{0} +\DoxyCodeLine{roslaunch teledyne\_navigator teledyne\_navigator.launch port:=} +\end{DoxyCode} + + +The following run-\/time R\+OS launch arguments are available\+: + + +\begin{DoxyItemize} +\item {\ttfamily port}\+: Serial port to read from, default\+: {\ttfamily /dev/dvl}. +\item {\ttfamily baudrate}\+: Serial baud rate, default\+: {\ttfamily 9600}. +\item {\ttfamily timeout}\+: Serial read timeout in seconds, default\+: {\ttfamily 1.\+0}. +\item {\ttfamily frame}\+: {\ttfamily tf} frame to stamp the messages with, default\+: {\ttfamily dvl}. +\end{DoxyItemize} + +The package will keep trying to connect to the D\+VL until it is successful. + +The {\ttfamily teledyne\+\_\+navigator} node will output to the following R\+OS topic\+: + + +\begin{DoxyItemize} +\item {\ttfamily $\sim$ensemble}\+: D\+VL scan data as an {\ttfamily Ensemble} message. +\end{DoxyItemize}\hypertarget{md_hardware_layer_teledyne_navigator_README_autotoc_md86}{}\doxysection{Limitations}\label{md_hardware_layer_teledyne_navigator_README_autotoc_md86} +This driver is limited to the P\+D5 output format and the earth-\/coordinate frame (E\+NU). You may change other parameters as you please using T\+R\+DI Toolz and save them with {\ttfamily CK}, but the {\ttfamily PD} and {\ttfamily EX} commands will be overridden.\hypertarget{md_hardware_layer_teledyne_navigator_README_autotoc_md87}{}\doxysection{Contributing}\label{md_hardware_layer_teledyne_navigator_README_autotoc_md87} +Contributions are welcome. Simply open an issue or pull request on the matter, and it will be accepted as long as it does not complicate the code base too much. + +As for style guides, we follow the R\+OS Python Style Guide for R\+O\+S-\/specifics and the Google Python Style Guide for everything else.\hypertarget{md_hardware_layer_teledyne_navigator_README_autotoc_md88}{}\doxysubsection{Linting}\label{md_hardware_layer_teledyne_navigator_README_autotoc_md88} +We use \href{https://github.com/google/yapf}{\texttt{ Y\+A\+PF}} for all Python formatting needs. You can auto-\/format your changes with the following command\+: + + +\begin{DoxyCode}{0} +\DoxyCodeLine{yapf -\/-\/recursive -\/-\/in-\/place -\/-\/parallel .} +\end{DoxyCode} + + +We also use \href{https://github.com/fkie/catkin_lint}{\texttt{ catkin\+\_\+lint}} for all {\ttfamily catkin} specifics. You can lint your changes as follows\+: + + +\begin{DoxyCode}{0} +\DoxyCodeLine{catkin lint -\/-\/explain -\/W2 .} +\end{DoxyCode} +\hypertarget{md_hardware_layer_teledyne_navigator_README_autotoc_md89}{}\doxysection{License}\label{md_hardware_layer_teledyne_navigator_README_autotoc_md89} +See \mbox{[}L\+I\+C\+E\+N\+SE\mbox{]}(L\+I\+C\+E\+N\+SE). \ No newline at end of file diff --git a/docs/latex/md_vision_layer_image_undistort_README.tex b/docs/latex/md_vision_layer_image_undistort_README.tex new file mode 100644 index 0000000..f638c31 --- /dev/null +++ b/docs/latex/md_vision_layer_image_undistort_README.tex @@ -0,0 +1,209 @@ +image\+\_\+undistort exists to handle all the odd situations image\+\_\+proc doesn\textquotesingle{}t quite cover. Some examples of this are +\begin{DoxyItemize} +\item working with images that don\textquotesingle{}t have a camera\+\_\+info topic +\item undistortion of images using equidistant or other less common camera models +\item turning a location in a distorted image into a bearing vector +\end{DoxyItemize} + +If you have an image undistortion / stereo imaging problem that the library doesn\textquotesingle{}t cover, create an issue and I\textquotesingle{}ll look at adding it. Note that the automatic image size approach used will fail for cameras with a fov greater than 180 degrees. + +This repo contains six related ros nodes-\/ +\begin{DoxyItemize} +\item {\bfseries{\href{\#image_undistort_node}{\texttt{ image\+\_\+undistort\+\_\+node}}\+:}} Undistorts and changes images intrinsics and resolution. +\item {\bfseries{\href{\#stereo_info_node}{\texttt{ stereo\+\_\+info\+\_\+node}}\+:}} Calculates the camera information needed for stereo rectification. +\item {\bfseries{\href{\#stereo_undistort_node}{\texttt{ stereo\+\_\+undistort\+\_\+node}}\+:}} Combines the functionality of the above two nodes to perform stereo image rectification. +\item {\bfseries{\href{\#depth_node}{\texttt{ depth\+\_\+node}}\+:}} Converts two undistorted images and their camera information into a disparity image and a pointcloud. +\item {\bfseries{\href{\#dense_stereo_node}{\texttt{ dense\+\_\+stereo\+\_\+node}}\+:}} Performs the full dense stereo estimation (internally this node is just the stereo\+\_\+undistort nodelet and the depth nodelet). +\item {\bfseries{\href{\#point_to_bearing_node}{\texttt{ point\+\_\+to\+\_\+bearing\+\_\+node}}\+:}} Takes in a 2D image location and transforms it into a bearing vector. +\end{DoxyItemize}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md93}{}\doxysubsection{Dependencies}\label{md_vision_layer_image_undistort_README_autotoc_md93} +Image undistort depends on R\+OS, Open\+CV and Eigen. The point to bearing node also depends on N\+Lopt (installed with {\ttfamily apt install libnlopt-\/dev}) and will only be built if it is found.\hypertarget{md_vision_layer_image_undistort_README_autotoc_md94}{}\doxysubsection{Supported Camera and Distortion Models}\label{md_vision_layer_image_undistort_README_autotoc_md94} +The only supported output is the pinhole camera model with no distortion. Supported input models\+: + + +\begin{DoxyItemize} +\item Pinhole with no distortion +\item Pinhole with radial-\/tangential distortion +\item Pinhole with equidistant distortion +\item Omnidirectional with no distortion +\item Omindirectional with rad-\/tan distortion +\item F\+OV +\item Unified +\item Extended Unified +\item Double Sphere +\end{DoxyItemize}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md95}{}\doxysection{image\+\_\+undistort\+\_\+node\+:}\label{md_vision_layer_image_undistort_README_autotoc_md95} +A simple node for undistorting images. Handles plumb bob (aka radial-\/tangential), fov and equidistant distortion models. It can either use standard ros camera\+\_\+info topics or load camera models in a form that is compatible with the camchain.\+yaml files produced by \href{https://github.com/ethz-asl/kalibr}{\texttt{ Kalibr}}. Note this node can also be run as a nodelet named image\+\_\+undistort/\+Image\+Undistort\hypertarget{md_vision_layer_image_undistort_README_autotoc_md96}{}\doxysubsection{The node has several possible use cases\+:}\label{md_vision_layer_image_undistort_README_autotoc_md96} + +\begin{DoxyItemize} +\item {\bfseries{Undistort images.}} The default usage of the node, outputting an undistorted version of an input image. +\item {\bfseries{Modify the image resolution and intrinsics.}} The node supports projecting from and to any valid projection matrix and resolution. +\item {\bfseries{Provide a camera\+\_\+info topic for an image.}} In this mode ros params are used to build a camera info message that is published in sync with the image messages. This allows the use of ros nodes that require camera info with devices and bags that do not provide it. +\end{DoxyItemize}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md97}{}\doxysubsection{Parameters\+:}\label{md_vision_layer_image_undistort_README_autotoc_md97} + +\begin{DoxyItemize} +\item {\bfseries{queue size}} The length of the queues the node uses for topics (default\+: 10). +\item {\bfseries{input\+\_\+camera\+\_\+info\+\_\+from\+\_\+ros\+\_\+params}} If false the node will subscribe to a camera\+\_\+info ros topic named input/camera\+\_\+info to obtain the input camera parameters. If true the input camera parameters will be loaded from ros parameters. See the parameters format section for further details. (default\+: false). +\item {\bfseries{output\+\_\+camera\+\_\+info\+\_\+source}} The source to use when obtaining the output camera parameters. The possible case-\/insensitive options are, +\begin{DoxyItemize} +\item $\ast$\char`\"{}auto\+\_\+generated\char`\"{}$\ast$ The default value. In this mode \char`\"{}good\char`\"{} output parameters are automatically generated based on the input image. focal length is the average of fx and fy of the input, the center point is in the center of the image, R=I and translation is preserved. Resolution is set to the largest area that contains no empty pixels. The size of the output can also be modified with the {\itshape scale} parameter. +\item $\ast$\char`\"{}match\+\_\+input\char`\"{}$\ast$ The output projection matrix and resolution, exactly match the inputs. +\item $\ast$\char`\"{}ros\+\_\+params\char`\"{}$\ast$ The output camera parameters are loaded from ros parameters. See the parameters format section for further details. +\item $\ast$\char`\"{}camera\+\_\+info\char`\"{}$\ast$ The output parameters are found through subscribing to a camera\+\_\+info ros topic named output/camera\+\_\+info +\end{DoxyItemize} +\item {\bfseries{input\+\_\+camera\+\_\+namespace}} If the input camera parameters are loaded from ros parameters this is the namespace that will be searched. This is needed to allow both input and output to be loaded from parameters. (default\+: \char`\"{}input\+\_\+camera\char`\"{}) +\item {\bfseries{output\+\_\+camera\+\_\+namespace}} If the output camera parameters are loaded from ros parameters this is the namespace that will be searched. (default\+: \char`\"{}output\+\_\+camera\char`\"{}). +\item {\bfseries{process\+\_\+images}} True to output a processed image, false if only a camera\+\_\+info topic should be generated. (default\+: true). +\item {\bfseries{undistort\+\_\+image}} True to undistort the images, false to keep the distortion. (default\+: true). +\item {\bfseries{process\+\_\+every\+\_\+nth\+\_\+frame}} Used to temporarily down-\/sample the images, if it is $<$= 1 every frame will be processed. (default\+: 1). +\item {\bfseries{output\+\_\+image\+\_\+type}} Converts the output image to the specified format, set to the empty string \char`\"{}\char`\"{} to preserve the input type. See \href{http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages}{\texttt{ the cv\+\_\+bridge tutorial}} for possible format strings. (default\+: \char`\"{}\char`\"{}). +\item {\bfseries{scale}} Only used if {\bfseries{output\+\_\+camera\+\_\+info\+\_\+source}} is set to \char`\"{}auto\+\_\+generated\char`\"{} or \char`\"{}match\+\_\+input\char`\"{}. The output focal length will be multiplied by this value. If \char`\"{}auto\+\_\+generated\char`\"{} is set the image size will also be increased by this factor. (default\+: 1.\+0). +\item {\bfseries{publish\+\_\+tf}} True to publish the tf between the input and output image. If the undistortion involves changes to the rotation matrix the frame that the image is in will change. This tf gives that change. (default\+: true) +\item {\bfseries{output\+\_\+frame}} The name of the frame of the output images. (default\+: \char`\"{}output\+\_\+camera\char`\"{}) +\item {\bfseries{rename\+\_\+input\+\_\+frame}} If the input frame should be renamed in the published topics and tf tree. (default\+: false) +\item {\bfseries{input\+\_\+frame}} Only used if {\bfseries{rename\+\_\+input\+\_\+frame}} is true. The name of the frame of the input images. (default\+: \char`\"{}input\+\_\+camera\char`\"{}) +\item {\bfseries{rename\+\_\+radtan\+\_\+plumb\+\_\+bob}} If true the radial-\/tangential distortion model will be called \char`\"{}plumb\+\_\+bob\char`\"{} in the output camera\+\_\+info, this is needed by some ros image processing nodes. If false it will be called \char`\"{}radtan\char`\"{}. (default\+: false). +\end{DoxyItemize}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md98}{}\doxysubsection{Input/\+Output Topics}\label{md_vision_layer_image_undistort_README_autotoc_md98} +Many of these topics are dependent on the parameters set above and may not appear or may be renamed under some settings. +\begin{DoxyItemize} +\item {\bfseries{input/image}} input image topic +\item {\bfseries{input/camera\+\_\+info}} input camera info topic +\item {\bfseries{output/image}} output image topic +\item {\bfseries{output/camera\+\_\+info}} output camera info topic +\end{DoxyItemize}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md99}{}\doxysubsection{Loading Camera Information from R\+O\+S Parameters\+:}\label{md_vision_layer_image_undistort_README_autotoc_md99} +Camera information can be loaded from R\+OS parameters. These parameters are typically set using $<$rosparam file=\char`\"{}path\+\_\+to\+\_\+yaml\+\_\+file\char`\"{}$>$. The format used by this node is compatible with the camchains generated by \href{https://github.com/ethz-asl/kalibr}{\texttt{ Kalibr}}. The follow steps are used when loading this information. + + +\begin{DoxyEnumerate} +\item A 3x3 intrinscs matrix named {\bfseries{K}} is searched for. If it is found it is loaded. If it is not found a 1x4 vector named {\bfseries{intrinsics}} is loaded, this contains the parameters (fx, fy, cx, cy). If neither parameters are given the node displays an error and terminates. +\item A 1x2 vector named {\bfseries{resolution}} is loaded which contains the parameters (width, height). Again, if not given the node displays an error and terminates. +\item A 4x4 transformation matrix {\bfseries{T}} is searched for. If it is found it is loaded. Otherwise it is searched for under the name {\bfseries{T\+\_\+cn\+\_\+cnm1}} and if found loaded. If neither are found the node continues. +\item A 4x3 projection matrix {\bfseries{P}} is searched for. If it is found it is loaded. If {\bfseries{P}} was found but {\bfseries{T}} was not, {\bfseries{P}} and {\bfseries{K}} are used to construct {\bfseries{T}}, otherwise {\bfseries{T}} is set to identity. If {\bfseries{P}} was not found it is constructed from {\bfseries{K}} and {\bfseries{T}}. +\item If an output is being loaded, the loading of parameters is completed. For input cameras the distortion properties are now loaded +\item A 1xn vector {\bfseries{D}} is loaded. If it is not found or is less than 5 elements long it is padded with zeros. +\item A string {\bfseries{distortion\+\_\+model}} is loaded and converted to lower-\/case. If it is not found it is set to \char`\"{}radtan\char`\"{}. +\end{DoxyEnumerate}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md100}{}\doxysection{stereo\+\_\+info\+\_\+node\+:}\label{md_vision_layer_image_undistort_README_autotoc_md100} +A node that takes in the properties of two cameras and outputs the camera info required to rectify them so that stereo reconstruction can be performed. The rectification is performed such that only x translation is present between the cameras. The focal points are in the image centers, fx=fy and the image resolution is set to be the largest frame that contains no empty pixels. Note this node can also be run as a nodelet named image\+\_\+undistort/\+Stereo\+Info\hypertarget{md_vision_layer_image_undistort_README_autotoc_md101}{}\doxysubsection{Parameters\+:}\label{md_vision_layer_image_undistort_README_autotoc_md101} + +\begin{DoxyItemize} +\item {\bfseries{queue size}} The length of the queues the node uses for topics (default\+: 10). +\item {\bfseries{input\+\_\+camera\+\_\+info\+\_\+from\+\_\+ros\+\_\+params}} If false the node will subscribe to a camera\+\_\+info ros topic named input/camera\+\_\+info to obtain the input camera parameters. If true the input camera parameters will be loaded from ros parameters. See the parameters format section for further details. (default\+: false). +\item {\bfseries{first\+\_\+camera\+\_\+namespace}} If the first camera parameters are loaded from ros parameters this is the namespace that will be searched. (default\+: \char`\"{}first\+\_\+camera\char`\"{}) +\item {\bfseries{second\+\_\+camera\+\_\+namespace}} If the second camera parameters are loaded from ros parameters this is the namespace that will be searched. (default\+: \char`\"{}second\+\_\+camera\char`\"{}). +\item {\bfseries{scale}} Only used if {\bfseries{output\+\_\+camera\+\_\+info\+\_\+source}} is set to \char`\"{}auto\+\_\+generated\char`\"{}. The output focal length will be multiplied by this value. This has the effect of resizing the image by this scale factor. (default\+: 1.\+0). {\bfseries{rename\+\_\+radtan\+\_\+plumb\+\_\+bob}} If true the radial-\/tangential distortion model will be called \char`\"{}plumb\+\_\+bob\char`\"{} in the output camera\+\_\+info, this is needed by some ros image processing nodes. If false it will be called \char`\"{}radtan\char`\"{}. (default\+: false). +\end{DoxyItemize}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md102}{}\doxysubsection{Input/\+Output Topics}\label{md_vision_layer_image_undistort_README_autotoc_md102} +Many of these topics are dependent on the parameters set above and may not appear or may be renamed under some settings. +\begin{DoxyItemize} +\item {\bfseries{raw/first/image}} first input image topic, only needed if loading camera parameters from ros params (used for timing information) +\item {\bfseries{raw/second/image}} second input image topic, only needed if loading camera parameters from ros params (used for timing information) +\item {\bfseries{raw/first/camera\+\_\+info}} first input camera info topic +\item {\bfseries{raw/second/camera\+\_\+info}} second input camera info topic +\item {\bfseries{rect/first/camera\+\_\+info}} first output camera info topic +\item {\bfseries{rect/second/camera\+\_\+info}} second output camera info topic +\end{DoxyItemize}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md103}{}\doxysection{stereo\+\_\+undistort\+\_\+node\+:}\label{md_vision_layer_image_undistort_README_autotoc_md103} +A node that takes in the images and properties of two cameras and outputs rectified stereo images with their corresponding camera parameters. The rectification is performed such that only x translation is present between the cameras. The focal points are in the image centers, fx=fy and the image resolution is set to be the largest frame that contains no empty pixels. Note this node can also be run as a nodelet named image\+\_\+undistort/\+Stereo\+Undistort\hypertarget{md_vision_layer_image_undistort_README_autotoc_md104}{}\doxysubsection{Parameters\+:}\label{md_vision_layer_image_undistort_README_autotoc_md104} + +\begin{DoxyItemize} +\item {\bfseries{queue size}} The length of the queues the node uses for topics (default\+: 10). +\item {\bfseries{input\+\_\+camera\+\_\+info\+\_\+from\+\_\+ros\+\_\+params}} If false the node will subscribe to a camera\+\_\+info ros topic named input/camera\+\_\+info to obtain the input camera parameters. If true the input camera parameters will be loaded from ros parameters. See the parameters format section for further details. (default\+: false). +\item {\bfseries{first\+\_\+camera\+\_\+namespace}} If the first camera parameters are loaded from ros parameters this is the namespace that will be searched. (default\+: \char`\"{}first\+\_\+camera\char`\"{}) +\item {\bfseries{second\+\_\+camera\+\_\+namespace}} If the second camera parameters are loaded from ros parameters this is the namespace that will be searched. (default\+: \char`\"{}second\+\_\+camera\char`\"{}). +\item {\bfseries{scale}} Only used if {\bfseries{output\+\_\+camera\+\_\+info\+\_\+source}} is set to \char`\"{}auto\+\_\+generated\char`\"{}. The output focal length will be multiplied by this value. This has the effect of resizing the image by this scale factor. (default\+: 1.\+0). +\item {\bfseries{process\+\_\+every\+\_\+nth\+\_\+frame}} Used to temporarily down-\/sample the images, if it is $<$= 1 every frame will be processed. (default\+: 1). +\item {\bfseries{output\+\_\+image\+\_\+type}} Converts the output images to the specified format, set to the empty string \char`\"{}\char`\"{} to preserve the input type. See \href{http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages}{\texttt{ the cv\+\_\+bridge tutorial}} for possible format strings. (default\+: \char`\"{}\char`\"{}). +\item {\bfseries{scale}} The output focal length will be multiplied by this value. This has the effect of resizing the image by this scale factor. (default\+: 1.\+0). +\item {\bfseries{T\+\_\+invert}} Only used if loading parameters from ros params. True to invert the given transformations. (default\+: false) +\item {\bfseries{publish\+\_\+tf}} True to publish the tf between the first input and output image. If the undistortion involves changes to the rotation matrix the frame that the image is in will change. This tf gives that change. (default\+: true) +\item {\bfseries{output\+\_\+frame}} The name of the frame of the output images. (default\+: \char`\"{}first\+\_\+camera\+\_\+rect\char`\"{}) +\item {\bfseries{rename\+\_\+input\+\_\+frame}} If the input frame should be renamed in the published topics and tf tree. (default\+: false) +\item {\bfseries{first\+\_\+input\+\_\+frame}} Only used if {\bfseries{rename\+\_\+input\+\_\+frame}} is true. The name of the frame of the first input images. (default\+: \char`\"{}first\+\_\+camera\char`\"{}) +\item {\bfseries{second\+\_\+input\+\_\+frame}} Only used if {\bfseries{rename\+\_\+input\+\_\+frame}} is true. The name of the frame of the second input images. (default\+: \char`\"{}second\+\_\+camera\char`\"{}) {\bfseries{rename\+\_\+radtan\+\_\+plumb\+\_\+bob}} If true the radial-\/tangential distortion model will be called \char`\"{}plumb\+\_\+bob\char`\"{} in the output camera\+\_\+info, this is needed by some ros image processing nodes. If false it will be called \char`\"{}radtan\char`\"{}. (default\+: false). +\end{DoxyItemize}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md105}{}\doxysubsection{Input/\+Output Topics}\label{md_vision_layer_image_undistort_README_autotoc_md105} +Many of these topics are dependent on the parameters set above and may not appear or may be renamed under some settings. +\begin{DoxyItemize} +\item {\bfseries{raw/first/image}} first input image topic +\item {\bfseries{raw/second/image}} second input image topic +\item {\bfseries{raw/first/camera\+\_\+info}} first input camera info topic +\item {\bfseries{raw/second/camera\+\_\+info}} second input camera info topic +\item {\bfseries{rect/first/image}} first output image topic +\item {\bfseries{rect/second/image}} second output image topic +\item {\bfseries{rect/first/camera\+\_\+info}} first output camera info topic +\item {\bfseries{rect/second/camera\+\_\+info}} second output camera info topic +\end{DoxyItemize}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md106}{}\doxysection{depth\+\_\+node\+:}\label{md_vision_layer_image_undistort_README_autotoc_md106} +A node that takes in the rectified images and properties of two cameras and outputs a disparity image and a pointcloud. The node uses the camera\+\_\+info topics to figure out which camera is the left one and which is the right one. Internally the node makes use of the opencv stereo block matcher to perform the depth estimation. Note this node can also be run as a nodelet named image\+\_\+undistort/\+Depth\hypertarget{md_vision_layer_image_undistort_README_autotoc_md107}{}\doxysubsection{Parameters\+:}\label{md_vision_layer_image_undistort_README_autotoc_md107} + +\begin{DoxyItemize} +\item {\bfseries{queue size}} The length of the queues the node uses for topics. (default\+: 10) +\item {\bfseries{pre\+\_\+filter\+\_\+size}} The size of the prefilter used in Stereo\+BM. (default\+: 9) +\item {\bfseries{pre\+\_\+filter\+\_\+cap}} The upper cap on the prefilter used in Stereo\+BM. (default\+: 31) +\item {\bfseries{sad\+\_\+window\+\_\+size}} The window size used when performing the stereo matching, note the efficientcy of the implementation reduces if this value is greater than 21 (default\+: 21) +\item {\bfseries{min\+\_\+disparity}} The minimum disparity checked in Stereo\+BM. (default\+: 0) +\item {\bfseries{num\+\_\+disparities}} The number of disparities checked in Stereo\+BM. (default\+: 64) +\item {\bfseries{texture\+\_\+threshold}} Minimum texture a patch requires to be matched in Stereo\+BM. (default\+: 10) +\item {\bfseries{uniqueness\+\_\+ratio}} Minimum margin by which the best matching disparity must \textquotesingle{}win\textquotesingle{} in Stereo\+BM. (default\+: 15) +\item {\bfseries{speckle\+\_\+range}} Parameter used for removing speckle in Stereo\+BM. (default\+: 0) +\item {\bfseries{speckle\+\_\+window\+\_\+size}} Window size used for speckle removal in Stereo\+BM. (default\+: 0) +\end{DoxyItemize}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md108}{}\doxysubsection{Input/\+Output Topics}\label{md_vision_layer_image_undistort_README_autotoc_md108} + +\begin{DoxyItemize} +\item {\bfseries{rect/first/image}} first input image topic +\item {\bfseries{rect/second/image}} second input image topic +\item {\bfseries{rect/first/camera\+\_\+info}} first input camera info topic +\item {\bfseries{rect/second/camera\+\_\+info}} second input camera info topic +\item {\bfseries{disparity}} output disparity image +\item {\bfseries{pointcloud}} output pointcloud +\end{DoxyItemize}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md109}{}\doxysection{dense\+\_\+stereo\+\_\+node\+:}\label{md_vision_layer_image_undistort_README_autotoc_md109} +A node for producing dense stereo images. Internally this node simply combines 2 nodelets. +\begin{DoxyItemize} +\item {\bfseries{image\+\_\+undistort/\+Stereo\+Undistort}} Used to set up the stereo system and rectify the images. +\item {\bfseries{image\+\_\+undistort/\+Depth}} Generates disparity images and pointclouds from the rectified images. +\end{DoxyItemize}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md110}{}\doxysubsection{Parameters\+:}\label{md_vision_layer_image_undistort_README_autotoc_md110} + +\begin{DoxyItemize} +\item {\bfseries{queue size}} The length of the queues the node uses for topics (default\+: 10). +\item {\bfseries{input\+\_\+camera\+\_\+info\+\_\+from\+\_\+ros\+\_\+params}} If false the node will subscribe to a camera\+\_\+info ros topic named input/camera\+\_\+info to obtain the input camera parameters. If true the input camera parameters will be loaded from ros parameters. See the parameters format section for further details. (default\+: false). +\item {\bfseries{first\+\_\+camera\+\_\+namespace}} If the first camera parameters are loaded from ros parameters this is the namespace that will be searched. (default\+: \char`\"{}first\+\_\+camera\char`\"{}) +\item {\bfseries{second\+\_\+camera\+\_\+namespace}} If the second camera parameters are loaded from ros parameters this is the namespace that will be searched. (default\+: \char`\"{}second\+\_\+camera\char`\"{}). +\item {\bfseries{scale}} Only used if {\bfseries{output\+\_\+camera\+\_\+info\+\_\+source}} is set to \char`\"{}auto\+\_\+generated\char`\"{}. The output focal length will be multiplied by this value. This has the effect of resizing the image by this scale factor. (default\+: 1.\+0). +\item {\bfseries{T\+\_\+invert}} Only used if loading parameters from ros params. True to invert the given transformations. (default\+: false) +\item {\bfseries{process\+\_\+every\+\_\+nth\+\_\+frame}} Used to temporarily down-\/sample the images, if it is $<$= 1 every frame will be processed. (default\+: 1). +\item {\bfseries{output\+\_\+image\+\_\+type}} Converts the output images to the specified format, set to the empty string \char`\"{}\char`\"{} to preserve the input type. See \href{http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages}{\texttt{ the cv\+\_\+bridge tutorial}} for possible format strings. (default\+: \char`\"{}\char`\"{}). +\item {\bfseries{scale}} The output focal length will be multiplied by this value. This has the effect of resizing the image by this scale factor. (default\+: 1.\+0). +\item {\bfseries{publish\+\_\+tf}} True to publish the tf between the first input and output image. If the undistortion involves changes to the transformation matrix the frame that the image is in will change, this occurs during most image rectifications. This tf gives that change. (default\+: true) +\item {\bfseries{output\+\_\+frame}} The name of the frame of the output images. (default\+: \char`\"{}first\+\_\+camera\+\_\+rect\char`\"{}) +\item {\bfseries{rename\+\_\+input\+\_\+frame}} If the input frame should be renamed in the published topics and tf tree. (default\+: false) +\item {\bfseries{first\+\_\+input\+\_\+frame}} Only used if {\bfseries{rename\+\_\+input\+\_\+frame}} is true. The name of the frame of the first input images. (default\+: \char`\"{}first\+\_\+camera\char`\"{}) +\item {\bfseries{second\+\_\+input\+\_\+frame}} Only used if {\bfseries{rename\+\_\+input\+\_\+frame}} is true. The name of the frame of the second input images. (default\+: \char`\"{}second\+\_\+camera\char`\"{}) {\bfseries{rename\+\_\+radtan\+\_\+plumb\+\_\+bob}} If true the radial-\/tangential distortion model will be called \char`\"{}plumb\+\_\+bob\char`\"{} in the output camera\+\_\+info, this is needed by some ros image processing nodes. If false it will be called \char`\"{}radtan\char`\"{}. (default\+: false). +\item {\bfseries{pre\+\_\+filter\+\_\+size}} The size of the prefilter used in Stereo\+BM. (default\+: 9) +\item {\bfseries{pre\+\_\+filter\+\_\+cap}} The upper cap on the prefilter used in Stereo\+BM. (default\+: 31) +\item {\bfseries{sad\+\_\+window\+\_\+size}} The window size used when performing the stereo matching, note the efficientcy of the implementation reduces if this value is greater than 21 (default\+: 21) +\item {\bfseries{min\+\_\+disparity}} The minimum disparity checked in Stereo\+BM. (default\+: 0) +\item {\bfseries{num\+\_\+disparities}} The number of disparities checked in Stereo\+BM. (default\+: 64) +\item {\bfseries{texture\+\_\+threshold}} Minimum texture a patch requires to be matched in Stereo\+BM. (default\+: 10) +\item {\bfseries{uniqueness\+\_\+ratio}} Minimum margin by which the best matching disparity must \textquotesingle{}win\textquotesingle{} in Stereo\+BM. (default\+: 15) +\item {\bfseries{speckle\+\_\+range}} Parameter used for removing speckle in Stereo\+BM. (default\+: 0) +\item {\bfseries{speckle\+\_\+window\+\_\+size}} Window size used for speckle removal in Stereo\+BM. (default\+: 0) +\end{DoxyItemize}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md111}{}\doxysubsection{Input/\+Output Topics}\label{md_vision_layer_image_undistort_README_autotoc_md111} +Many of these topics are dependent on the parameters set above and may not appear or may be renamed under some settings. +\begin{DoxyItemize} +\item {\bfseries{raw/first/image}} first input image topic +\item {\bfseries{raw/second/image}} second input image topic +\item {\bfseries{raw/first/camera\+\_\+info}} first input camera info topic +\item {\bfseries{raw/second/camera\+\_\+info}} second input camera info topic +\item {\bfseries{rect/first/image}} first output rectified image topic +\item {\bfseries{rect/second/image}} second output rectified image topic +\item {\bfseries{rect/first/camera\+\_\+info}} first output camera info topic +\item {\bfseries{rect/second/camera\+\_\+info}} second output camera info topic +\item {\bfseries{disparity}} output disparity image topic +\item {\bfseries{pointcloud}} output pointcloud topic +\end{DoxyItemize}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md112}{}\doxysection{point\+\_\+to\+\_\+bearing\+\_\+node\+:}\label{md_vision_layer_image_undistort_README_autotoc_md112} +A node for converting a point in a distorted image to a unit bearing vector.\hypertarget{md_vision_layer_image_undistort_README_autotoc_md113}{}\doxysubsection{Parameters\+:}\label{md_vision_layer_image_undistort_README_autotoc_md113} + +\begin{DoxyItemize} +\item {\bfseries{queue size}} The length of the queues the node uses for topics (default\+: 10). +\item {\bfseries{input\+\_\+camera\+\_\+info\+\_\+from\+\_\+ros\+\_\+params}} If false the node will subscribe to a camera\+\_\+info ros topic named input/camera\+\_\+info to obtain the input camera parameters. If true the input camera parameters will be loaded from ros parameters. See the parameters format section for further details. (default\+: false). +\end{DoxyItemize}\hypertarget{md_vision_layer_image_undistort_README_autotoc_md114}{}\doxysubsection{Input/\+Output Topics}\label{md_vision_layer_image_undistort_README_autotoc_md114} +Many of these topics are dependent on the parameters set above and may not appear or may be renamed under some settings. +\begin{DoxyItemize} +\item {\bfseries{input/camera\+\_\+info}} camera info topic +\item {\bfseries{image\+\_\+point}} input location of the point of interest in the image +\item {\bfseries{bearing}} unit bearing to point +\end{DoxyItemize} \ No newline at end of file diff --git a/docs/latex/md_vision_layer_vision_commons_README.tex b/docs/latex/md_vision_layer_vision_commons_README.tex new file mode 100644 index 0000000..b4cace4 --- /dev/null +++ b/docs/latex/md_vision_layer_vision_commons_README.tex @@ -0,0 +1,95 @@ +\hypertarget{md_vision_layer_vision_commons_README_autotoc_md116}{}\doxysection{Overview}\label{md_vision_layer_vision_commons_README_autotoc_md116} +This is a R\+OS package that abstracts common image processing operations and serves as a library for \href{https://github.com/AUV-IITK/Hyperion-Software/tree/master/vision_layer/vision_tasks}{\texttt{ {\ttfamily vision\+\_\+tasks}}}. + +The {\ttfamily vision\+\_\+commons} package has been tested under \href{http://www.ros.org}{\texttt{ R\+OS}} Kinetic and Ubuntu 16.\+04 L\+TS. The source code is released under a \href{../../LICENSE}{\texttt{ B\+SD 3-\/Clause license}}.\hypertarget{md_vision_layer_vision_commons_README_autotoc_md117}{}\doxysection{Setting up vision\+\_\+commons}\label{md_vision_layer_vision_commons_README_autotoc_md117} +\hypertarget{md_vision_layer_vision_commons_README_autotoc_md118}{}\doxysubsection{Dependencies}\label{md_vision_layer_vision_commons_README_autotoc_md118} + +\begin{DoxyItemize} +\item \href{http://wiki.ros.org}{\texttt{ Robot Operating System (R\+OS)}} (middleware for robotics), +\item Following R\+OS Packages\+: \href{http://wiki.ros.org/cv_bridge}{\texttt{ cv\+\_\+bridge}} \href{http://wiki.ros.org/sensor_msgs}{\texttt{ sensor\+\_\+msgs}} \href{http://wiki.ros.org/std_msgs}{\texttt{ std\+\_\+msgs}} \href{http://wiki.ros.org/dynamic_reconfigure}{\texttt{ dynamic\+\_\+reconfigure}} \href{http://wiki.ros.org/image_transport}{\texttt{ image\+\_\+transport}} +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_commons_README_autotoc_md119}{}\doxysubsection{Building}\label{md_vision_layer_vision_commons_README_autotoc_md119} +Run the following command\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{cd \string~/catkin\_ws} +\DoxyCodeLine{catkin\_make -\/-\/pkg vision\_commons} +\end{DoxyCode} +\hypertarget{md_vision_layer_vision_commons_README_autotoc_md120}{}\doxysection{Usage}\label{md_vision_layer_vision_commons_README_autotoc_md120} +To run the blue filter demo, run\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{rosrun vision\_commons blue\_filter\_demo} +\end{DoxyCode} + + +All other files are libraries and hence cannot be executed. + +To use the filtering library, add this line to your C++ source file\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{\#include } +\end{DoxyCode} + + +To use the geometry library, add this line to your C++ source file\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{\#include } +\end{DoxyCode} + + +To use the morphing library, add this line to your C++ source file\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{\#include } +\end{DoxyCode} + + +To use the thresholding library, add this line to your C++ source file\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{\#include } +\end{DoxyCode} +\hypertarget{md_vision_layer_vision_commons_README_autotoc_md121}{}\doxysection{Libraries}\label{md_vision_layer_vision_commons_README_autotoc_md121} +\hypertarget{md_vision_layer_vision_commons_README_autotoc_md122}{}\doxysubsection{contour}\label{md_vision_layer_vision_commons_README_autotoc_md122} +This module contains all the functions related to forming a contour around a thresholded region.\hypertarget{md_vision_layer_vision_commons_README_autotoc_md123}{}\doxysubsubsection{Functions}\label{md_vision_layer_vision_commons_README_autotoc_md123} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily std\+::vector$<$std\+::vector$<$cv\+::\+Point$>$$>$ get\+Best\+X(cv\+::\+Mat\& raw, int x)}$\ast$$\ast$ Returns best x (passed as int) contours from the passed binary image in the descending order of area +\item $\ast$$\ast${\ttfamily std\+::vector$<$std\+::vector$<$cv\+::\+Point$>$$>$ get\+Best\+X\+Convex\+Hulled(cv\+::\+Mat\& raw, int x)}$\ast$$\ast$ Returns best x (passed as int) contours using convex hull from the passed binary image in the descending order of area +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_commons_README_autotoc_md124}{}\doxysubsection{filter}\label{md_vision_layer_vision_commons_README_autotoc_md124} +This module contains all the functions related to filtering the image to enhance it.\hypertarget{md_vision_layer_vision_commons_README_autotoc_md125}{}\doxysubsubsection{Functions}\label{md_vision_layer_vision_commons_README_autotoc_md125} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily cv\+::\+Mat clahe(cv\+::\+Mat\& image, double clahe\+\_\+clip, int clahe\+\_\+grid\+\_\+size)}$\ast$$\ast$ Applies C\+L\+A\+HE to {\ttfamily image} with clip limit {\ttfamily clahe\+\_\+clip} and the grid size of the operator {\ttfamily clahe\+\_\+grid\+\_\+size} and returns the resultant image +\item $\ast$$\ast${\ttfamily cv\+::\+Mat balance\+\_\+white(cv\+::\+Mat\& image)}$\ast$$\ast$ Applies white balance to {\ttfamily image} with Gray World assumption and returns the resultant image +\item $\ast$$\ast${\ttfamily cv\+::\+Mat blue\+\_\+filter(cv\+::\+Mat\& image, double clahe\+\_\+clip, int clahe\+\_\+grid\+\_\+size, int clahe\+\_\+bilateral\+\_\+iter, int balanced\+\_\+bilateral\+\_\+iter, double denoise\+\_\+h)}$\ast$$\ast$ \char`\"{}\+Blue filters\char`\"{} {\ttfamily image}. Applies C\+L\+A\+HE on {\ttfamily image} followed by {\ttfamily clahe\+\_\+bilateral\+\_\+iter} number of bilateral filter iterations followed by white balancing followed by {\ttfamily balanced\+\_\+bilateral\+\_\+iter} number of bilateral filter iterations followed by fast non-\/local means denoising with h value of {\ttfamily denoise\+\_\+h} +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_commons_README_autotoc_md126}{}\doxysubsection{geometry}\label{md_vision_layer_vision_commons_README_autotoc_md126} +This module contains all the functions related to geometrical operations on points.\hypertarget{md_vision_layer_vision_commons_README_autotoc_md127}{}\doxysubsubsection{Functions}\label{md_vision_layer_vision_commons_README_autotoc_md127} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily double distance(cv\+::\+Point \&p1, cv\+::\+Point \&p2)}$\ast$$\ast$ Calculates distance between {\ttfamily p1} and {\ttfamily p2} using Pythagoras\textquotesingle{} Theorem +\item $\ast$$\ast${\ttfamily double angle\+Wrt\+Y(cv\+::\+Point \&p1, cv\+::\+Point \&p2)}$\ast$$\ast$ Calculates angle of the line joining {\ttfamily p1} and {\ttfamily p2} with respect to the y-\/axis (vertical). +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_commons_README_autotoc_md128}{}\doxysubsection{morph}\label{md_vision_layer_vision_commons_README_autotoc_md128} +This module contains all the functions related to morphological operations.\hypertarget{md_vision_layer_vision_commons_README_autotoc_md129}{}\doxysubsubsection{Functions}\label{md_vision_layer_vision_commons_README_autotoc_md129} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily cv\+::\+Mat open(cv\+::\+Mat\& raw, int element\+\_\+size, int element\+\_\+center\+X, int element\+\_\+center\+Y, int iterations)}$\ast$$\ast$ Applies \char`\"{}opening\char`\"{} operation on the image using a matrix of size {\ttfamily element\+\_\+size}, center ar ({\ttfamily element\+\_\+centerX}, {\ttfamily element\+\_\+centerY}) {\ttfamily iterations} times +\item $\ast$$\ast${\ttfamily cv\+::\+Mat close(cv\+::\+Mat \&raw, int element\+\_\+size, int element\+\_\+center\+X, int element\+\_\+center\+Y, int iterations)}$\ast$$\ast$ Applies \char`\"{}closing\char`\"{} operation on the image using a matrix of size {\ttfamily element\+\_\+size}, center ar ({\ttfamily element\+\_\+centerX}, {\ttfamily element\+\_\+centerY}) {\ttfamily iterations} times +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_commons_README_autotoc_md130}{}\doxysubsection{threshold}\label{md_vision_layer_vision_commons_README_autotoc_md130} +This module contains all the functions related to thresholding operations.\hypertarget{md_vision_layer_vision_commons_README_autotoc_md131}{}\doxysubsubsection{Functions}\label{md_vision_layer_vision_commons_README_autotoc_md131} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily cv\+::\+Mat threshold(cv\+::\+Mat \&raw, int low\+\_\+a, int high\+\_\+a, int low\+\_\+b, int high\+\_\+b, int low\+\_\+c, int high\+\_\+c)}$\ast$$\ast$ Thresholds {\ttfamily raw} between ({\ttfamily low\+\_\+a}, {\ttfamily low\+\_\+b}, {\ttfamily low\+\_\+c}) and ({\ttfamily high\+\_\+a}, {\ttfamily high\+\_\+b}, {\ttfamily high\+\_\+c}) and returns the resultant binary image +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_commons_README_autotoc_md132}{}\doxysection{Nodes}\label{md_vision_layer_vision_commons_README_autotoc_md132} +\hypertarget{md_vision_layer_vision_commons_README_autotoc_md133}{}\doxysubsection{blue\+\_\+filter\+\_\+demo}\label{md_vision_layer_vision_commons_README_autotoc_md133} +This node serves for demonstration purposes of our pre-\/processing pipeline.\hypertarget{md_vision_layer_vision_commons_README_autotoc_md134}{}\doxysubsubsection{Published Topics}\label{md_vision_layer_vision_commons_README_autotoc_md134} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily /blue\+\_\+filter\+\_\+demo/clahe}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /blue\+\_\+filter\+\_\+demo/white\+\_\+balanced}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /blue\+\_\+filter\+\_\+demo/blue\+\_\+filtered}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_commons_README_autotoc_md135}{}\doxysubsubsection{Parameters}\label{md_vision_layer_vision_commons_README_autotoc_md135} + +\begin{DoxyItemize} +\item {\ttfamily $\sim$clahe\+\_\+clip} (double, default\+: 0.\+15, range\+: 0.\+0 -\/ 40.\+0) Clip limit for C\+L\+A\+HE +\item {\ttfamily $\sim$clahe\+\_\+grid\+\_\+size} (integer, default\+: 3, range\+: 1 -\/ 16) Grid size of the C\+L\+A\+HE operator +\item {\ttfamily $\sim$clahe\+\_\+bilateral\+\_\+iter} (integer, default\+: 2, range\+: 0 -\/ 16) Number of iterations of bilateral filter after C\+L\+A\+HE is applied +\item {\ttfamily $\sim$balanced\+\_\+bilateral\+\_\+iter} (integer, default\+: 2, range\+: 0 -\/ 8) Number of iterations of bilateral filter after white balancing is applied +\item {\ttfamily $\sim$denoise\+\_\+h} (double, default\+: 10.\+0, range\+: 0.\+0 -\/ 20.\+0) h value for fast non-\/local means denoising applied on the final blue-\/filtered image +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_commons_README_autotoc_md136}{}\doxysection{Bugs \& Feature Requests}\label{md_vision_layer_vision_commons_README_autotoc_md136} +Please report bugs and request features using the \href{https://github.com/AUV-IITK/auv2018/issues}{\texttt{ Issue Tracker}}. \ No newline at end of file diff --git a/docs/latex/md_vision_layer_vision_tasks_README.tex b/docs/latex/md_vision_layer_vision_tasks_README.tex new file mode 100644 index 0000000..8a8f3a9 --- /dev/null +++ b/docs/latex/md_vision_layer_vision_tasks_README.tex @@ -0,0 +1,160 @@ +\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md138}{}\doxysection{Overview}\label{md_vision_layer_vision_tasks_README_autotoc_md138} +This is a R\+OS package for processing video feed provided by \href{https://github.com/AUV-IITK/Hyperion-Software/tree/master/hardware_layer/hardware_camera}{\texttt{ {\ttfamily hardware\+\_\+camera}}} and publishing the coordinates of the object of interest in the camera\textquotesingle{}s frame as a \href{http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/PointStamped.html}{\texttt{ geometry\+\_\+msgs/\+Point\+Stamped}} or \href{http://docs.ros.org/api/geometry_msgs/html/msg/Pose2D.html}{\texttt{ geometry\+\_\+msgs/\+Pose2D}} to the other layers. + +The {\ttfamily vision\+\_\+tasks} package has been tested under \href{http://www.ros.org}{\texttt{ R\+OS}} Kinetic and Ubuntu 16.\+04 L\+TS. The source code is released under a \href{../../LICENSE}{\texttt{ B\+SD 3-\/Clause license}}. + +The hardware used are as follows\+: +\begin{DoxyItemize} +\item Front-\/facing Camera\+: \href{https://www.logitech.com/en-in/product/c930e-webcam}{\texttt{ Logitech C930e}} +\item Bottom-\/facing Camera\+: \href{https://www.logitech.com/en-in/product/c930e-webcam}{\texttt{ Logitech C930e}} +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md139}{}\doxysection{Setting up vision\+\_\+tasks}\label{md_vision_layer_vision_tasks_README_autotoc_md139} +\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md140}{}\doxysubsection{Dependencies}\label{md_vision_layer_vision_tasks_README_autotoc_md140} + +\begin{DoxyItemize} +\item \href{http://wiki.ros.org}{\texttt{ Robot Operating System (R\+OS)}} (middleware for robotics), +\item Following R\+OS Packages\+: \href{http://wiki.ros.org/cv_bridge}{\texttt{ cv\+\_\+bridge}} \href{http://wiki.ros.org/sensor_msgs}{\texttt{ sensor\+\_\+msgs}} \href{http://wiki.ros.org/std_msgs}{\texttt{ std\+\_\+msgs}} \href{http://wiki.ros.org/dynamic_reconfigure}{\texttt{ dynamic\+\_\+reconfigure}} \href{http://wiki.ros.org/image_transport}{\texttt{ image\+\_\+transport}} +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md141}{}\doxysubsection{Building}\label{md_vision_layer_vision_tasks_README_autotoc_md141} +Run the following command\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{cd \string~/catkin\_ws} +\DoxyCodeLine{catkin\_make -\/-\/pkg vision\_tasks} +\end{DoxyCode} +\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md142}{}\doxysection{Usage}\label{md_vision_layer_vision_tasks_README_autotoc_md142} +To run any vision task named {\ttfamily $<$name$>$}, run\+: +\begin{DoxyCode}{0} +\DoxyCodeLine{rosrun vision\_tasks } +\end{DoxyCode} +\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md143}{}\doxysection{Nodes}\label{md_vision_layer_vision_tasks_README_autotoc_md143} +\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md144}{}\doxysubsection{buoy\+\_\+task}\label{md_vision_layer_vision_tasks_README_autotoc_md144} +This task pre-\/processes (blue-\/filters) the raw image, applies thresholding on the image, draws a minimum enclosing circle on the main blob and returns the coordinates of the buoy in the camera\textquotesingle{}s reference frame. The distance of the buoy from the camera is calculated using an exponential mapping of the radius of the minimum enclosing circle and the actual distance.\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md145}{}\doxysubsubsection{Published Topics}\label{md_vision_layer_vision_tasks_README_autotoc_md145} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily /buoy\+\_\+task/blue\+\_\+filtered}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /buoy\+\_\+task/thresholded}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /buoy\+\_\+task/marked}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /buoy\+\_\+task/buoy\+\_\+coordinates}$\ast$$\ast$ (\href{http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/PointStamped.html}{\texttt{ geometry\+\_\+msgs/\+Point\+Stamped}}) +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md146}{}\doxysubsubsection{Parameters}\label{md_vision_layer_vision_tasks_README_autotoc_md146} + +\begin{DoxyItemize} +\item {\ttfamily $\sim$clahe\+\_\+clip} (double, default\+: 0.\+15, range\+: 0.\+0 -\/ 40.\+0) Clip limit for C\+L\+A\+HE +\item {\ttfamily $\sim$clahe\+\_\+grid\+\_\+size} (integer, default\+: 3, range\+: 1 -\/ 16) Grid size of the C\+L\+A\+HE operator +\item {\ttfamily $\sim$clahe\+\_\+bilateral\+\_\+iter} (integer, default\+: 2, range\+: 0 -\/ 16) Number of iterations of bilateral filter after C\+L\+A\+HE is applied +\item {\ttfamily $\sim$balanced\+\_\+bilateral\+\_\+iter} (integer, default\+: 2, range\+: 0 -\/ 8) Number of iterations of bilateral filter after white balancing is applied +\item {\ttfamily $\sim$denoise\+\_\+h} (double, default\+: 10.\+0, range\+: 0.\+0 -\/ 20.\+0) h value for fast non-\/local means denoising applied on the final blue-\/filtered image +\item {\ttfamily $\sim$low\+\_\+h} (int, default\+: 0, range\+: 0 -\/ 255) Lower Bound of H +\item {\ttfamily $\sim$high\+\_\+h} (int, default\+: 10, range\+: 0 -\/ 255) Higher Bound of H +\item {\ttfamily $\sim$low\+\_\+s} (int, default\+: 251, range\+: 0 -\/ 255) Lower Bound of S +\item {\ttfamily $\sim$high\+\_\+s} (int, default\+: 255, range\+: 0 -\/ 255) Higher Bound of S +\item {\ttfamily $\sim$low\+\_\+v} (int, default\+: 160, range\+: 0 -\/ 255) Lower Bound of V +\item {\ttfamily $\sim$high\+\_\+v} (int, default\+: 255, range\+: 0 -\/ 255) Higher Bound of V +\item {\ttfamily $\sim$opening\+\_\+mat\+\_\+point} (int, default\+: 1, range\+: 1 -\/ 7) Center of the matrix for the opening operation (size extrapolated 2x+1) +\item {\ttfamily $\sim$opening\+\_\+iter} (int, default\+: 0, range\+: 0 -\/ 10) Iterations of opening applied on the thresholded image +\item {\ttfamily $\sim$closing\+\_\+mat\+\_\+point} (int, default\+: 1, range\+: 1 -\/ 7) Center of the matrix for the closing operation (size extrapolated 2x+1) +\item {\ttfamily $\sim$closing\+\_\+iter} (int, default\+: 0, range\+: 0 -\/ 10) Iterations of closing applied on the opened thresholded image +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md147}{}\doxysubsection{gate\+\_\+task\+\_\+bottom}\label{md_vision_layer_vision_tasks_README_autotoc_md147} +This task applies pre-\/processes (blue-\/filters) the raw image, applies thresholding on the image, draws a minimum enclosing rectangle on the main blob and publishes the coordinates of the gate\textquotesingle{}s horizontal arm in the camera\textquotesingle{}s reference frame and also publishes whether the task is done or not.\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md148}{}\doxysubsubsection{Published Topics}\label{md_vision_layer_vision_tasks_README_autotoc_md148} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily /gate\+\_\+task/bottom/thresholded}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /gate\+\_\+task/bottom/marked}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /gate\+\_\+task/bottom/pipe\+\_\+coordinates}$\ast$$\ast$ (\href{http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/PointStamped.html}{\texttt{ geometry\+\_\+msgs/\+Point\+Stamped}}) +\item $\ast$$\ast${\ttfamily /gate\+\_\+task/done}$\ast$$\ast$ (\href{http://docs.ros.org/kinetic/api/std_msgs/html/msg/Bool.html}{\texttt{ std\+\_\+msgs/\+Bool}}) +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md149}{}\doxysubsubsection{Parameters}\label{md_vision_layer_vision_tasks_README_autotoc_md149} + +\begin{DoxyItemize} +\item {\ttfamily $\sim$clahe\+\_\+clip} (double, default\+: 4.\+0, range\+: 0.\+0 -\/ 40.\+0) Clip limit for C\+L\+A\+HE +\item {\ttfamily $\sim$clahe\+\_\+grid\+\_\+size} (integer, default\+: 8, range\+: 1 -\/ 16) Grid size of the C\+L\+A\+HE operator +\item {\ttfamily $\sim$clahe\+\_\+bilateral\+\_\+iter} (integer, default\+: 4, range\+: 0 -\/ 16) Number of iterations of bilateral filter after C\+L\+A\+HE is applied +\item {\ttfamily $\sim$balanced\+\_\+bilateral\+\_\+iter} (integer, default\+: 2, range\+: 0 -\/ 8) Number of iterations of bilateral filter after white balancing is applied +\item {\ttfamily $\sim$denoise\+\_\+h} (double, default\+: 10.\+0, range\+: 0.\+0 -\/ 20.\+0) h value for fast non-\/local means denoising applied on the final blue-\/filtered image +\item {\ttfamily $\sim$low\+\_\+h} (int, default\+: 0, range\+: 0 -\/ 255) Lower Bound of H +\item {\ttfamily $\sim$high\+\_\+h} (int, default\+: 130, range\+: 0 -\/ 255) Higher Bound of H +\item {\ttfamily $\sim$low\+\_\+s} (int, default\+: 0, range\+: 0 -\/ 255) Lower Bound of S +\item {\ttfamily $\sim$high\+\_\+s} (int, default\+: 123, range\+: 0 -\/ 255) Higher Bound of S +\item {\ttfamily $\sim$low\+\_\+v} (int, default\+: 95, range\+: 0 -\/ 255) Lower Bound of V +\item {\ttfamily $\sim$high\+\_\+v} (int, default\+: 255, range\+: 0 -\/ 255) Higher Bound of V +\item {\ttfamily $\sim$closing\+\_\+mat\+\_\+point} (int, default\+: 2, range\+: 1 -\/ 7) Center of the matrix for the closing operation (size extrapolated 2x+1) +\item {\ttfamily $\sim$closing\+\_\+iter} (int, default\+: 2, range\+: 0 -\/ 10) Iterations of closing applied on the thresholded image +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md150}{}\doxysubsection{gate\+\_\+task\+\_\+front}\label{md_vision_layer_vision_tasks_README_autotoc_md150} +This task applies pre-\/processes (blue-\/filters) the raw image, applies thresholding on the image, detects edges using Canny edge detection,detects straight lines using Probabilistic Hough \mbox{\hyperlink{classLine}{Line}} Transform, filters all the vertical and horizontal lines and detects which pair of these lines are perpendicular and close enough to be a gate. If multiple such pairs are found, the pair with longer lines is taken into considerations. This returns the coordinates of the gate in the camera\textquotesingle{}s frame. The distance of the gate from the camera is calculated using an exponential mapping of the diagonal of the rectangle formed by the two arms and the actual distance. If both arms of the gate are not detected and only one of the arms is detected, the rectangle is extrapolated and the distance of the gate from the camera is also calculated based on this extrapolated rectangle.\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md151}{}\doxysubsubsection{Published Topics}\label{md_vision_layer_vision_tasks_README_autotoc_md151} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily /gate\+\_\+task/front/blue\+\_\+filtered}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /gate\+\_\+task/front/thresholded}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /gate\+\_\+task/front/canny}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /gate\+\_\+task/front/lines}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /gate\+\_\+task/front/marked}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /gate\+\_\+task/front/gate\+\_\+coordinates}$\ast$$\ast$ (\href{http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/PointStamped.html}{\texttt{ geometry\+\_\+msgs/\+Point\+Stamped}}) +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md152}{}\doxysubsubsection{Parameters}\label{md_vision_layer_vision_tasks_README_autotoc_md152} + +\begin{DoxyItemize} +\item {\ttfamily $\sim$clahe\+\_\+clip} (double, default\+: 0.\+15, range\+: 0.\+0 -\/ 40.\+0) Clip limit for C\+L\+A\+HE +\item {\ttfamily $\sim$clahe\+\_\+grid\+\_\+size} (integer, default\+: 3, range\+: 1 -\/ 16) Grid size of the C\+L\+A\+HE operator +\item {\ttfamily $\sim$clahe\+\_\+bilateral\+\_\+iter} (integer, default\+: 2, range\+: 0 -\/ 16) Number of iterations of bilateral filter after C\+L\+A\+HE is applied +\item {\ttfamily $\sim$balanced\+\_\+bilateral\+\_\+iter} (integer, default\+: 4, range\+: 0 -\/ 8) Number of iterations of bilateral filter after white balancing is applied +\item {\ttfamily $\sim$denoise\+\_\+h} (double, default\+: 10.\+0, range\+: 0.\+0 -\/ 20.\+0) h value for fast non-\/local means denoising applied on the final blue-\/filtered image +\item {\ttfamily $\sim$low\+\_\+h} (int, default\+: 0, range\+: 0 -\/ 255) Lower Bound of H +\item {\ttfamily $\sim$high\+\_\+h} (int, default\+: 10, range\+: 0 -\/ 255) Higher Bound of H +\item {\ttfamily $\sim$low\+\_\+s} (int, default\+: 156, range\+: 0 -\/ 255) Lower Bound of S +\item {\ttfamily $\sim$high\+\_\+s} (int, default\+: 255, range\+: 0 -\/ 255) Higher Bound of S +\item {\ttfamily $\sim$low\+\_\+v} (int, default\+: 88, range\+: 0 -\/ 255) Lower Bound of V +\item {\ttfamily $\sim$high\+\_\+v} (int, default\+: 255, range\+: 0 -\/ 255) Higher Bound of V +\item {\ttfamily $\sim$closing\+\_\+mat\+\_\+point} (int, default\+: 1, range\+: 1 -\/ 7) Center of the matrix for the closing operation (size extrapolated 2x+1) +\item {\ttfamily $\sim$closing\+\_\+iter} (int, default\+: 0, range\+: 0 -\/ 10) Iterations of closing applied on the thresholded image +\item {\ttfamily $\sim$canny\+\_\+threshold\+\_\+low} (int, default\+: 0, range\+: 0 -\/ 1000) Lower threshold for the pixel intensity gradient +\item {\ttfamily $\sim$canny\+\_\+threshold\+\_\+high} (int, default\+: 1000, range\+: 0 -\/ 1000) Higher threshold for the pixel intensity gradient ~\newline + +\item {\ttfamily $\sim$canny\+\_\+kernel\+\_\+size} (int, default\+: 3, range\+: 3 -\/ 7) Kernel size of the operator +\item {\ttfamily $\sim$hough\+\_\+minline} (int, default\+: 200, range\+: 0 -\/ 500) Minimum length of the detected lines +\item {\ttfamily $\sim$hough\+\_\+threshold} (int, default\+: 105, range\+: 0 -\/ 500) Minimum number of intersections to be considered as part of one line +\item {\ttfamily $\sim$hough\+\_\+maxgap} (int, default\+: 61, range\+: 0 -\/ 500) Maximum gap between two points to be considered the same line +\item {\ttfamily $\sim$hough\+\_\+angle\+\_\+tolerance} (double, default\+: 20.\+0, range\+: 0.\+0 -\/ 45.\+0) Tolerance angle with respect to 0, 90 and 180 degrees to be considered as a probable line +\item {\ttfamily $\sim$gate\+\_\+distance\+\_\+tolerance} (double, default\+: 50.\+0, range\+: 0.\+0 -\/ 500.\+0) Maximum distance between atleast one pair of points to be considered close to each other +\item {\ttfamily $\sim$gate\+\_\+angle\+\_\+tolerance} (double, default\+: 20.\+0, range\+: 0.\+0 -\/ 45.\+0) Tolerance angle with respect to 90 to be considered as perpendicular +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md153}{}\doxysubsection{line\+\_\+task}\label{md_vision_layer_vision_tasks_README_autotoc_md153} +This task applies thresholding on the raw image, draws contours around the blob, finds straight lines using Probabilistic Hough \mbox{\hyperlink{classLine}{Line}} Transform and draws a tilted bounding rectangle around the contour. This returns the coordinates in the camera\textquotesingle{}s reference frame using the bounding rectangle and returns the vehicle\textquotesingle{}s angle with this line using the lines detected.\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md154}{}\doxysubsubsection{Published Topics}\label{md_vision_layer_vision_tasks_README_autotoc_md154} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily /line\+\_\+task/thresholded}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /line\+\_\+task/marked}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /line\+\_\+task/gate\+\_\+coordinates}$\ast$$\ast$ (\href{http://docs.ros.org/api/geometry_msgs/html/msg/Pose2D.html}{\texttt{ geometry\+\_\+msgs/\+Pose2D}}) +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md155}{}\doxysubsubsection{Parameters}\label{md_vision_layer_vision_tasks_README_autotoc_md155} + +\begin{DoxyItemize} +\item {\ttfamily $\sim$low\+\_\+h} (int, default\+: 31, range\+: 0 -\/ 255) Lower Bound of H +\item {\ttfamily $\sim$high\+\_\+h} (int, default\+: 47, range\+: 0 -\/ 255) Higher Bound of H +\item {\ttfamily $\sim$low\+\_\+s} (int, default\+: 0, range\+: 0 -\/ 255) Lower Bound of S +\item {\ttfamily $\sim$high\+\_\+s} (int, default\+: 255, range\+: 0 -\/ 255) Higher Bound of S +\item {\ttfamily $\sim$low\+\_\+v} (int, default\+: 0, range\+: 0 -\/ 255) Lower Bound of V +\item {\ttfamily $\sim$high\+\_\+v} (int, default\+: 255, range\+: 0 -\/ 255) Higher Bound of V +\item {\ttfamily $\sim$opening\+\_\+mat\+\_\+point} (int, default\+: 1, range\+: 1 -\/ 7) Center of the matrix for the opening operation (size extrapolated 2x+1) +\item {\ttfamily $\sim$opening\+\_\+iter} (int, default\+: 0, range\+: 0 -\/ 10) Iterations of opening applied on the thresholded image +\item {\ttfamily $\sim$closing\+\_\+mat\+\_\+point} (int, default\+: 2, range\+: 1 -\/ 7) Center of the matrix for the closing operation (size extrapolated 2x+1) +\item {\ttfamily $\sim$closing\+\_\+iter} (int, default\+: 1, range\+: 0 -\/ 10) Iterations of closing applied on the opened thresholded image +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md156}{}\doxysubsection{torpedo\+\_\+task}\label{md_vision_layer_vision_tasks_README_autotoc_md156} +This task applies pre-\/processes (blue-\/filters) the raw image, applies thresholding on the image, draws a minimum enclosing rectangle on all the detected contours. Based on the number of contours and their areas, an algorithm decides which of the contours is actually the heart and publishes the coordinates of the target in the camera\textquotesingle{}s reference frame. The distance of the target from the camera is calculated using an exponential mapping of the width of the bounding rectangle and the actual distance.\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md157}{}\doxysubsubsection{Published Topics}\label{md_vision_layer_vision_tasks_README_autotoc_md157} + +\begin{DoxyItemize} +\item $\ast$$\ast${\ttfamily /torpedo\+\_\+task/thresholded}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /torpedo\+\_\+task/marked}$\ast$$\ast$ (\href{http://docs.ros.org/api/sensor_msgs/html/msg/Image.html}{\texttt{ sensor\+\_\+msgs/\+Image}}) +\item $\ast$$\ast${\ttfamily /torpedo\+\_\+task/gate\+\_\+coordinates}$\ast$$\ast$ (\href{http://docs.ros.org/api/geometry_msgs/html/msg/Pose2D.html}{\texttt{ geometry\+\_\+msgs/\+Pose2D}}) +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md158}{}\doxysubsubsection{Parameters}\label{md_vision_layer_vision_tasks_README_autotoc_md158} + +\begin{DoxyItemize} +\item {\ttfamily $\sim$clahe\+\_\+clip} (double, default\+: 0.\+15, range\+: 0.\+0 -\/ 40.\+0) Clip limit for C\+L\+A\+HE +\item {\ttfamily $\sim$clahe\+\_\+grid\+\_\+size} (integer, default\+: 3, range\+: 1 -\/ 16) Grid size of the C\+L\+A\+HE operator +\item {\ttfamily $\sim$clahe\+\_\+bilateral\+\_\+iter} (integer, default\+: 2, range\+: 0 -\/ 16) Number of iterations of bilateral filter after C\+L\+A\+HE is applied +\item {\ttfamily $\sim$balanced\+\_\+bilateral\+\_\+iter} (integer, default\+: 4, range\+: 0 -\/ 8) Number of iterations of bilateral filter after white balancing is applied +\item {\ttfamily $\sim$denoise\+\_\+h} (double, default\+: 5.\+6, range\+: 0.\+0 -\/ 20.\+0) h value for fast non-\/local means denoising applied on the final blue-\/filtered image +\item {\ttfamily $\sim$low\+\_\+h} (int, default\+: 53, range\+: 0 -\/ 255) Lower Bound of H +\item {\ttfamily $\sim$high\+\_\+h} (int, default\+: 86, range\+: 0 -\/ 255) Higher Bound of H +\item {\ttfamily $\sim$low\+\_\+s} (int, default\+: 128, range\+: 0 -\/ 255) Lower Bound of S +\item {\ttfamily $\sim$high\+\_\+s} (int, default\+: 255, range\+: 0 -\/ 255) Higher Bound of S +\item {\ttfamily $\sim$low\+\_\+v} (int, default\+: 104, range\+: 0 -\/ 255) Lower Bound of V +\item {\ttfamily $\sim$high\+\_\+v} (int, default\+: 202, range\+: 0 -\/ 255) Higher Bound of V +\item {\ttfamily $\sim$opening\+\_\+mat\+\_\+point} (int, default\+: 2, range\+: 1 -\/ 7) Center of the matrix for the opening operation (size extrapolated 2x+1) +\item {\ttfamily $\sim$opening\+\_\+iter} (int, default\+: 1, range\+: 0 -\/ 10) Iterations of opening applied on the thresholded image +\item {\ttfamily $\sim$closing\+\_\+mat\+\_\+point} (int, default\+: 2, range\+: 1 -\/ 7) Center of the matrix for the closing operation (size extrapolated 2x+1) +\item {\ttfamily $\sim$closing\+\_\+iter} (int, default\+: 3, range\+: 0 -\/ 10) Iterations of closing applied on the opened thresholded image +\end{DoxyItemize}\hypertarget{md_vision_layer_vision_tasks_README_autotoc_md159}{}\doxysection{Bugs \& Feature Requests}\label{md_vision_layer_vision_tasks_README_autotoc_md159} +Please report bugs and request features using the \href{https://github.com/AUV-IITK/auv2018/issues}{\texttt{ Issue Tracker}}. \ No newline at end of file diff --git a/docs/latex/namespacebag__to__video.tex b/docs/latex/namespacebag__to__video.tex new file mode 100644 index 0000000..047e5a3 --- /dev/null +++ b/docs/latex/namespacebag__to__video.tex @@ -0,0 +1,83 @@ +\hypertarget{namespacebag__to__video}{}\doxysection{bag\+\_\+to\+\_\+video Namespace Reference} +\label{namespacebag__to__video}\index{bag\_to\_video@{bag\_to\_video}} +\doxysubsection*{Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{namespacebag__to__video_aaf2f98950e921f6af2c2bc92ea3465a5}\label{namespacebag__to__video_aaf2f98950e921f6af2c2bc92ea3465a5}} +def {\bfseries print\+\_\+help} () +\item +\mbox{\Hypertarget{namespacebag__to__video_ac09610df8376d449905ebc07d3062cf6}\label{namespacebag__to__video_ac09610df8376d449905ebc07d3062cf6}} +def {\bfseries filter\+\_\+image\+\_\+msgs} (topic, datatype, md5sum, msg\+\_\+def, header) +\end{DoxyCompactItemize} +\doxysubsection*{Variables} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{namespacebag__to__video_a7f7c2f5f21a504cf2e63a3388809a38f}\label{namespacebag__to__video_a7f7c2f5f21a504cf2e63a3388809a38f}} +float {\bfseries opt\+\_\+fps} = 15.\+0 +\item +\mbox{\Hypertarget{namespacebag__to__video_a214ce88412fc760371470af4abcbf7d3}\label{namespacebag__to__video_a214ce88412fc760371470af4abcbf7d3}} +int {\bfseries opt\+\_\+rate} = 1 +\item +\mbox{\Hypertarget{namespacebag__to__video_a9c2e03e64296627f35003c36f842c48e}\label{namespacebag__to__video_a9c2e03e64296627f35003c36f842c48e}} +string {\bfseries opt\+\_\+out\+\_\+file} = \char`\"{}\char`\"{} +\item +\mbox{\Hypertarget{namespacebag__to__video_a1d548231c6a81abe5dbca64b175ba0bc}\label{namespacebag__to__video_a1d548231c6a81abe5dbca64b175ba0bc}} +string {\bfseries opt\+\_\+fourcc} = \char`\"{}X\+V\+ID\char`\"{} +\item +\mbox{\Hypertarget{namespacebag__to__video_a1db7558b1e0268140b74c9d3b0a25ad2}\label{namespacebag__to__video_a1db7558b1e0268140b74c9d3b0a25ad2}} +string {\bfseries opt\+\_\+topic} = \char`\"{}\char`\"{} +\item +\mbox{\Hypertarget{namespacebag__to__video_a759b700a67fa200ba034c05c3309f32d}\label{namespacebag__to__video_a759b700a67fa200ba034c05c3309f32d}} +list {\bfseries opt\+\_\+files} = \mbox{[}$\,$\mbox{]} +\item +\mbox{\Hypertarget{namespacebag__to__video_a87e023c736ca90238b04b4f0bb0d27d3}\label{namespacebag__to__video_a87e023c736ca90238b04b4f0bb0d27d3}} +bool {\bfseries opt\+\_\+display\+\_\+images} = False; +\item +\mbox{\Hypertarget{namespacebag__to__video_a10cec79a21e7983346309c1f08482a5b}\label{namespacebag__to__video_a10cec79a21e7983346309c1f08482a5b}} +{\bfseries opts} +\item +\mbox{\Hypertarget{namespacebag__to__video_a6c0c089ee87cc24bff0d191298ef49e0}\label{namespacebag__to__video_a6c0c089ee87cc24bff0d191298ef49e0}} +list {\bfseries cv\+\_\+image} = \mbox{[}$\,$\mbox{]} +\item +\mbox{\Hypertarget{namespacebag__to__video_a49c3e0ece1adec2e89396e07de468db5}\label{namespacebag__to__video_a49c3e0ece1adec2e89396e07de468db5}} +list {\bfseries np\+\_\+arr} = \mbox{[}$\,$\mbox{]} +\item +\mbox{\Hypertarget{namespacebag__to__video_af7c982e8b4b670b7eb874895a9ee834e}\label{namespacebag__to__video_af7c982e8b4b670b7eb874895a9ee834e}} +dictionary {\bfseries p\+\_\+avconv} = \{\} +\item +\mbox{\Hypertarget{namespacebag__to__video_aaaa3b65de0a4966740e9d4c2864786a5}\label{namespacebag__to__video_aaaa3b65de0a4966740e9d4c2864786a5}} +{\bfseries bridge} = Cv\+Bridge() +\item +\mbox{\Hypertarget{namespacebag__to__video_a115d9287326df23fbaa1d5c4becb4816}\label{namespacebag__to__video_a115d9287326df23fbaa1d5c4becb4816}} +list {\bfseries bagfile} = opt\+\_\+files\mbox{[}files\mbox{]} +\item +\mbox{\Hypertarget{namespacebag__to__video_aaca30213537774dc75d31e56fda12b3b}\label{namespacebag__to__video_aaca30213537774dc75d31e56fda12b3b}} +{\bfseries bag} = rosbag.\+Bag(bagfile) +\item +\mbox{\Hypertarget{namespacebag__to__video_a45a9d8e744d4fe563f6e84be993aff2a}\label{namespacebag__to__video_a45a9d8e744d4fe563f6e84be993aff2a}} +{\bfseries connection\+\_\+filter} +\item +\mbox{\Hypertarget{namespacebag__to__video_ae4a4ef18ecbd9301cfb6db22037da58f}\label{namespacebag__to__video_ae4a4ef18ecbd9301cfb6db22037da58f}} +string {\bfseries out\+\_\+file} = str(topic).replace(\char`\"{}/\char`\"{}, \char`\"{}\char`\"{})+\char`\"{}.mp4\char`\"{} +\item +\mbox{\Hypertarget{namespacebag__to__video_ab4bc8ce1bfa04207257f94d275d306a5}\label{namespacebag__to__video_ab4bc8ce1bfa04207257f94d275d306a5}} +{\bfseries stdin} +\item +\mbox{\Hypertarget{namespacebag__to__video_a2e9d7171c2576f6d3baf4d4b6fec7d24}\label{namespacebag__to__video_a2e9d7171c2576f6d3baf4d4b6fec7d24}} +{\bfseries key} = cv2.\+wait\+Key(1) +\item +\mbox{\Hypertarget{namespacebag__to__video_aa5763ed546b242118a22ddc431a6f1c1}\label{namespacebag__to__video_aa5763ed546b242118a22ddc431a6f1c1}} +string {\bfseries pix\+\_\+fmt} = \char`\"{}\char`\"{} +\item +\mbox{\Hypertarget{namespacebag__to__video_abba256d37543afe245324570c660f155}\label{namespacebag__to__video_abba256d37543afe245324570c660f155}} +string {\bfseries size} = str(msg.\+width)+\char`\"{}x\char`\"{}+str(msg.\+height) +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}rosbag2video.py +rosbag to video file conversion tool +by Maximilian Laiacker 2016 +post@mlaiacker.de +\end{DoxyVerb} + \ No newline at end of file diff --git a/docs/latex/namespacemaster.tex b/docs/latex/namespacemaster.tex new file mode 100644 index 0000000..ec439e1 --- /dev/null +++ b/docs/latex/namespacemaster.tex @@ -0,0 +1,50 @@ +\hypertarget{namespacemaster}{}\doxysection{master Namespace Reference} +\label{namespacemaster}\index{master@{master}} +\doxysubsection*{Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{namespacemaster_a7a8ae7cd762cf89f7907b1e9951f5abb}\label{namespacemaster_a7a8ae7cd762cf89f7907b1e9951f5abb}} +def {\bfseries callback} (msg) +\end{DoxyCompactItemize} +\doxysubsection*{Variables} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{namespacemaster_a0ab7cdc9e0ce04abf59a0eeb18ee4bc3}\label{namespacemaster_a0ab7cdc9e0ce04abf59a0eeb18ee4bc3}} +string {\bfseries pwm\+\_\+str} = \char`\"{}\char`\"{} +\item +\mbox{\Hypertarget{namespacemaster_a33c3a3395e1745868c63d706552609a2}\label{namespacemaster_a33c3a3395e1745868c63d706552609a2}} +{\bfseries depth\+\_\+publisher} = rospy.\+Publisher(\char`\"{}/anahita/depth\char`\"{}, Float32, queue\+\_\+size=10) +\item +\mbox{\Hypertarget{namespacemaster_aab23de3cf621870c588f67983f27d831}\label{namespacemaster_aab23de3cf621870c588f67983f27d831}} +{\bfseries bat\+\_\+voltage\+\_\+pub} = rospy.\+Publisher(\char`\"{}/anahita/battery\+\_\+voltage\char`\"{}, Float32, queue\+\_\+size=10) +\item +\mbox{\Hypertarget{namespacemaster_a03876cb4c3d719a83b33dd998aab36a6}\label{namespacemaster_a03876cb4c3d719a83b33dd998aab36a6}} +{\bfseries serial\+\_\+port\+\_\+id} = rospy.\+get\+\_\+param(\char`\"{}$\sim$serial\+\_\+port\+\_\+id\char`\"{}, \char`\"{}/dev/tty\+A\+C\+M0\char`\"{}) +\item +\mbox{\Hypertarget{namespacemaster_a6f9f52463ff5987b763ed390481b1587}\label{namespacemaster_a6f9f52463ff5987b763ed390481b1587}} +{\bfseries baud\+\_\+rate} = rospy.\+get\+\_\+param(\char`\"{}$\sim$baud\+\_\+rate\char`\"{}, 115200) +\item +\mbox{\Hypertarget{namespacemaster_a3b33c1185ad8cf93a60c7aea4d10777a}\label{namespacemaster_a3b33c1185ad8cf93a60c7aea4d10777a}} +{\bfseries depth\+\_\+msg} = Float32() +\item +\mbox{\Hypertarget{namespacemaster_acfa1a7d15989a14c44e56430b5e67c84}\label{namespacemaster_acfa1a7d15989a14c44e56430b5e67c84}} +{\bfseries bat\+\_\+voltage\+\_\+msg} = Float32() +\item +\mbox{\Hypertarget{namespacemaster_a2cdfc1ed79ca0720798ac606944c1bc7}\label{namespacemaster_a2cdfc1ed79ca0720798ac606944c1bc7}} +{\bfseries serial\+\_\+connection} = serial.\+Serial(\char`\"{}/dev/tty\+A\+C\+M0\char`\"{}, 115200, timeout=5) +\item +\mbox{\Hypertarget{namespacemaster_ab1e9905abf4a550f9a5245a25227ffbb}\label{namespacemaster_ab1e9905abf4a550f9a5245a25227ffbb}} +string {\bfseries pwm\+\_\+msg} = pwm\+\_\+str.\+encode(\textquotesingle{}utf-\/8\textquotesingle{}) +\item +\mbox{\Hypertarget{namespacemaster_a60638b994e5b3b32e188deddd460bee5}\label{namespacemaster_a60638b994e5b3b32e188deddd460bee5}} +{\bfseries msg} = serial\+\_\+connection.\+read(serial\+\_\+connection.\+in\+Waiting()) +\item +\mbox{\Hypertarget{namespacemaster_afa402184fd7c5a06c5cea3a4c0204e09}\label{namespacemaster_afa402184fd7c5a06c5cea3a4c0204e09}} +{\bfseries data} = list(map(float,\mbox{[}x.\+strip() for x in msg.\+split(\textquotesingle{},\textquotesingle{})\mbox{]})) +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Handles Arduino messages and publishes them to ROS topics +\end{DoxyVerb} + \ No newline at end of file diff --git a/docs/latex/namespacemtdef.tex b/docs/latex/namespacemtdef.tex new file mode 100644 index 0000000..d643b26 --- /dev/null +++ b/docs/latex/namespacemtdef.tex @@ -0,0 +1,55 @@ +\hypertarget{namespacemtdef}{}\doxysection{mtdef Namespace Reference} +\label{namespacemtdef}\index{mtdef@{mtdef}} +\doxysubsection*{Classes} +\begin{DoxyCompactItemize} +\item +class \mbox{\hyperlink{classmtdef_1_1Baudrates}{Baudrates}} +\item +class \mbox{\hyperlink{classmtdef_1_1DeprecatedMID}{Deprecated\+M\+ID}} +\item +class \mbox{\hyperlink{classmtdef_1_1DeviceState}{Device\+State}} +\item +class \mbox{\hyperlink{classmtdef_1_1MID}{M\+ID}} +\item +class \mbox{\hyperlink{classmtdef_1_1MTErrorMessage}{M\+T\+Error\+Message}} +\item +class \mbox{\hyperlink{classmtdef_1_1MTException}{M\+T\+Exception}} +\item +class \mbox{\hyperlink{classmtdef_1_1MTTimeoutException}{M\+T\+Timeout\+Exception}} +\item +class \mbox{\hyperlink{classmtdef_1_1OutputMode}{Output\+Mode}} +\item +class \mbox{\hyperlink{classmtdef_1_1OutputSettings}{Output\+Settings}} +\item +class \mbox{\hyperlink{classmtdef_1_1XDIGroup}{X\+D\+I\+Group}} +\end{DoxyCompactItemize} +\doxysubsection*{Functions} +\begin{DoxyCompactItemize} +\item +def \mbox{\hyperlink{namespacemtdef_a1c9aa41c94cfc217a0cb9e4ff56a8b7d}{get\+Name}} (cls, value) +\item +def \mbox{\hyperlink{namespacemtdef_a7443ca835fd211b9840edc390448983c}{get\+M\+I\+D\+Name}} (mid) +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Constant and messages definition for MT communication.\end{DoxyVerb} + + +\doxysubsection{Function Documentation} +\mbox{\Hypertarget{namespacemtdef_a7443ca835fd211b9840edc390448983c}\label{namespacemtdef_a7443ca835fd211b9840edc390448983c}} +\index{mtdef@{mtdef}!getMIDName@{getMIDName}} +\index{getMIDName@{getMIDName}!mtdef@{mtdef}} +\doxysubsubsection{\texorpdfstring{getMIDName()}{getMIDName()}} +{\footnotesize\ttfamily def mtdef.\+get\+M\+I\+D\+Name (\begin{DoxyParamCaption}\item[{}]{mid }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return the name of a message given the message id.\end{DoxyVerb} + \mbox{\Hypertarget{namespacemtdef_a1c9aa41c94cfc217a0cb9e4ff56a8b7d}\label{namespacemtdef_a1c9aa41c94cfc217a0cb9e4ff56a8b7d}} +\index{mtdef@{mtdef}!getName@{getName}} +\index{getName@{getName}!mtdef@{mtdef}} +\doxysubsubsection{\texorpdfstring{getName()}{getName()}} +{\footnotesize\ttfamily def mtdef.\+get\+Name (\begin{DoxyParamCaption}\item[{}]{cls, }\item[{}]{value }\end{DoxyParamCaption})} + +\begin{DoxyVerb}Return the name of the first found member of class cls with given +value.\end{DoxyVerb} + \ No newline at end of file diff --git a/docs/latex/namespaces.tex b/docs/latex/namespaces.tex new file mode 100644 index 0000000..66a3976 --- /dev/null +++ b/docs/latex/namespaces.tex @@ -0,0 +1,7 @@ +\doxysection{Namespace List} +Here is a list of all documented namespaces with brief descriptions\+:\begin{DoxyCompactList} +\item\contentsline{section}{\mbox{\hyperlink{namespacebag__to__video}{bag\+\_\+to\+\_\+video}} }{\pageref{namespacebag__to__video}}{} +\item\contentsline{section}{\mbox{\hyperlink{namespacemaster}{master}} }{\pageref{namespacemaster}}{} +\item\contentsline{section}{\mbox{\hyperlink{namespacemtdef}{mtdef}} }{\pageref{namespacemtdef}}{} +\item\contentsline{section}{\mbox{\hyperlink{namespacesetup}{setup}} }{\pageref{namespacesetup}}{} +\end{DoxyCompactList} diff --git a/docs/latex/namespacesetup.tex b/docs/latex/namespacesetup.tex new file mode 100644 index 0000000..04f9bb1 --- /dev/null +++ b/docs/latex/namespacesetup.tex @@ -0,0 +1,43 @@ +\hypertarget{namespacesetup}{}\doxysection{setup Namespace Reference} +\label{namespacesetup}\index{setup@{setup}} +\doxysubsection*{Variables} +\begin{DoxyCompactItemize} +\item +{\bfseries setup\+\_\+args} +\item +{\bfseries d} +\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +\begin{DoxyVerb}Teledyne Navigator DVL ROS package setup.\end{DoxyVerb} + + +\doxysubsection{Variable Documentation} +\mbox{\Hypertarget{namespacesetup_aa2586b6c4dd84a0aaaf49cb1565cee6e}\label{namespacesetup_aa2586b6c4dd84a0aaaf49cb1565cee6e}} +\index{setup@{setup}!d@{d}} +\index{d@{d}!setup@{setup}} +\doxysubsubsection{\texorpdfstring{d}{d}} +{\footnotesize\ttfamily setup.\+d} + +{\bfseries Initial value\+:} +\begin{DoxyCode}{0} +\DoxyCodeLine{1 = generate\_distutils\_setup(} +\DoxyCodeLine{2 packages=[\textcolor{stringliteral}{"teledyne\_navigator"}], package\_dir=\{\textcolor{stringliteral}{""}: \textcolor{stringliteral}{"src"}\})} + +\end{DoxyCode} +\mbox{\Hypertarget{namespacesetup_a504ffa482edfe0eff08f64b2f5dff0e9}\label{namespacesetup_a504ffa482edfe0eff08f64b2f5dff0e9}} +\index{setup@{setup}!setup\_args@{setup\_args}} +\index{setup\_args@{setup\_args}!setup@{setup}} +\doxysubsubsection{\texorpdfstring{setup\_args}{setup\_args}} +{\footnotesize\ttfamily setup.\+setup\+\_\+args} + +{\bfseries Initial value\+:} +\begin{DoxyCode}{0} +\DoxyCodeLine{1 = generate\_distutils\_setup(} +\DoxyCodeLine{2 packages=[\textcolor{stringliteral}{'uuv\_auv\_actuator\_interface'}],} +\DoxyCodeLine{3 package\_dir=\{\textcolor{stringliteral}{''}: \textcolor{stringliteral}{'src'}\},} +\DoxyCodeLine{4 requires=[\textcolor{stringliteral}{'rospy'}]} +\DoxyCodeLine{5 )} + +\end{DoxyCode} diff --git a/docs/latex/refman.tex b/docs/latex/refman.tex index 0468da9..6b741e4 100644 --- a/docs/latex/refman.tex +++ b/docs/latex/refman.tex @@ -171,42 +171,220 @@ \hypersetup{pageanchor=true} %--- Begin generated contents --- +\chapter{coding\+\_\+guidelines} +\label{md_coding_docs_coding_guidelines} +\Hypertarget{md_coding_docs_coding_guidelines} +\input{md_coding_docs_coding_guidelines} +\chapter{Contributing} +\label{md_coding_docs_contributing} +\Hypertarget{md_coding_docs_contributing} +\input{md_coding_docs_contributing} +\chapter{documentation} +\label{md_coding_docs_documentation} +\Hypertarget{md_coding_docs_documentation} +\input{md_coding_docs_documentation} +\chapter{Overview of the Software Stack (Anahita)} +\label{md_coding_docs_Overview} +\Hypertarget{md_coding_docs_Overview} +\input{md_coding_docs_Overview} +\chapter{Graphical User Interface for Anahita} +\label{md_debug_layer_anahita_gui_README} +\Hypertarget{md_debug_layer_anahita_gui_README} +\input{md_debug_layer_anahita_gui_README} +\chapter{hardware\+\_\+arduino} +\label{md_hardware_layer_hardware_arduino_README} +\Hypertarget{md_hardware_layer_hardware_arduino_README} +\input{md_hardware_layer_hardware_arduino_README} +\chapter{hardware\+\_\+camera} +\label{md_hardware_layer_hardware_camera_README} +\Hypertarget{md_hardware_layer_hardware_camera_README} +\input{md_hardware_layer_hardware_camera_README} +\chapter{hardware\+\_\+dvl} +\label{md_hardware_layer_hardware_dvl_ethernet_README} +\Hypertarget{md_hardware_layer_hardware_dvl_ethernet_README} +\input{md_hardware_layer_hardware_dvl_ethernet_README} +\chapter{hardware\+\_\+imu} +\label{md_hardware_layer_hardware_imu_README} +\Hypertarget{md_hardware_layer_hardware_imu_README} +\input{md_hardware_layer_hardware_imu_README} +\chapter{Teledyne Navigator R\+OS Package} +\label{md_hardware_layer_teledyne_navigator_README} +\Hypertarget{md_hardware_layer_teledyne_navigator_README} +\input{md_hardware_layer_teledyne_navigator_README} +\chapter{A\+UV Anahita} +\label{md_README} +\Hypertarget{md_README} +\input{md_README} +\chapter{R\+E\+A\+D\+ME} +\label{md_vision_layer_image_undistort_README} +\Hypertarget{md_vision_layer_image_undistort_README} +\input{md_vision_layer_image_undistort_README} +\chapter{vision\+\_\+commons} +\label{md_vision_layer_vision_commons_README} +\Hypertarget{md_vision_layer_vision_commons_README} +\input{md_vision_layer_vision_commons_README} +\chapter{vision\+\_\+tasks} +\label{md_vision_layer_vision_tasks_README} +\Hypertarget{md_vision_layer_vision_tasks_README} +\input{md_vision_layer_vision_tasks_README} +\chapter{Namespace Index} +\input{namespaces} \chapter{Hierarchical Index} \input{hierarchy} \chapter{Class Index} \input{annotated} +\chapter{Namespace Documentation} +\input{namespacebag__to__video} +\input{namespacemaster} +\input{namespacemtdef} +\input{namespacesetup} \chapter{Class Documentation} +\input{classAccelerationControl_1_1AccelerationControllerNode} +\input{classuuv__auv__actuator__interface_1_1actuator__manager_1_1ActuatorManager} \input{classmaster__layer_1_1anahita__thruster__manager_1_1AnahitaThrusterManager} -\input{classmaster__layer_1_1state__mach_1_1BouyTask} +\input{classBase__class} +\input{classimage__undistort_1_1BaseCameraParameters} +\input{classmtdef_1_1Baudrates} +\input{classuuv__trajectory__generator_1_1path__generator_1_1bezier__curve_1_1BezierCurve} \input{classmaster__layer_1_1state__mach__gate__torpedo_1_1BouyTask} +\input{classmaster__layer_1_1state__mach_1_1BouyTask} +\input{classBuoy} +\input{classimage__undistort_1_1CameraParametersPair} +\input{classcolor__correction} +\input{classvision__commons_1_1Contour} +\input{classcolor__correction_1_1contrast__stretching} +\input{classCrucifix} +\input{classuuv__trajectory__generator_1_1path__generator_1_1cs__interpolator_1_1CSInterpolator} +\input{classmtdef_1_1DeprecatedMID} +\input{classimage__undistort_1_1Depth} +\input{classimage__undistort_1_1DepthNodelet} +\input{classmtdef_1_1DeviceState} +\input{classdisturbance__manager_1_1DisturbanceManager} +\input{classuuv__control__interfaces_1_1dp__controller__base_1_1DPControllerBase} +\input{classuuv__control__interfaces_1_1dp__controller__local__planner_1_1DPControllerLocalPlanner} +\input{classuuv__control__interfaces_1_1dp__pid__controller__base_1_1DPPIDControllerBase} +\input{classuuv__trajectory__generator_1_1path__generator_1_1dubins__interpolator_1_1DubinsInterpolator} +\input{structDVLData} +\input{classnavigation_1_1DvlData} +\input{classDVLEthernet} +\input{structDVLformat21__t} +\input{structDVLHeader} +\input{classhardware__dvl_1_1DVLNode} +\input{structDVLstatus} +\input{classmapping_1_1EKF} +\input{classErrorDescriptor} +\input{classnavigation_1_1ExtendedKalmanFilter} +\input{classvision__commons_1_1Filter} \input{classmaster__layer_1_1state__mach_1_1FindBottomTarget} \input{classmaster__layer_1_1state__mach__gate__torpedo_1_1FindBottomTarget} \input{classmaster__layer_1_1state__mach_1_1FindFrontTarget} \input{classmaster__layer_1_1state__mach__gate__torpedo_1_1FindFrontTarget} +\input{classuuv__auv__actuator__interface_1_1fin__model_1_1FinModel} +\input{classGate} \input{classmaster__layer_1_1state__mach__gate__torpedo_1_1GateTask} \input{classmaster__layer_1_1state__mach_1_1GateTask} +\input{classvision__commons_1_1Geometry} +\input{classGrabber} +\input{classcolor__correction_1_1gray__edge} +\input{classcolor__correction_1_1gray__world} +\input{classuuv__trajectory__generator_1_1path__generator_1_1helical__segment_1_1HelicalSegment} \input{classmaster__layer_1_1state__mach_1_1IdentifyTarget} \input{classmaster__layer_1_1state__mach__gate__torpedo_1_1IdentifyTarget} +\input{classimage__undistort_1_1ImageUndistort} +\input{classimage__undistort_1_1ImageUndistortNodelet} +\input{classnavigation_1_1IMUData} +\input{classimage__undistort_1_1InputCameraParameters} +\input{classLaplacianBlending} +\input{classLine} +\input{classuuv__trajectory__generator_1_1path__generator_1_1linear__interpolator_1_1LinearInterpolator} +\input{classuuv__trajectory__generator_1_1path__generator_1_1line__segment_1_1LineSegment} \input{classmaster__layer_1_1state__mach_1_1LineTask} \input{classmaster__layer_1_1state__mach__gate__torpedo_1_1LineTask} +\input{classuuv__trajectory__generator_1_1path__generator_1_1lipb__interpolator_1_1LIPBInterpolator} +\input{classmapping_1_1MappingNode} +\input{classMarker} +\input{classMarkerDropper} \input{classmaster__layer_1_1state__mach_1_1MarkerDropperTask} \input{classmaster__layer_1_1state__mach__gate__torpedo_1_1MarkerDropperTask} +\input{classcolor__correction_1_1max__edge} +\input{classcolor__correction_1_1maxRGB} +\input{classmtdef_1_1MID} +\input{classvision__commons_1_1Morph} \input{classmaster__layer_1_1state__mach__gate__torpedo_1_1MoveToXYZ} \input{classmaster__layer_1_1state__mach_1_1MoveToXYZ} -\input{classmaster__layer_1_1state__mach_1_1OctagonTask} +\input{classMS5837} +\input{classmtdevice_1_1MTDevice} +\input{classmtdef_1_1MTErrorMessage} +\input{classmtdef_1_1MTException} +\input{classmtdef_1_1MTTimeoutException} +\input{classname} +\input{classnavigation_1_1NavigationDevice} +\input{classnavigation_1_1NavigationNode} +\input{structObservation} +\input{classOctagon} \input{classmaster__layer_1_1state__mach__gate__torpedo_1_1OctagonTask} -\input{classmaster__layer_1_1state__mach__gate__torpedo_1_1RescueMode} +\input{classmaster__layer_1_1state__mach_1_1OctagonTask} +\input{classimage__undistort_1_1OutputCameraParameters} +\input{classmtdef_1_1OutputMode} +\input{classmtdef_1_1OutputSettings} +\input{classuuv__trajectory__generator_1_1path__generator_1_1path__generator_1_1PathGenerator} +\input{classPathMarker} +\input{classPID_1_1PIDRegulator_1_1PIDRegulator} +\input{classPinger} +\input{classimage__undistort_1_1PointToBearing} +\input{classimage__undistort_1_1PointToBearingNodelet} +\input{classPositionControlUnderactuated_1_1PositionControllerNode} +\input{classPositionControl_1_1PositionControllerNode} \input{classmaster__layer_1_1state__mach_1_1RescueMode} +\input{classmaster__layer_1_1state__mach__gate__torpedo_1_1RescueMode} +\input{classcascaded__pid__dp__controller_1_1ROV__CascadedController} +\input{classmapping_1_1SlamClient} +\input{classmapping_1_1SlamEKF} +\input{classmapping_1_1SlamFilter} +\input{classmapping_1_1SlamParticle} +\input{classmapping_1_1SlamServer} +\input{classStartGate} \input{classmaster__layer_1_1state__mach_1_1StationKeeping} \input{classmaster__layer_1_1state__mach__gate__torpedo_1_1StationKeeping} -\input{classmaster__layer_1_1state__mach__gate__torpedo_1_1TaskBaseClass} +\input{classimage__undistort_1_1StereoCameraParameters} +\input{classimage__undistort_1_1StereoInfo} +\input{classimage__undistort_1_1StereoInfoNodelet} +\input{classimage__undistort_1_1StereoUndistort} +\input{classimage__undistort_1_1StereoUndistortNodelet} +\input{classuuv__control__interfaces_1_1sym__vehicle_1_1SymVehicle} \input{classmaster__layer_1_1state__mach_1_1TaskBaseClass} +\input{classmaster__layer_1_1state__mach__gate__torpedo_1_1TaskBaseClass} +\input{classteledyne__navigator_1_1driver_1_1TeledyneNavigator} +\input{classTest} +\input{classTestGate} +\input{classtest__trajectory__point_1_1TestTrajectoryPoint} +\input{classtest__waypoint_1_1TestWaypoint} +\input{classtest__waypoint__set_1_1TestWaypointSet} +\input{classvision__commons_1_1Threshold} +\input{classuuv__thrusters_1_1models_1_1thruster_1_1Thruster} +\input{classthruster__allocator_1_1ThrusterAllocatorNode} +\input{classuuv__thrusters_1_1models_1_1thruster__custom_1_1ThrusterCustom} +\input{classuuv__thrusters_1_1thruster__manager_1_1ThrusterManager} +\input{classuuv__thrusters_1_1models_1_1thruster__proportional_1_1ThrusterProportional} \input{classmaster__layer_1_1state__mach__gate__torpedo_1_1TooFar} \input{classmaster__layer_1_1state__mach_1_1TooFar} +\input{classTorpedo} \input{classmaster__layer_1_1state__mach_1_1TorpedoTask} \input{classmaster__layer_1_1state__mach__gate__torpedo_1_1TorpedoTask} +\input{classuuv__trajectory__generator_1_1trajectory__generator_1_1TrajectoryGenerator} +\input{classtrajectory__marker__publisher_1_1TrajectoryMarkerPublisher} +\input{classuuv__trajectory__generator_1_1trajectory__point_1_1TrajectoryPoint} \input{classmaster__layer_1_1state__mach_1_1Transition} \input{classmaster__layer_1_1state__mach__gate__torpedo_1_1Transition} +\input{classTriangularBuoy} +\input{classimage__undistort_1_1Undistorter} +\input{classuuv__control__interfaces_1_1vehicle_1_1Vehicle} +\input{classVelocityControl_1_1VelocityControllerNode} +\input{classuuv__waypoints_1_1waypoint_1_1Waypoint} +\input{classuuv__waypoints_1_1waypoint__set_1_1WaypointSet} +\input{classuuv__trajectory__generator_1_1wp__trajectory__generator_1_1WPTrajectoryGenerator} +\input{classmtdef_1_1XDIGroup} +\input{classmtnode_1_1XSensDriver} %--- End generated contents --- % Index diff --git a/docs/latex/structDVLData.tex b/docs/latex/structDVLData.tex new file mode 100644 index 0000000..7e0afb0 --- /dev/null +++ b/docs/latex/structDVLData.tex @@ -0,0 +1,136 @@ +\hypertarget{structDVLData}{}\doxysection{D\+V\+L\+Data Struct Reference} +\label{structDVLData}\index{DVLData@{DVLData}} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{structDVLData_a0c22a8518847aaa2e3a7b9ebddec7140}\label{structDVLData_a0c22a8518847aaa2e3a7b9ebddec7140}} +unsigned char {\bfseries version} +\item +\mbox{\Hypertarget{structDVLData_a0dcf730c3f314b8e9995f09271ea429f}\label{structDVLData_a0dcf730c3f314b8e9995f09271ea429f}} +unsigned char {\bfseries offset\+Of\+Data} +\item +\mbox{\Hypertarget{structDVLData_a52e5848fb99287368ad0197f9bbbf933}\label{structDVLData_a52e5848fb99287368ad0197f9bbbf933}} +unsigned long {\bfseries serial\+Number} +\item +\mbox{\Hypertarget{structDVLData_a7dbf5221a4979d8f9d9247b7de685ceb}\label{structDVLData_a7dbf5221a4979d8f9d9247b7de685ceb}} +unsigned char {\bfseries year} +\item +\mbox{\Hypertarget{structDVLData_a88bd22c3211688a07a9a2fa38f5920b8}\label{structDVLData_a88bd22c3211688a07a9a2fa38f5920b8}} +unsigned char {\bfseries month} +\item +\mbox{\Hypertarget{structDVLData_a9ed16962bfebc258033a99e0131c7acc}\label{structDVLData_a9ed16962bfebc258033a99e0131c7acc}} +unsigned char {\bfseries day} +\item +\mbox{\Hypertarget{structDVLData_ad850cc99098e5ce79835d0fe3f097526}\label{structDVLData_ad850cc99098e5ce79835d0fe3f097526}} +unsigned char {\bfseries hour} +\item +\mbox{\Hypertarget{structDVLData_a03deb0b38a326c68398a69b1fede89be}\label{structDVLData_a03deb0b38a326c68398a69b1fede89be}} +unsigned char {\bfseries minute} +\item +\mbox{\Hypertarget{structDVLData_a3839b3107d362771464c8cd0272e2273}\label{structDVLData_a3839b3107d362771464c8cd0272e2273}} +unsigned char {\bfseries seconds} +\item +\mbox{\Hypertarget{structDVLData_ac073304da623aa9e7eb1d2c9d9e40a18}\label{structDVLData_ac073304da623aa9e7eb1d2c9d9e40a18}} +unsigned short {\bfseries micro\+Seconds100} +\item +\mbox{\Hypertarget{structDVLData_a8d94c99a54c57ff87c5cee49fd8f5829}\label{structDVLData_a8d94c99a54c57ff87c5cee49fd8f5829}} +unsigned short {\bfseries n\+Beams} +\item +\mbox{\Hypertarget{structDVLData_a15ccb5e0614c789e3cb5ce91ad196e35}\label{structDVLData_a15ccb5e0614c789e3cb5ce91ad196e35}} +unsigned long {\bfseries error} +\item +\mbox{\Hypertarget{structDVLData_a77302e23f58411054cd2b6f4efd0d00f}\label{structDVLData_a77302e23f58411054cd2b6f4efd0d00f}} +\mbox{\hyperlink{structDVLstatus}{D\+V\+Lstatus}} {\bfseries status} +\item +\mbox{\Hypertarget{structDVLData_a4c9dfb379305a4f7f6320aa90bba9136}\label{structDVLData_a4c9dfb379305a4f7f6320aa90bba9136}} +float {\bfseries sound\+Speed} +\item +\mbox{\Hypertarget{structDVLData_aeafc0aefeea5f3faf94e963152d858e0}\label{structDVLData_aeafc0aefeea5f3faf94e963152d858e0}} +float {\bfseries temperature} +\item +\mbox{\Hypertarget{structDVLData_abb306335f258b6304b30a8434ed8b4d5}\label{structDVLData_abb306335f258b6304b30a8434ed8b4d5}} +float {\bfseries pressure} +\item +\mbox{\Hypertarget{structDVLData_a348fc03d2108f79d4fc4b7015c11a18b}\label{structDVLData_a348fc03d2108f79d4fc4b7015c11a18b}} +float {\bfseries vel\+Beam} \mbox{[}4\mbox{]} +\item +\mbox{\Hypertarget{structDVLData_ab6854b0ca2f1a66f29420d81886692fd}\label{structDVLData_ab6854b0ca2f1a66f29420d81886692fd}} +float {\bfseries dist\+Beam} \mbox{[}4\mbox{]} +\item +\mbox{\Hypertarget{structDVLData_a15058d6a00845d78993c945156e29448}\label{structDVLData_a15058d6a00845d78993c945156e29448}} +float {\bfseries fom\+Beam} \mbox{[}4\mbox{]} +\item +\mbox{\Hypertarget{structDVLData_ac89d99b327d991ac954e9fcfa6626571}\label{structDVLData_ac89d99b327d991ac954e9fcfa6626571}} +float {\bfseries time\+Diff1\+Beam} \mbox{[}4\mbox{]} +\item +\mbox{\Hypertarget{structDVLData_a28931909582a0c57a9dcbd1697bf02e4}\label{structDVLData_a28931909582a0c57a9dcbd1697bf02e4}} +float {\bfseries time\+Diff2\+Beam} \mbox{[}4\mbox{]} +\item +\mbox{\Hypertarget{structDVLData_af9258bf7e720912deec19759ca0fe5f5}\label{structDVLData_af9258bf7e720912deec19759ca0fe5f5}} +float {\bfseries time\+Vel\+Est\+Beam} \mbox{[}4\mbox{]} +\item +\mbox{\Hypertarget{structDVLData_a123caca46e2e4219ace9275cafef1cb0}\label{structDVLData_a123caca46e2e4219ace9275cafef1cb0}} +float {\bfseries velX} +\item +\mbox{\Hypertarget{structDVLData_a107d8e8cc0426eb3ef2f9f48ecb7297e}\label{structDVLData_a107d8e8cc0426eb3ef2f9f48ecb7297e}} +float {\bfseries velY} +\item +\mbox{\Hypertarget{structDVLData_a6278b4ceefa315241e9d4e7a6f899c58}\label{structDVLData_a6278b4ceefa315241e9d4e7a6f899c58}} +float {\bfseries vel\+Z1} +\item +\mbox{\Hypertarget{structDVLData_a1c7b313e86ceb53b97112e809910ec1e}\label{structDVLData_a1c7b313e86ceb53b97112e809910ec1e}} +float {\bfseries vel\+Z2} +\item +\mbox{\Hypertarget{structDVLData_ae1e29de62116777900f27d0b0f3cb1eb}\label{structDVLData_ae1e29de62116777900f27d0b0f3cb1eb}} +float {\bfseries fomX} +\item +\mbox{\Hypertarget{structDVLData_a3dfe66a48ae22bc2cceef656989dc6bf}\label{structDVLData_a3dfe66a48ae22bc2cceef656989dc6bf}} +float {\bfseries fomY} +\item +\mbox{\Hypertarget{structDVLData_a0f429d3af0b8fda07738ad1194c783d5}\label{structDVLData_a0f429d3af0b8fda07738ad1194c783d5}} +float {\bfseries fom\+Z1} +\item +\mbox{\Hypertarget{structDVLData_a5e3f75bb00ef3fbb164c8eda8ef51b4c}\label{structDVLData_a5e3f75bb00ef3fbb164c8eda8ef51b4c}} +float {\bfseries fom\+Z2} +\item +\mbox{\Hypertarget{structDVLData_a9676f7c3494bed0ec1d2610816d1837f}\label{structDVLData_a9676f7c3494bed0ec1d2610816d1837f}} +float {\bfseries time\+Diff1X} +\item +\mbox{\Hypertarget{structDVLData_a6c6102cc57797c0260e9df4b1000af67}\label{structDVLData_a6c6102cc57797c0260e9df4b1000af67}} +float {\bfseries time\+Diff1Y} +\item +\mbox{\Hypertarget{structDVLData_a4807a48d0a20c29c2c462e4991009627}\label{structDVLData_a4807a48d0a20c29c2c462e4991009627}} +float {\bfseries time\+Diff1\+Z1} +\item +\mbox{\Hypertarget{structDVLData_a4841e9f613f95b4dad3edd174fcb3c76}\label{structDVLData_a4841e9f613f95b4dad3edd174fcb3c76}} +float {\bfseries time\+Diff1\+Z2} +\item +\mbox{\Hypertarget{structDVLData_abcaade63338b5a467dda5acdbd8d45a6}\label{structDVLData_abcaade63338b5a467dda5acdbd8d45a6}} +float {\bfseries time\+Diff2X} +\item +\mbox{\Hypertarget{structDVLData_a42c34fe33fd7fa92e67e8c78fbfe9ad0}\label{structDVLData_a42c34fe33fd7fa92e67e8c78fbfe9ad0}} +float {\bfseries time\+Diff2Y} +\item +\mbox{\Hypertarget{structDVLData_a2fd590963df7f99255eb25cedddee0dd}\label{structDVLData_a2fd590963df7f99255eb25cedddee0dd}} +float {\bfseries time\+Diff2\+Z1} +\item +\mbox{\Hypertarget{structDVLData_ac0e9b12ec15d14692a60e63a4ac28bf6}\label{structDVLData_ac0e9b12ec15d14692a60e63a4ac28bf6}} +float {\bfseries time\+Diff2\+Z2} +\item +\mbox{\Hypertarget{structDVLData_a7cc2c76c6cdb0cc57917c3fc33e4a803}\label{structDVLData_a7cc2c76c6cdb0cc57917c3fc33e4a803}} +float {\bfseries time\+Vel\+EstX} +\item +\mbox{\Hypertarget{structDVLData_a3253ed16b2c8fc36d1f8897c67378975}\label{structDVLData_a3253ed16b2c8fc36d1f8897c67378975}} +float {\bfseries time\+Vel\+EstY} +\item +\mbox{\Hypertarget{structDVLData_a96d37886f690d7e7a757f1f2a021e92b}\label{structDVLData_a96d37886f690d7e7a757f1f2a021e92b}} +float {\bfseries time\+Vel\+Est\+Z1} +\item +\mbox{\Hypertarget{structDVLData_a6a63a73113c613b8f92caf59da3a41aa}\label{structDVLData_a6a63a73113c613b8f92caf59da3a41aa}} +float {\bfseries time\+Vel\+Est\+Z2} +\end{DoxyCompactItemize} + + +The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/hardware\+\_\+dvl\+\_\+ethernet/include/dvl\+\_\+data.\+h\end{DoxyCompactItemize} diff --git a/docs/latex/structDVLHeader.tex b/docs/latex/structDVLHeader.tex new file mode 100644 index 0000000..446a0f4 --- /dev/null +++ b/docs/latex/structDVLHeader.tex @@ -0,0 +1,31 @@ +\hypertarget{structDVLHeader}{}\doxysection{D\+V\+L\+Header Struct Reference} +\label{structDVLHeader}\index{DVLHeader@{DVLHeader}} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{structDVLHeader_a27d0ac6baf29d0559ead2a9384b1dded}\label{structDVLHeader_a27d0ac6baf29d0559ead2a9384b1dded}} +unsigned char {\bfseries sync} +\item +\mbox{\Hypertarget{structDVLHeader_a2c42e3db97f1529bd582b6f7d2ce18aa}\label{structDVLHeader_a2c42e3db97f1529bd582b6f7d2ce18aa}} +unsigned char {\bfseries hdr\+Size} +\item +\mbox{\Hypertarget{structDVLHeader_af2ca0a3aad38abdb1ce53783596b9949}\label{structDVLHeader_af2ca0a3aad38abdb1ce53783596b9949}} +unsigned char {\bfseries ID} +\item +\mbox{\Hypertarget{structDVLHeader_a3cb5d36f47a1a70d4ed4095ff367369f}\label{structDVLHeader_a3cb5d36f47a1a70d4ed4095ff367369f}} +unsigned char {\bfseries family} +\item +\mbox{\Hypertarget{structDVLHeader_a9b3d0692b86e568dc9994736f5bbd000}\label{structDVLHeader_a9b3d0692b86e568dc9994736f5bbd000}} +unsigned short {\bfseries data\+Size} +\item +\mbox{\Hypertarget{structDVLHeader_a7221731a16a8856930a7346e613016a4}\label{structDVLHeader_a7221731a16a8856930a7346e613016a4}} +unsigned short {\bfseries data\+Checksum} +\item +\mbox{\Hypertarget{structDVLHeader_a5bb58b3b0829d51dd65833b7c6a7da77}\label{structDVLHeader_a5bb58b3b0829d51dd65833b7c6a7da77}} +unsigned short {\bfseries hdr\+Checksum} +\end{DoxyCompactItemize} + + +The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/hardware\+\_\+dvl\+\_\+ethernet/include/dvl\+\_\+data.\+h\end{DoxyCompactItemize} diff --git a/docs/latex/structDVLformat21__t.tex b/docs/latex/structDVLformat21__t.tex new file mode 100644 index 0000000..b36b01d --- /dev/null +++ b/docs/latex/structDVLformat21__t.tex @@ -0,0 +1,16 @@ +\hypertarget{structDVLformat21__t}{}\doxysection{D\+V\+Lformat21\+\_\+t Struct Reference} +\label{structDVLformat21__t}\index{DVLformat21\_t@{DVLformat21\_t}} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{structDVLformat21__t_a73ccb6a2f243fcb72d17fb50b0f06268}\label{structDVLformat21__t_a73ccb6a2f243fcb72d17fb50b0f06268}} +\mbox{\hyperlink{structDVLHeader}{D\+V\+L\+Header}} {\bfseries header} +\item +\mbox{\Hypertarget{structDVLformat21__t_aadedba2c0c9ae4ba1207402182b1039c}\label{structDVLformat21__t_aadedba2c0c9ae4ba1207402182b1039c}} +\mbox{\hyperlink{structDVLData}{D\+V\+L\+Data}} {\bfseries data} +\end{DoxyCompactItemize} + + +The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/hardware\+\_\+dvl\+\_\+ethernet/include/dvl\+\_\+data.\+h\end{DoxyCompactItemize} diff --git a/docs/latex/structDVLstatus.tex b/docs/latex/structDVLstatus.tex new file mode 100644 index 0000000..0e5b7b2 --- /dev/null +++ b/docs/latex/structDVLstatus.tex @@ -0,0 +1,85 @@ +\hypertarget{structDVLstatus}{}\doxysection{D\+V\+Lstatus Struct Reference} +\label{structDVLstatus}\index{DVLstatus@{DVLstatus}} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{structDVLstatus_a405f7663cad8090b27f9e215c7db6fe9}\label{structDVLstatus_a405f7663cad8090b27f9e215c7db6fe9}} +unsigned long {\bfseries beam1\+Vel\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_a53978a4d789e5c1c65139d05b2e1263c}\label{structDVLstatus_a53978a4d789e5c1c65139d05b2e1263c}} +unsigned long {\bfseries beam2\+Vel\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_a495d0e27c2f604b3f8952a3198cab411}\label{structDVLstatus_a495d0e27c2f604b3f8952a3198cab411}} +unsigned long {\bfseries beam3\+Vel\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_a85a7800693b0147eee214658d0c8c510}\label{structDVLstatus_a85a7800693b0147eee214658d0c8c510}} +unsigned long {\bfseries beam4\+Vel\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_af046590caa5844f63acc79fd0871526d}\label{structDVLstatus_af046590caa5844f63acc79fd0871526d}} +unsigned long {\bfseries beam1\+Dist\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_ad7b1de7455cd6c44cf3d2d14f2f05951}\label{structDVLstatus_ad7b1de7455cd6c44cf3d2d14f2f05951}} +unsigned long {\bfseries beam2\+Dist\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_aab61f47a41140ce1469eea7daaa5d4b2}\label{structDVLstatus_aab61f47a41140ce1469eea7daaa5d4b2}} +unsigned long {\bfseries beam3\+Dist\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_a367e8d056ba9c2aadf924621bfc6d040}\label{structDVLstatus_a367e8d056ba9c2aadf924621bfc6d040}} +unsigned long {\bfseries beam4\+Dist\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_ad1c234d1bad1c320a8ba6681dd865f9b}\label{structDVLstatus_ad1c234d1bad1c320a8ba6681dd865f9b}} +unsigned long {\bfseries beam1\+F\+O\+M\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_adad506a00cb45fc81ee00ba011a4b7e6}\label{structDVLstatus_adad506a00cb45fc81ee00ba011a4b7e6}} +unsigned long {\bfseries beam2\+F\+O\+M\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_a5f6bb4f2ebda804ed0de4799f524bfe4}\label{structDVLstatus_a5f6bb4f2ebda804ed0de4799f524bfe4}} +unsigned long {\bfseries beam3\+F\+O\+M\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_a3a60760fc8a41108746737c1b2b9a1fc}\label{structDVLstatus_a3a60760fc8a41108746737c1b2b9a1fc}} +unsigned long {\bfseries beam4\+F\+O\+M\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_a7897fab4708c27414d930fa1a02f83e7}\label{structDVLstatus_a7897fab4708c27414d930fa1a02f83e7}} +unsigned long {\bfseries x\+Vel\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_aa41af34ce95e6bb38a5957c313215b68}\label{structDVLstatus_aa41af34ce95e6bb38a5957c313215b68}} +unsigned long {\bfseries y\+Vel\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_a15a9a1e1f9b0a96fc2620b0f619ccf9c}\label{structDVLstatus_a15a9a1e1f9b0a96fc2620b0f619ccf9c}} +unsigned long {\bfseries z1\+Vel\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_ae169438e5ad27ec3895adeaa3873e48b}\label{structDVLstatus_ae169438e5ad27ec3895adeaa3873e48b}} +unsigned long {\bfseries z2\+Vel\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_ab609b50a6660dc016ff2c56b2a344345}\label{structDVLstatus_ab609b50a6660dc016ff2c56b2a344345}} +unsigned long {\bfseries x\+F\+O\+M\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_ada4eebc4f3444a268e408597b3e1e4e4}\label{structDVLstatus_ada4eebc4f3444a268e408597b3e1e4e4}} +unsigned long {\bfseries y\+F\+O\+M\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_a12f80ecfa3dd831b5b37f5ad6a8fa91f}\label{structDVLstatus_a12f80ecfa3dd831b5b37f5ad6a8fa91f}} +unsigned long {\bfseries z1\+F\+O\+M\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_a7c73c07a1a7357aa119bad7a798be13d}\label{structDVLstatus_a7c73c07a1a7357aa119bad7a798be13d}} +unsigned long {\bfseries z2\+F\+O\+M\+Valid}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_af3cf7c19ed56065095b69325d9a45d64}\label{structDVLstatus_af3cf7c19ed56065095b69325d9a45d64}} +unsigned long {\bfseries proc\+Idle3}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_a1f37cf4fe49c9e75e7d558514e3df69e}\label{structDVLstatus_a1f37cf4fe49c9e75e7d558514e3df69e}} +unsigned long {\bfseries proc\+Idle6}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_a6a93208697cce85f8bf509bc138668f2}\label{structDVLstatus_a6a93208697cce85f8bf509bc138668f2}} +unsigned long {\bfseries proc\+Idle12}\+: 1 +\item +\mbox{\Hypertarget{structDVLstatus_a88cdaf75532d8e9b4a866c1e1505bf22}\label{structDVLstatus_a88cdaf75532d8e9b4a866c1e1505bf22}} +unsigned long {\bfseries \+\_\+empty1}\+: 5 +\item +\mbox{\Hypertarget{structDVLstatus_a732333bfd4d841915d049961e860cc91}\label{structDVLstatus_a732333bfd4d841915d049961e860cc91}} +unsigned long {\bfseries wakeupstate}\+: 4 +\end{DoxyCompactItemize} + + +The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} +\item +hardware\+\_\+layer/hardware\+\_\+dvl\+\_\+ethernet/include/dvl\+\_\+data.\+h\end{DoxyCompactItemize} diff --git a/docs/latex/structObservation.tex b/docs/latex/structObservation.tex new file mode 100644 index 0000000..66b01c3 --- /dev/null +++ b/docs/latex/structObservation.tex @@ -0,0 +1,31 @@ +\hypertarget{structObservation}{}\doxysection{Observation Struct Reference} +\label{structObservation}\index{Observation@{Observation}} +\doxysubsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +\mbox{\Hypertarget{structObservation_a3fa8413ddbe7179997e74aab2a2f0af1}\label{structObservation_a3fa8413ddbe7179997e74aab2a2f0af1}} +std\+::string {\bfseries id} +\item +\mbox{\Hypertarget{structObservation_a12eaeea7a3843dcb54da2bb94dec6f0d}\label{structObservation_a12eaeea7a3843dcb54da2bb94dec6f0d}} +int {\bfseries m\+\_\+x} +\item +\mbox{\Hypertarget{structObservation_a8e44bae27bba19c334bedd16a76080cb}\label{structObservation_a8e44bae27bba19c334bedd16a76080cb}} +int {\bfseries m\+\_\+y} +\item +\mbox{\Hypertarget{structObservation_a8ed13bbc80cae27bb62182b96dd9c123}\label{structObservation_a8ed13bbc80cae27bb62182b96dd9c123}} +int {\bfseries m\+\_\+z} +\item +\mbox{\Hypertarget{structObservation_ac814a20a30fc3434bced8543493770d1}\label{structObservation_ac814a20a30fc3434bced8543493770d1}} +int {\bfseries u\+\_\+x} +\item +\mbox{\Hypertarget{structObservation_a5ef35caea2cff7d0eacb989659919cbb}\label{structObservation_a5ef35caea2cff7d0eacb989659919cbb}} +int {\bfseries u\+\_\+y} +\item +\mbox{\Hypertarget{structObservation_a10c8f97f0fc5b5ebb9ee13d2f8b389a4}\label{structObservation_a10c8f97f0fc5b5ebb9ee13d2f8b389a4}} +int {\bfseries u\+\_\+z} +\end{DoxyCompactItemize} + + +The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} +\item +navigation\+\_\+layer/mapping/include/util.\+h\end{DoxyCompactItemize}