#include <funvehiclemotionstateconverter.h>
Public Member Functions | |
MotionStateFeed (ros::NodeHandle *n, const std::string odom_topic, const std::string accelerationTopic, const std::string steeringAngleTopic, int qsize) | |
virtual bool | hasNext () const override |
virtual void | getNext (adore::fun::VehicleMotionState9d &value) override |
virtual void | getLatest (adore::fun::VehicleMotionState9d &value) override |
Private Member Functions | |
void | receive_odom (nav_msgs::OdometryConstPtr msg) |
void | receive_steering (std_msgs::Float32ConstPtr msg) |
void | receive_acceleration (std_msgs::Float32ConstPtr msg) |
Private Attributes | |
ros::Subscriber | odom_subscriber_ |
ros::Subscriber | steering_subscriber_ |
ros::Subscriber | acceleration_subscriber_ |
double | ax_ |
double | delta_ |
adore::params::APVehicle * | params_ |
std::list< adore::fun::VehicleMotionState9d > | queue_ |
ROS specific implementation of AFeed for VehicleMotionState9d. Reads nav_msgs::Odometry, std_msgs::Float32 (steering angle), std_msgs::Float32 (acceleration) and converts to adore::fun::VehicleMotionState9d
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getLatest reads the latest data element and discards all previous
Implements adore::mad::AFeed< adore::fun::VehicleMotionState9d >.
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getNext reads the next data element
Implements adore::mad::AFeed< adore::fun::VehicleMotionState9d >.
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hasNext indicates whether there is more data to read
Implements adore::mad::AFeed< adore::fun::VehicleMotionState9d >.
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