VENode Class Reference

Node class for the velocity estimation node. More...

#include <node.hpp>

Inheritance diagram for VENode:

Collaboration diagram for VENode:

Public Member Functions
	VENode (const VEParameters &parameters)

Protected Member Functions
void	publish_velocities () const

Protected Attributes
VEParameters	_parameters_
std::shared_ptr< VelocityEstimator >	_velocity_estimator_
rclcpp::Publisher< custom_interfaces::msg::Velocities >::SharedPtr	_velocities_pub_

Detailed Description

Node class for the velocity estimation node.

This class is responsible for creating the velocity estimator and creating a publisher. Subclasses of this class are responsible for subscribing to the necessary topics and passing the data to the velocity estimator. The velocity estimator is then used to estimate the vehicle's velocities.

Definition at line 16 of file node.hpp.

Constructor & Destructor Documentation

VENode()

VENode::VENode

(

const VEParameters &

parameters

)

Definition at line 3 of file node.cpp.

Member Function Documentation

publish_velocities()

void VENode::publish_velocities ( ) const

protected

Definition at line 10 of file node.cpp.

Here is the caller graph for this function:

Member Data Documentation

_parameters_

VEParameters VENode::_parameters_

protected

Definition at line 18 of file node.hpp.

_velocities_pub_

rclcpp::Publisher<custom_interfaces::msg::Velocities>::SharedPtr VENode::_velocities_pub_

protected

Definition at line 20 of file node.hpp.

_velocity_estimator_

std::shared_ptr<VelocityEstimator> VENode::_velocity_estimator_

protected

Definition at line 19 of file node.hpp.

---

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

• src/velocity_estimation/include/node/node.hpp
• src/velocity_estimation/src/node/node.cpp