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CPCROSPlugin

class gazebo::CPCROSPlugin

class gazebo::CPCROSPlugin
  : public gazebo::ROSBaseModelPlugin

Summary

Members	Descriptions
publicCPCROSPlugin()	Class constructor.
public virtual~CPCROSPlugin()	Class destructor.
public virtual voidLoad(physics::ModelPtr _model,sdf::ElementPtr _sdf)	Load the plugin.
protected ros::SubscriberparticlesSub	Input topic for the plume particle point cloud.
protected ros::PublishersalinityPub	Output topic for salinity measurements based on the particle concentration.
protected boolupdatingCloud	Flag to ensure the cloud and measurement update don't coincide.
protected doublegamma	Gamma velocity parameter for the smoothing function.
protected doublegain	Sensor gain.
protected doublesmoothingLength
protected ros::TimelastUpdateTimestamp	Last update from the point cloud callback.
protected uuv_sensor_ros_plugins_msgs::ChemicalParticleConcentrationoutputMsg	Output measurement topic.
protected uuv_sensor_ros_plugins_msgs::SalinitysalinityMsg	Output salinity measurement message.
protected doublewaterSalinityValue
protected doubleplumeSalinityValue
protected virtual boolOnUpdate(const common::UpdateInfo & _info)	Update sensor measurement.
protected virtual voidOnPlumeParticlesUpdate(const sensor_msgs::PointCloud::ConstPtr & _msg)	Update callback from simulator.

Members

publicCPCROSPlugin()

Class constructor.

public virtual~CPCROSPlugin()

Class destructor.

public virtual voidLoad(physics::ModelPtr _model,sdf::ElementPtr _sdf)

Load the plugin.

protected ros::SubscriberparticlesSub

Input topic for the plume particle point cloud.

protected ros::PublishersalinityPub

Output topic for salinity measurements based on the particle concentration.

protected boolupdatingCloud

Flag to ensure the cloud and measurement update don't coincide.

protected doublegamma

Gamma velocity parameter for the smoothing function.

protected doublegain

Sensor gain.

protected doublesmoothingLength

protected ros::TimelastUpdateTimestamp

Last update from the point cloud callback.

protected uuv_sensor_ros_plugins_msgs::ChemicalParticleConcentrationoutputMsg

Output measurement topic.

protected uuv_sensor_ros_plugins_msgs::SalinitysalinityMsg

Output salinity measurement message.

protected doublewaterSalinityValue

protected doubleplumeSalinityValue

protected virtual boolOnUpdate(const common::UpdateInfo & _info)

Update sensor measurement.

protected virtual voidOnPlumeParticlesUpdate(const sensor_msgs::PointCloud::ConstPtr & _msg)

Update callback from simulator.