GpsLocalizer Class Reference

A default "do-nothing" implementation of the LocalizerMethodBase. More...

#include <GpsLocalizer.hpp>

Inheritance diagram for GpsLocalizer:

Collaboration diagram for GpsLocalizer:

Public Member Functions
	GpsLocalizer ()=default
	Default constructor.
virtual void	on_initialize () override
	Initialize the localization method.
virtual void	update (NavState &nav_state) override
	Updates the localization estimate based on the current navigation state.
virtual void	update_rt (NavState &nav_state) override
	Updates the localization estimate based on the current navigation state.
	~GpsLocalizer ()=default
	Default destructor.

Detailed Description

A default "do-nothing" implementation of the LocalizerMethodBase.

This class implements the interface required by the Easy Navigation framework for localization but does not perform any actual computation. It is useful as a placeholder, example, or fallback when no real localization plugin is configured.

Constructor & Destructor Documentation

GpsLocalizer()

GpsLocalizer ( )

default

Default constructor.

~GpsLocalizer()

~GpsLocalizer ( )

default

Default destructor.

Member Function Documentation

on_initialize()

void on_initialize ( )

overridevirtual

Initialize the localization method.

This override may be used to set up internal resources. By default, it simply succeeds.

Exceptions

std::runtime_error

if initialization fails.

update()

void update ( NavState & nav_state )

overridevirtual

Updates the localization estimate based on the current navigation state.

This method is intended to run the localization logic and update the odometry. In this implementation, the method updates the odometry based on the latest GPS data. GPS data is used to set the robot's position in the UTM coordinate system. The origin of the UTM coordinates is set when the first GPS message is received.

Parameters

nav_state

The current navigation state of the system.

update_rt()

void update_rt ( NavState & nav_state )

overridevirtual

Updates the localization estimate based on the current navigation state.

This method is intended to run the localization logic and update the odometry. In this implementation, the method updates the odometry based on the latest GPS data. GPS data is used to set the robot's position in the UTM coordinate system. The origin of the UTM coordinates is set when the first GPS message is received.

Parameters

nav_state

The current navigation state of the system.

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

• localizers/easynav_gps_localizer/include/easynav_gps_localizer/GpsLocalizer.hpp
• localizers/easynav_gps_localizer/src/easynav_gps_localizer/GpsLocalizer.cpp