graph_slam::Odometer Class Reference

Keeps track of displacement of a moving frame w.r.t fixed frame. More...

#include <odometer.h>

List of all members.

Public Member Functions
tf::Pose	getDisplacement (const ros::Time &t=ros::Time())
	Get the relative displacement at time t.
	Odometer (tf::TransformListener *tf, const std::string &base_frame, const std::string &fixed_frame, const ros::Duration &timeout=ros::Duration(0.0))
	Create, and reset the reference pose to the current one.
ros::Time	reset (const ros::Duration &timeout=ros::Duration(0.0))
	Reset the reference pose to the most recent one.
void	reset (const ros::Time &t, const ros::Duration &timeout=ros::Duration(0.0))
	Reset the reference pose the one at time t.
Private Attributes
std::string	base_frame_
std::string	fixed_frame_
tf::Stamped< tf::Pose >	reference_pose_
tf::TransformListener *	tf_
const ros::Duration	wait_inc_

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Detailed Description

Keeps track of displacement of a moving frame w.r.t fixed frame.

Create an instance, then call getDisplacement() to get the current displacement wrt the reference pose. Use reset() to reset the reference pose.

Unlike tf, this doesn't have a fixed time window

Definition at line 55 of file odometer.h.

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Constructor & Destructor Documentation

graph_slam::Odometer::Odometer	(	tf::TransformListener *	tf,
		const std::string &	base_frame,
		const std::string &	fixed_frame,
		const ros::Duration &	timeout = ros::Duration(0.0)
	)

Create, and reset the reference pose to the current one.

Parameters:

	tf	A pointer to an existing tf transform listener The pointed-to TransformListener must stay alive for the lifetime of this object
	timeout	Wait this long for the initial transform

Precondition:

ros::init has been called in this process

Definition at line 36 of file odometer.cpp.

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Member Function Documentation

tf::Pose graph_slam::Odometer::getDisplacement

(

const ros::Time &

t = ros::Time()

)

Get the relative displacement at time t.

Exceptions:

tf::TransformException

Returns:

The pose at time t w.r.t the reference pose

Definition at line 67 of file odometer.cpp.

ros::Time graph_slam::Odometer::reset

(

const ros::Duration &

timeout = ros::Duration(0.0)

)

Reset the reference pose to the most recent one.

Exceptions:

tf::TransformException

Definition at line 61 of file odometer.cpp.

void graph_slam::Odometer::reset	(	const ros::Time &	t,
		const ros::Duration &	timeout = ros::Duration(0.0)
	)

Reset the reference pose the one at time t.

Exceptions:

tf::TransformException

Definition at line 43 of file odometer.cpp.

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Member Data Documentation

std::string graph_slam::Odometer::base_frame_ [private]

Definition at line 86 of file odometer.h.

std::string graph_slam::Odometer::fixed_frame_ [private]

Definition at line 87 of file odometer.h.

tf::Stamped<tf::Pose> graph_slam::Odometer::reference_pose_ [private]

Definition at line 88 of file odometer.h.

tf::TransformListener* graph_slam::Odometer::tf_ [private]

Definition at line 85 of file odometer.h.

const ros::Duration graph_slam::Odometer::wait_inc_ [private]

Definition at line 83 of file odometer.h.

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

• odometer.h
• odometer.cpp