laser_slam::ScanMatchLocalizer Class Reference

Localization based on scan matching. More...

#include <scan_match_localization.h>

Public Member Functions
	ScanMatchLocalizer (ros::NodeHandle param_nh, boost::shared_ptr< tf::TransformListener > tf)
Private Member Functions
void	adjustInitialPose (const tf::Pose &p, const pose_graph::ConstraintGraph &g, const pose_graph::NodeSet &comp, double global_loc_radius)
bool	closerTo (const pg::ConstraintGraph &g, const btVector3 &barycenter, const unsigned n1, const unsigned n2) const
unsigned	closestNode (const pg::ConstraintGraph &g, const pg::NodeSet &nodes, const btVector3 &barycenter) const
void	diffCB (boost::optional< const msg::ConstraintGraphDiff & > diff, const pg::ConstraintGraph &graph)
boost::optional < tf::StampedTransform >	fixedFramePoseAt (const ros::Time &t)
void	matchCB (const kidnapped_robot::MatchResult &match)
void	recomputeOptimizedPoses (pg::ConstraintGraph *g, const pg::NodeSet &comp)
void	setInitialPose (const geometry_msgs::PoseWithCovarianceStamped &m)
void	storeScan (sensor_msgs::LaserScan::ConstPtr scan)
void	update (const ros::TimerEvent &e)
void	updateUsingFixedFrame ()
Private Attributes
const double	angular_resolution_
const std::string	base_frame_
warehouse::WarehouseClient	db_
pg::DiffSubscriber	diff_sub_
const bool	do_global_localization_
const pose_graph::CachedNodeMap < geometry_msgs::Pose >	ff_poses_
const std::string	fixed_frame_
ros::ServiceClient	get_poses_client_
ros::Publisher	image_save_pub_
ros::Subscriber	init_pose_sub_
sensor_msgs::LaserScan::ConstPtr	initialization_scan_
bool	initialized_
tf::Pose	laser_offset_
msg::LocalizationDistribution::Ptr	last_loc_
boost::optional< ros::Time >	last_match_request_time_
sensor_msgs::LaserScan::ConstPtr	last_scan_
ros::Publisher	loc_pub_
unsigned	match_count_
const double	match_radius_
ros::Publisher	match_req_pub_
const double	match_resolution_
boost::optional < kidnapped_robot::MatchResult >	match_result_
ros::Subscriber	match_sub_
MatcherPtr	matcher_
const double	max_nbd_size_
boost::mutex	mutex_
ros::NodeHandle	nh_
const double	odom_noise_
const std::string	opt_frame_
pg::NodePoseMap	opt_poses_
bool	optimize_flag_
ros::NodeHandle	param_nh_
const double	scan_match_proportion_
ros::Subscriber	scan_sub_
const ScanMap	scans_
boost::shared_ptr < tf::TransformListener >	tf_
const double	update_rate_
ros::Timer	update_timer_
const double	window_size_

Detailed Description

Localization based on scan matching.

Definition at line 57 of file scan_match_localization.h.

Constructor & Destructor Documentation

laser_slam::ScanMatchLocalizer::ScanMatchLocalizer	(	ros::NodeHandle	param_nh,
		boost::shared_ptr< tf::TransformListener >	tf
	)

Definition at line 74 of file scan_match_localization.cpp.

Member Function Documentation

void laser_slam::ScanMatchLocalizer::adjustInitialPose	(	const tf::Pose &	p,
		const pose_graph::ConstraintGraph &	g,
		const pose_graph::NodeSet &	comp,
		double	global_loc_radius
	)			`[private]`

bool laser_slam::ScanMatchLocalizer::closerTo	(	const pg::ConstraintGraph &	g,
		const btVector3 &	barycenter,
		const unsigned	n1,
		const unsigned	n2
	)			const `[private]`

Definition at line 127 of file scan_match_localization.cpp.

unsigned laser_slam::ScanMatchLocalizer::closestNode	(	const pg::ConstraintGraph &	g,
		const pg::NodeSet &	nodes,
		const btVector3 &	barycenter
	)			const `[private]`