laser_slam Namespace Reference

Namespaces
namespace	msg
namespace	srv
Classes
struct	BarycenterDistancePredicate
class	CloudCollector
	PCL filter that collects clouds. More...
class	CloudCollectorROS
	ROS wrapper for the pcl filter. More...
class	LaserMapper
class	LaserSlamException
	A base class for all laser_slam exceptions; provides a handy boost::format parent constructor. More...
struct	LocalizedScan_
struct	Lock
class	OdomConstraints
	Generates just odometric constraints between successive nodes. More...
class	OdomLocalizer
	Localization that just uses odometry. More...
class	OdomSlam
	Publishes odometry-based constraints and localization. More...
class	PointCloudSnapshotter
	Collects laser scans and transforms them into a point cloud w.r.t the base frame at a fixed point in time. Also publishes a 2d occupancy grid based on the scans. More...
struct	RecentScanTime
struct	RecentScanTimeRequest_
struct	RecentScanTimeResponse_
class	ScanIntersection
	Construct with the dimensions of the scan polygon, and then repeatedly call unseenProportion. More...
class	ScanMatchConstraints
	Uses scan matching to generate sequential and loop closure constraints. More...
class	ScanMatchLocalizer
	Localization based on scan matching. More...
struct	ScanOrdering
struct	SnapshotTransformException
Typedefs
typedef std::vector< unsigned >	Chain
typedef pose_graph::CachedNodeMap < sensor_msgs::PointCloud2 >	CloudMap
typedef std::vector < msg::GraphConstraint >	ConstraintVec
typedef ::laser_slam::LocalizedScan_ < std::allocator< void > >	LocalizedScan
typedef boost::shared_ptr < ::laser_slam::LocalizedScan const >	LocalizedScanConstPtr
typedef boost::shared_ptr < ::laser_slam::LocalizedScan >	LocalizedScanPtr
typedef boost::mutex::scoped_lock	Lock
typedef boost::shared_ptr < karto_scan_matcher::KartoScanMatcher >	MatcherPtr
typedef boost::optional < gm::PoseStamped >	MaybeLoc
typedef boost::optional< unsigned >	MaybeNode
typedef boost::optional < ros::Time >	MaybeTime
typedef std::map< unsigned, unsigned >	NodeMap
typedef boost::optional< const msg::ConstraintGraphDiff & >	OptionalDiff
typedef ::laser_slam::RecentScanTimeRequest_ < std::allocator< void > >	RecentScanTimeRequest
typedef boost::shared_ptr < ::laser_slam::RecentScanTimeRequest const >	RecentScanTimeRequestConstPtr
typedef boost::shared_ptr < ::laser_slam::RecentScanTimeRequest >	RecentScanTimeRequestPtr
typedef ::laser_slam::RecentScanTimeResponse_ < std::allocator< void > >	RecentScanTimeResponse
typedef boost::shared_ptr < ::laser_slam::RecentScanTimeResponse const >	RecentScanTimeResponseConstPtr
typedef boost::shared_ptr < ::laser_slam::RecentScanTimeResponse >	RecentScanTimeResponsePtr
typedef boost::circular_buffer < sm::LaserScan::ConstPtr >	ScanBuf
typedef pose_graph::CachedNodeMap < laser_slam::LocalizedScan >	ScanMap
typedef vector< btTransform >	Scans
typedef std::vector < ksm::ScanWithPose >	ScanVec
typedef boost::shared_ptr < tf::TransformListener >	TfPtr
Functions
sm::PointCloud2::ConstPtr	generateGlobalCloud (const pg::ConstraintGraph &graph, const CloudMap &clouds, const string &global_frame)
sensor_msgs::PointCloud2::ConstPtr	generateGlobalCloud (const pose_graph::ConstraintGraph &graph, const CloudMap &db, const std::string &global_frame)
	Generate a global cloud from a graph and saved node clouds.
nm::OccupancyGrid::ConstPtr	generateGlobalMap (const pg::ConstraintGraph &graph, const ScanMap &scans, const double resolution, const string &global_frame, const bool cleanup_grid, const pg::NodePoseMap &opt_poses_, const double robot_radius)
nav_msgs::OccupancyGrid::ConstPtr	generateGlobalMap (const pose_graph::ConstraintGraph &graph, const ScanMap &db, const double resolution, const std::string &global_frame, bool cleanup_grid, const pose_graph::NodePoseMap &poses, const double robot_radius)
	Generate a global grid corresponding to graph.
nm::MapMetaData	getGridBounds (const pg::ConstraintGraph &graph, const double resolution)
karto_scan_matcher::ScanMatchResult	globalLocalization (const pose_graph::ConstraintGraph &g, MatcherPtr local_matcher, const pg::NodeSet &nodes, const ScanMap &scans, const sm::LaserScan &scan, const tf::Pose &laser_offset, double global_resolution, double angular_resolution, const double min_x, const double min_y, const double max_x, const double max_y)
karto_scan_matcher::ScanMatchResult	globalLocalization (const pose_graph::ConstraintGraph &g, MatcherPtr local_matcher, const pg::NodeSet &nodes, const ScanMap &scans, const sm::LaserScan &scan, const tf::Pose &laser_offset, double global_resolution, double angular_resolution)
karto_scan_matcher::ScanMatchResult	globalLocalization (const pose_graph::ConstraintGraph &g, MatcherPtr local_matcher, const pose_graph::NodeSet &nodes, const ScanMap &scans, const sensor_msgs::LaserScan &scan, const tf::Pose &laser_offset, double global_resolution, double angular_resolution, double min_x, double min_y, double max_x, double max_y)
	Basically, do repeated local matches by discretizing the world using global_resolution.
karto_scan_matcher::ScanMatchResult	globalLocalization (const pose_graph::ConstraintGraph &g, MatcherPtr local_matcher, const pose_graph::NodeSet &nodes, const ScanMap &scans, const sensor_msgs::LaserScan &scan, const tf::Pose &laser_offset, double global_resolution, double angular_resolution)
	Basically, do repeated local matches by discretizing the world using global_resolution.
pg::NodeSet	largestComp (const pg::ConstraintGraph &g)
ScanVec	makeRefScans (const pg::ConstraintGraph &g, const ScanMap &scans, const pg::NodeSet &nodes, const tf::Pose &laser_offset)
ScanIntersection	makeScanInt ()
const std::string	NEXT_NODE_TOPIC ("scan_match_constraints_next_node")
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::laser_slam::LocalizedScan_< ContainerAllocator > &v)
void	optimizeGraph (pg::ConstraintGraph g, pg::NodePoseMap poses, const pg::NodeSet &nodes, ros::ServiceClient &srv)
double	pointToLineSegment (const btVector3 &p, const btVector3 &p1, const btVector3 &p2)
const std::string	PREV_NODE_TOPIC ("scan_match_constraints_prev_node")
ksm::ScanMatchResult	scanMatchNodes (const pg::ConstraintGraph &g, MatcherPtr matcher, const pg::NodeSet &nodes, const ScanMap &scans, const sm::LaserScan &scan, const tf::Pose &init_estimate, const tf::Pose &laser_offset)
karto_scan_matcher::ScanMatchResult	scanMatchNodes (const pose_graph::ConstraintGraph &g, MatcherPtr matcher, const pose_graph::NodeSet &nodes, const ScanMap &scans, const sensor_msgs::LaserScan &scan, const tf::Pose &init_estimate, const tf::Pose &laser_offset)
const ros::Duration	TRANSFORM_TOLERANCE (0.3)
Variables
const double	DISTANCE_UPDATE_INC = 0.5
const double	EXPECTED_NODE_DISTANCE = 0.3
const double	GLOBAL_MATCH_MIN_RESPONSE = 0.6
const unsigned	LOCALIZATION_BUFFER_SIZE = 50
const double	LOOP_MATCH_FINE_MULTIPLIER = 0.2
const double	MAX_EXTRAPOLATION = 5.0
const double	MAX_SPEED = 1.0
const double	PADDING = 10.0
	We'll create the grid with this much padding around the provided poses.
const double	POLL_INC = 0.1
const double	POLL_MAX = 1
const double	SCAN_BUFFER_SIZE = 100
const double	SCAN_TIME_INC = 0.2
const double	SCAN_TIMEOUT = 30.0
const double	SCAN_UPDATE_ANGLE_THRESHOLD = 0.5
const double	SCAN_UPDATE_DISTANCE_THRESHOLD = 1.0

Typedef Documentation

typedef std::vector<unsigned> laser_slam::Chain

Definition at line 58 of file scan_match_constraints.h.

typedef pose_graph::CachedNodeMap<sensor_msgs::PointCloud2> laser_slam::CloudMap

Definition at line 52 of file global_map.h.

typedef std::vector<msg::GraphConstraint> laser_slam::ConstraintVec

Definition at line 59 of file scan_match_constraints.h.

typedef ::laser_slam::LocalizedScan_<std::allocator<void> > laser_slam::LocalizedScan

Definition at line 261 of file LocalizedScan.h.

typedef boost::shared_ptr< ::laser_slam::LocalizedScan const> laser_slam::LocalizedScanConstPtr

Definition at line 264 of file LocalizedScan.h.

typedef boost::shared_ptr< ::laser_slam::LocalizedScan> laser_slam::LocalizedScanPtr

Definition at line 263 of file LocalizedScan.h.

typedef boost::mutex::scoped_lock laser_slam::Lock

Definition at line 45 of file odom_constraints.cpp.

typedef boost::shared_ptr<karto_scan_matcher::KartoScanMatcher> laser_slam::MatcherPtr

Definition at line 47 of file scan_matching.h.

typedef boost::optional<gm::PoseStamped> laser_slam::MaybeLoc

Definition at line 61 of file laser_slam_node.cpp.

typedef boost::optional<unsigned> laser_slam::MaybeNode

Definition at line 53 of file scan_match_constraints.cpp.

typedef boost::optional< ros::Time > laser_slam::MaybeTime

Definition at line 60 of file laser_slam_node.cpp.

typedef std::map<unsigned, unsigned> laser_slam::NodeMap

Definition at line 52 of file scan_match_constraints.cpp.

typedef optional< const msg::ConstraintGraphDiff & > laser_slam::OptionalDiff

Definition at line 55 of file util.h.

typedef ::laser_slam::RecentScanTimeRequest_<std::allocator<void> > laser_slam::RecentScanTimeRequest

Definition at line 102 of file RecentScanTime.h.

typedef boost::shared_ptr< ::laser_slam::RecentScanTimeRequest const> laser_slam::RecentScanTimeRequestConstPtr

Definition at line 105 of file RecentScanTime.h.

typedef boost::shared_ptr< ::laser_slam::RecentScanTimeRequest> laser_slam::RecentScanTimeRequestPtr

Definition at line 104 of file RecentScanTime.h.

typedef ::laser_slam::RecentScanTimeResponse_<std::allocator<void> > laser_slam::RecentScanTimeResponse

Definition at line 190 of file RecentScanTime.h.

typedef boost::shared_ptr< ::laser_slam::RecentScanTimeResponse const> laser_slam::RecentScanTimeResponseConstPtr

Definition at line 193 of file RecentScanTime.h.

typedef boost::shared_ptr< ::laser_slam::RecentScanTimeResponse> laser_slam::RecentScanTimeResponsePtr

Definition at line 192 of file RecentScanTime.h.

typedef boost::circular_buffer<sm::LaserScan::ConstPtr> laser_slam::ScanBuf

Definition at line 49 of file point_cloud_snapshotter.cpp.

typedef pose_graph::CachedNodeMap< LocalizedScan > laser_slam::ScanMap

Definition at line 51 of file global_map.h.

typedef vector<btTransform> laser_slam::Scans

Definition at line 49 of file scan_intersection.cpp.

typedef std::vector<ksm::ScanWithPose> laser_slam::ScanVec

Definition at line 57 of file scan_matching.cpp.

typedef boost::shared_ptr<tf::TransformListener> laser_slam::TfPtr

Definition at line 54 of file util.h.

Function Documentation

sm::PointCloud2::ConstPtr laser_slam::generateGlobalCloud	(	const pg::ConstraintGraph &	graph,
		const CloudMap &	clouds,
		const string &	global_frame
	)

Definition at line 173 of file global_map.cpp.

sensor_msgs::PointCloud2::ConstPtr laser_slam::generateGlobalCloud	(	const pose_graph::ConstraintGraph &	graph,
		const CloudMap &	db,
		const std::string &	global_frame
	)

Generate a global cloud from a graph and saved node clouds.

nm::OccupancyGrid::ConstPtr laser_slam::generateGlobalMap	(	const pg::ConstraintGraph &	graph,
		const ScanMap &	scans,
		const double	resolution,
		const string &	global_frame,
		const bool	cleanup_grid,
		const pg::NodePoseMap &	opt_poses_,
		const double	robot_radius
	)

Definition at line 91 of file global_map.cpp.

nav_msgs::OccupancyGrid::ConstPtr laser_slam::generateGlobalMap	(	const pose_graph::ConstraintGraph &	graph,
		const ScanMap &	db,
		const double	resolution,
		const std::string &	global_frame,
		bool	cleanup_grid,
		const pose_graph::NodePoseMap &	poses,
		const double	robot_radius
	)

Generate a global grid corresponding to graph.

nm::MapMetaData laser_slam::getGridBounds	(	const pg::ConstraintGraph &	graph,
		const double	resolution
	)

Definition at line 56 of file global_map.cpp.

karto_scan_matcher::ScanMatchResult laser_slam::globalLocalization	(	const pose_graph::ConstraintGraph &	g,
		MatcherPtr	local_matcher,
		const pg::NodeSet &	nodes,
		const ScanMap &	scans,
		const sm::LaserScan &	scan,
		const tf::Pose &	laser_offset,
		double	global_resolution,
		double	angular_resolution,
		const double	min_x,
		const double	min_y,
		const double	max_x,
		const double	max_y
	)

Definition at line 131 of file scan_matching.cpp.

karto_scan_matcher::ScanMatchResult laser_slam::globalLocalization	(	const pose_graph::ConstraintGraph &	g,
		MatcherPtr	local_matcher,
		const pg::NodeSet &	nodes,
		const ScanMap &	scans,
		const sm::LaserScan &	scan,
		const tf::Pose &	laser_offset,
		double	global_resolution,
		double	angular_resolution
	)

Definition at line 100 of file scan_matching.cpp.

karto_scan_matcher::ScanMatchResult laser_slam::globalLocalization	(	const pose_graph::ConstraintGraph &	g,
		MatcherPtr	local_matcher,
		const pose_graph::NodeSet &	nodes,
		const ScanMap &	scans,
		const sensor_msgs::LaserScan &	scan,
		const tf::Pose &	laser_offset,
		double	global_resolution,
		double	angular_resolution,
		double	min_x,
		double	min_y,
		double	max_x,
		double	max_y
	)

Basically, do repeated local matches by discretizing the world using global_resolution.

karto_scan_matcher::ScanMatchResult laser_slam::globalLocalization	(	const pose_graph::ConstraintGraph &	g,
		MatcherPtr	local_matcher,
		const pose_graph::NodeSet &	nodes,
		const ScanMap &	scans,
		const sensor_msgs::LaserScan &	scan,
		const tf::Pose &	laser_offset,
		double	global_resolution,
		double	angular_resolution
	)

Basically, do repeated local matches by discretizing the world using global_resolution.

pg::NodeSet laser_slam::largestComp ( const pg::ConstraintGraph & g )

Definition at line 49 of file util.cpp.

ScanVec laser_slam::makeRefScans	(	const pg::ConstraintGraph &	g,
		const ScanMap &	scans,
		const pg::NodeSet &	nodes,
		const tf::Pose &	laser_offset
	)

Definition at line 59 of file scan_matching.cpp.

ScanIntersection laser_slam::makeScanInt ( )

Definition at line 90 of file laser_slam_node.cpp.

const std::string laser_slam::NEXT_NODE_TOPIC ( "scan_match_constraints_next_node" )

template<typename ContainerAllocator >

std::ostream& laser_slam::operator<<	(	std::ostream &	s,
		const ::laser_slam::LocalizedScan_< ContainerAllocator > &	v
	)			`[inline]`

Definition at line 268 of file LocalizedScan.h.

void laser_slam::optimizeGraph	(	pg::ConstraintGraph *	g,
		pg::NodePoseMap *	poses,
		const pg::NodeSet &	nodes,
		ros::ServiceClient &	srv
	)

Definition at line 67 of file util.cpp.

double laser_slam::pointToLineSegment	(	const btVector3 &	p,
		const btVector3 &	p1,
		const btVector3 &	p2
	)			`[inline]`

Definition at line 52 of file scan_intersection.cpp.

const std::string laser_slam::PREV_NODE_TOPIC ( "scan_match_constraints_prev_node" )

ksm::ScanMatchResult laser_slam::scanMatchNodes	(	const pg::ConstraintGraph &	g,
		MatcherPtr	matcher,
		const pg::NodeSet &	nodes,
		const ScanMap &	scans,
		const sm::LaserScan &	scan,
		const tf::Pose &	init_estimate,
		const tf::Pose &	laser_offset
	)

Definition at line 86 of file scan_matching.cpp.

karto_scan_matcher::ScanMatchResult laser_slam::scanMatchNodes	(	const pose_graph::ConstraintGraph &	g,
		MatcherPtr	matcher,
		const pose_graph::NodeSet &	nodes,
		const ScanMap &	scans,
		const sensor_msgs::LaserScan &	scan,
		const tf::Pose &	init_estimate,
		const tf::Pose &	laser_offset
	)