PSMNode Class Reference

#include <psm_node.h>

List of all members.

Public Member Functions
	PSMNode ()
virtual	~PSMNode ()
Private Member Functions
void	getCurrentEstimatedPose (btTransform &worldToBase, const sensor_msgs::LaserScan &scanMsg)
void	getParams ()
void	imuCallback (const sensor_msgs::Imu &imuMsg)
bool	initialize (const sensor_msgs::LaserScan &scan)
void	pose2DToTf (const geometry_msgs::Pose2D &pose, btTransform &t)
void	publishPose (const btTransform &transform)
void	publishTf (const btTransform &transform, const ros::Time &time)
void	rosToPMScan (const sensor_msgs::LaserScan &scan, const btTransform &change, PMScan *pmScan)
void	scanCallback (const sensor_msgs::LaserScan &scan)
void	tfToPose2D (const btTransform &t, geometry_msgs::Pose2D &pose)
Private Attributes
std::string	baseFrame_
btTransform	baseToLaser_
double	currImuAngle_
boost::mutex	imuMutex_
ros::Subscriber	imuSubscriber_
bool	initialized_
std::string	laserFrame_
btTransform	laserToBase_
PolarMatcher	matcher_
double	maxError_
int	maxIterations_
int	minValidPoints_
ros::Publisher	posePublisher_
double	prevImuAngle_
PMScan *	prevPMScan_
btTransform	prevWorldToBase_
bool	publishPose_
bool	publishTf_
int	scansCount_
ros::Subscriber	scanSubscriber_
int	searchWindow_
double	stopCondition_
tf::TransformBroadcaster	tfBroadcaster_
tf::TransformListener	tfListener_
double	totalDuration_
bool	useImuOdometry_
bool	useTfOdometry_
std::string	worldFrame_

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Detailed Description

Definition at line 49 of file psm_node.h.

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Constructor & Destructor Documentation

PSMNode::PSMNode

(

)

Definition at line 38 of file psm_node.cpp.

PSMNode::~PSMNode

(

)

[virtual]

Definition at line 57 of file psm_node.cpp.

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Member Function Documentation

void PSMNode::getCurrentEstimatedPose	(	btTransform &	worldToBase,
		const sensor_msgs::LaserScan &	scanMsg
	)			[private]

Definition at line 337 of file psm_node.cpp.

void PSMNode::getParams

(

)

[private]

Definition at line 62 of file psm_node.cpp.

void PSMNode::imuCallback

(

const sensor_msgs::Imu &

imuMsg

)

[private]

Definition at line 172 of file psm_node.cpp.

bool PSMNode::initialize

(

const sensor_msgs::LaserScan &

scan

)

[private]

Definition at line 118 of file psm_node.cpp.

void PSMNode::pose2DToTf	(	const geometry_msgs::Pose2D &	pose,
		btTransform &	t
	)			[private]

Definition at line 355 of file psm_node.cpp.

void PSMNode::publishPose

(

const btTransform &

transform

)

[private]

Definition at line 294 of file psm_node.cpp.

void PSMNode::publishTf	(	const btTransform &	transform,
		const ros::Time &	time
	)			[private]

Definition at line 287 of file psm_node.cpp.

void PSMNode::rosToPMScan	(	const sensor_msgs::LaserScan &	scan,
		const btTransform &	change,
		PMScan *	pmScan
	)			[private]

Definition at line 302 of file psm_node.cpp.

void PSMNode::scanCallback

(

const sensor_msgs::LaserScan &

scan

)

[private]

Definition at line 182 of file psm_node.cpp.

void PSMNode::tfToPose2D	(	const btTransform &	t,
		geometry_msgs::Pose2D &	pose
	)			[private]

Definition at line 363 of file psm_node.cpp.

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Member Data Documentation

std::string PSMNode::baseFrame_ [private]

Definition at line 88 of file psm_node.h.

btTransform PSMNode::baseToLaser_ [private]

Definition at line 60 of file psm_node.h.

double PSMNode::currImuAngle_ [private]

Definition at line 72 of file psm_node.h.

boost::mutex PSMNode::imuMutex_ [private]

Definition at line 70 of file psm_node.h.

ros::Subscriber PSMNode::imuSubscriber_ [private]

Definition at line 54 of file psm_node.h.

bool PSMNode::initialized_ [private]

Definition at line 63 of file psm_node.h.

std::string PSMNode::laserFrame_ [private]

Definition at line 89 of file psm_node.h.

btTransform PSMNode::laserToBase_ [private]

Definition at line 61 of file psm_node.h.

PolarMatcher PSMNode::matcher_ [private]

Definition at line 67 of file psm_node.h.

double PSMNode::maxError_ [private]

Definition at line 83 of file psm_node.h.

int PSMNode::maxIterations_ [private]

Definition at line 84 of file psm_node.h.

int PSMNode::minValidPoints_ [private]

Definition at line 81 of file psm_node.h.

ros::Publisher PSMNode::posePublisher_ [private]

Definition at line 55 of file psm_node.h.

double PSMNode::prevImuAngle_ [private]

Definition at line 71 of file psm_node.h.

PMScan* PSMNode::prevPMScan_ [private]

Definition at line 68 of file psm_node.h.

btTransform PSMNode::prevWorldToBase_ [private]

Definition at line 59 of file psm_node.h.

bool PSMNode::publishPose_ [private]

Definition at line 77 of file psm_node.h.

bool PSMNode::publishTf_ [private]

Definition at line 76 of file psm_node.h.

int PSMNode::scansCount_ [private]

Definition at line 65 of file psm_node.h.

ros::Subscriber PSMNode::scanSubscriber_ [private]

Definition at line 53 of file psm_node.h.

int PSMNode::searchWindow_ [private]

Definition at line 82 of file psm_node.h.

double PSMNode::stopCondition_ [private]

Definition at line 85 of file psm_node.h.

tf::TransformBroadcaster PSMNode::tfBroadcaster_ [private]

Definition at line 57 of file psm_node.h.

tf::TransformListener PSMNode::tfListener_ [private]

Definition at line 58 of file psm_node.h.

double PSMNode::totalDuration_ [private]

Definition at line 64 of file psm_node.h.

bool PSMNode::useImuOdometry_ [private]

Definition at line 79 of file psm_node.h.

bool PSMNode::useTfOdometry_ [private]

Definition at line 78 of file psm_node.h.

std::string PSMNode::worldFrame_ [private]

Definition at line 87 of file psm_node.h.

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

• psm_node.h
• psm_node.cpp