AmclNode Class Reference

List of all members.

Public Member Functions
	AmclNode ()
int	process ()
	~AmclNode ()
Private Member Functions
bool	getOdomPose (tf::Stamped< tf::Pose > &pose, double &x, double &y, double &yaw, const ros::Time &t, const std::string &f)
double	getYaw (tf::Pose &t)
bool	globalLocalizationCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	initialPoseReceived (const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)
void	initialPoseReceivedOld (const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)
void	laserReceived (const sensor_msgs::LaserScanConstPtr &laser_scan)
map_t *	requestMap ()
Static Private Member Functions
static pf_vector_t	uniformPoseGenerator (void *arg)
Private Attributes
double	a_thresh_
std::string	base_frame_id_
ros::Duration	cloud_pub_interval
double	d_thresh_
std::map< std::string, int >	frame_to_laser_
std::string	global_frame_id_
ros::ServiceServer	global_loc_srv_
ros::Duration	gui_publish_period
tf::MessageFilter < geometry_msgs::PoseWithCovarianceStamped > *	initial_pose_filter_
message_filters::Subscriber < geometry_msgs::PoseWithCovarianceStamped > *	initial_pose_sub_
ros::Subscriber	initial_pose_sub_old_
AMCLLaser *	laser_
double	laser_max_range_
double	laser_min_range_
tf::MessageFilter < sensor_msgs::LaserScan > *	laser_scan_filter_
message_filters::Subscriber < sensor_msgs::LaserScan > *	laser_scan_sub_
std::vector< AMCLLaser * >	lasers_
std::vector< bool >	lasers_update_
ros::Time	last_cloud_pub_time
geometry_msgs::PoseWithCovarianceStamped	last_published_pose
tf::Transform	latest_tf_
bool	latest_tf_valid_
map_t *	map_
char *	mapdata
ros::NodeHandle	nh_
AMCLOdom *	odom_
std::string	odom_frame_id_
ros::Publisher	particlecloud_pub_
pf_t *	pf_
double	pf_err_
bool	pf_init_
boost::mutex	pf_mutex_
pf_vector_t	pf_odom_pose_
double	pf_z_
ros::Publisher	pose_pub_
ros::NodeHandle	private_nh_
int	resample_count_
int	resample_interval_
double	resolution
ros::Time	save_pose_last_time
ros::Duration	save_pose_period
bool	sent_first_transform_
int	sx
int	sy
tf::TransformListener *	tf_
tf::TransformBroadcaster *	tfb_
ros::Duration	transform_tolerance_
Static Private Attributes
static std::vector< std::pair < int, int > >	free_space_indices

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Detailed Description

Definition at line 93 of file amcl_node.cpp.

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Constructor & Destructor Documentation

AmclNode::AmclNode

(

)

Definition at line 205 of file amcl_node.cpp.

AmclNode::~AmclNode

(

)

Definition at line 416 of file amcl_node.cpp.

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Member Function Documentation

bool AmclNode::getOdomPose	(	tf::Stamped< tf::Pose > &	pose,
		double &	x,
		double &	y,
		double &	yaw,
		const ros::Time &	t,
		const std::string &	f
	)			[private]

Definition at line 432 of file amcl_node.cpp.

double AmclNode::getYaw

(

tf::Pose &

t

)

[private]

Definition at line 894 of file amcl_node.cpp.

bool AmclNode::globalLocalizationCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)			[private]

Definition at line 496 of file amcl_node.cpp.

void AmclNode::initialPoseReceived

(

const geometry_msgs::PoseWithCovarianceStampedConstPtr &

msg

)

[private]

Definition at line 914 of file amcl_node.cpp.

void AmclNode::initialPoseReceivedOld

(

const geometry_msgs::PoseWithCovarianceStampedConstPtr &

msg

)

[private]

Definition at line 903 of file amcl_node.cpp.

void AmclNode::laserReceived

(

const sensor_msgs::LaserScanConstPtr &

laser_scan

)

[private]

Definition at line 510 of file amcl_node.cpp.

int AmclNode::process

(

)

map_t * AmclNode::requestMap

(

)

[private]

Definition at line 375 of file amcl_node.cpp.

pf_vector_t AmclNode::uniformPoseGenerator

(

void *

arg

)

[static, private]

Definition at line 458 of file amcl_node.cpp.

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Member Data Documentation

double AmclNode::a_thresh_ [private]

Definition at line 156 of file amcl_node.cpp.

std::string AmclNode::base_frame_id_ [private]

Definition at line 128 of file amcl_node.cpp.

ros::Duration AmclNode::cloud_pub_interval [private]

Definition at line 165 of file amcl_node.cpp.

double AmclNode::d_thresh_ [private]

Definition at line 156 of file amcl_node.cpp.

std::map< std::string, int > AmclNode::frame_to_laser_ [private]

Definition at line 148 of file amcl_node.cpp.

std::vector< std::pair< int, int > > AmclNode::free_space_indices [static, private]

Definition at line 114 of file amcl_node.cpp.

std::string AmclNode::global_frame_id_ [private]

Definition at line 129 of file amcl_node.cpp.

ros::ServiceServer AmclNode::global_loc_srv_ [private]

Definition at line 183 of file amcl_node.cpp.

ros::Duration AmclNode::gui_publish_period [private]

Definition at line 131 of file amcl_node.cpp.

tf::MessageFilter<geometry_msgs::PoseWithCovarianceStamped>* AmclNode::initial_pose_filter_ [private]

Definition at line 145 of file amcl_node.cpp.

message_filters::Subscriber<geometry_msgs::PoseWithCovarianceStamped>* AmclNode::initial_pose_sub_ [private]

Definition at line 144 of file amcl_node.cpp.

ros::Subscriber AmclNode::initial_pose_sub_old_ [private]

Definition at line 184 of file amcl_node.cpp.

AMCLLaser* AmclNode::laser_ [private]

Definition at line 163 of file amcl_node.cpp.

double AmclNode::laser_max_range_ [private]

Definition at line 160 of file amcl_node.cpp.

double AmclNode::laser_min_range_ [private]

Definition at line 159 of file amcl_node.cpp.

tf::MessageFilter<sensor_msgs::LaserScan>* AmclNode::laser_scan_filter_ [private]

Definition at line 143 of file amcl_node.cpp.

message_filters::Subscriber<sensor_msgs::LaserScan>* AmclNode::laser_scan_sub_ [private]

Definition at line 142 of file amcl_node.cpp.

std::vector< AMCLLaser* > AmclNode::lasers_ [private]

Definition at line 146 of file amcl_node.cpp.

std::vector< bool > AmclNode::lasers_update_ [private]

Definition at line 147 of file amcl_node.cpp.

ros::Time AmclNode::last_cloud_pub_time [private]

Definition at line 166 of file amcl_node.cpp.

geometry_msgs::PoseWithCovarianceStamped AmclNode::last_published_pose [private]

Definition at line 135 of file amcl_node.cpp.

tf::Transform AmclNode::latest_tf_ [private]

Definition at line 107 of file amcl_node.cpp.

bool AmclNode::latest_tf_valid_ [private]

Definition at line 108 of file amcl_node.cpp.

map_t* AmclNode::map_ [private]

Definition at line 137 of file amcl_node.cpp.

char* AmclNode::mapdata [private]

Definition at line 138 of file amcl_node.cpp.

ros::NodeHandle AmclNode::nh_ [private]

Definition at line 179 of file amcl_node.cpp.

AMCLOdom* AmclNode::odom_ [private]

Definition at line 162 of file amcl_node.cpp.

std::string AmclNode::odom_frame_id_ [private]

Definition at line 126 of file amcl_node.cpp.

ros::Publisher AmclNode::particlecloud_pub_ [private]

Definition at line 182 of file amcl_node.cpp.

pf_t* AmclNode::pf_ [private]

Definition at line 151 of file amcl_node.cpp.

double AmclNode::pf_err_ [private]

Definition at line 153 of file amcl_node.cpp.

bool AmclNode::pf_init_ [private]

Definition at line 154 of file amcl_node.cpp.

boost::mutex AmclNode::pf_mutex_ [private]

Definition at line 152 of file amcl_node.cpp.

pf_vector_t AmclNode::pf_odom_pose_ [private]

Definition at line 155 of file amcl_node.cpp.

double AmclNode::pf_z_ [private]

Definition at line 153 of file amcl_node.cpp.

ros::Publisher AmclNode::pose_pub_ [private]

Definition at line 181 of file amcl_node.cpp.

ros::NodeHandle AmclNode::private_nh_ [private]

Definition at line 180 of file amcl_node.cpp.

int AmclNode::resample_count_ [private]

Definition at line 158 of file amcl_node.cpp.

int AmclNode::resample_interval_ [private]

Definition at line 157 of file amcl_node.cpp.

double AmclNode::resolution [private]

Definition at line 140 of file amcl_node.cpp.

ros::Time AmclNode::save_pose_last_time [private]

Definition at line 132 of file amcl_node.cpp.

ros::Duration AmclNode::save_pose_period [private]

Definition at line 133 of file amcl_node.cpp.

bool AmclNode::sent_first_transform_ [private]

Definition at line 105 of file amcl_node.cpp.

int AmclNode::sx [private]

Definition at line 139 of file amcl_node.cpp.

int AmclNode::sy [private]

Definition at line 139 of file amcl_node.cpp.

tf::TransformListener* AmclNode::tf_ [private]

Definition at line 103 of file amcl_node.cpp.

tf::TransformBroadcaster* AmclNode::tfb_ [private]

Definition at line 102 of file amcl_node.cpp.

ros::Duration AmclNode::transform_tolerance_ [private]

Definition at line 177 of file amcl_node.cpp.

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

• amcl_node.cpp