graph_slam::LocalizationBuffer Class Reference

Maintains a history of graph localizations; uses a fixed frame to extrapolate A localization is a PoseStamped whose frame id is of the form 'node42'. More...

#include <localization_buffer.h>

List of all members.

Public Member Functions
bool	hasLocalization (const ros::Time &t) const
boost::optional < geometry_msgs::PoseStamped >	lastLocalization () const
geometry_msgs::PoseStamped	localizationAt (const ros::Time &t, const ros::Duration &d) const
geometry_msgs::PoseStamped	localizationAt (const ros::Time &t) const
	LocalizationBuffer (const unsigned buffer_size, const std::string &fixed_frame, const std::string &base_frame, TfPtr tf, const double max_extrapolation)
Private Member Functions
void	localizationCallback (graph_mapping_msgs::LocalizationDistribution::ConstPtr m)
Private Attributes
const std::string	base_frame_
boost::circular_buffer < graph_mapping_msgs::LocalizationDistribution::ConstPtr >	buffer_
const std::string	fixed_frame_
ros::Subscriber	loc_sub_
const double	max_extrapolation_
boost::mutex	mutex_
ros::NodeHandle	nh_
TfPtr	tf_

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Detailed Description

Maintains a history of graph localizations; uses a fixed frame to extrapolate A localization is a PoseStamped whose frame id is of the form 'node42'.

Threadsafe

Definition at line 58 of file localization_buffer.h.

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Constructor & Destructor Documentation

graph_slam::LocalizationBuffer::LocalizationBuffer	(	const unsigned	buffer_size,
		const std::string &	fixed_frame,
		const std::string &	base_frame,
		TfPtr	tf,
		const double	max_extrapolation
	)

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Member Function Documentation

bool graph_slam::LocalizationBuffer::hasLocalization

(

const ros::Time &

t

)

const

Return values:

Whether

we can interpolate a localization at the given time

Definition at line 122 of file localization_buffer.cpp.

boost::optional< gm::PoseStamped > graph_slam::LocalizationBuffer::lastLocalization

(

)

const

Returns:

Last localization in the buffer if there's at least one, empty otherwise

Definition at line 138 of file localization_buffer.cpp.

gm::PoseStamped graph_slam::LocalizationBuffer::localizationAt	(	const ros::Time &	t,
		const ros::Duration &	d
	)			const

Exceptions:

LocalizationExtrapolationException

Definition at line 94 of file localization_buffer.cpp.

gm::PoseStamped graph_slam::LocalizationBuffer::localizationAt

(

const ros::Time &

t

)

const

Exceptions:

LocalizationExtrapolationException

Definition at line 88 of file localization_buffer.cpp.

void graph_slam::LocalizationBuffer::localizationCallback

(

graph_mapping_msgs::LocalizationDistribution::ConstPtr

m

)

[private]

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Member Data Documentation

const std::string graph_slam::LocalizationBuffer::base_frame_ [private]

Definition at line 82 of file localization_buffer.h.

boost::circular_buffer<graph_mapping_msgs::LocalizationDistribution::ConstPtr> graph_slam::LocalizationBuffer::buffer_ [private]

Definition at line 87 of file localization_buffer.h.

const std::string graph_slam::LocalizationBuffer::fixed_frame_ [private]

Definition at line 81 of file localization_buffer.h.

ros::Subscriber graph_slam::LocalizationBuffer::loc_sub_ [private]

Definition at line 89 of file localization_buffer.h.

const double graph_slam::LocalizationBuffer::max_extrapolation_ [private]

Definition at line 83 of file localization_buffer.h.

boost::mutex graph_slam::LocalizationBuffer::mutex_ [mutable, private]

Definition at line 85 of file localization_buffer.h.

ros::NodeHandle graph_slam::LocalizationBuffer::nh_ [private]

Definition at line 88 of file localization_buffer.h.

TfPtr graph_slam::LocalizationBuffer::tf_ [private]

Definition at line 86 of file localization_buffer.h.

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

• localization_buffer.h
• localization_buffer.cpp