laser_slam::ScanMatchConstraints Class Reference

Uses scan matching to generate sequential and loop closure constraints. More...

#include <scan_match_constraints.h>

Public Member Functions
	ScanMatchConstraints (ros::NodeHandle param_nh, TfPtr tf)
Private Member Functions
void	addConstraints (OptionalDiff diff, const pg::ConstraintGraph &g)
void	addSequenceLink (const unsigned n1, const unsigned n2)
tf::Pose	fixedFramePose (const unsigned n) const
Chain	getChain (const unsigned n, const pg::NodeSet &nodes, const pg::NodeSet &forbidden) const
ConstraintVec	getLoopConstraints (const unsigned n, const pg::ConstraintGraph &g, const gm::PoseStamped &l, const pg::NodeSet &running) const
ConstraintVec	getNearLinkConstraints (const unsigned n, const pg::ConstraintGraph &g, const gm::PoseStamped &l, const pg::NodeSet &running) const
ConstraintVec	getRunningConstraints (const unsigned n, const pg::ConstraintGraph &g, const gm::PoseStamped &l, const pg::NodeSet &running) const
pg::NodeSet	getRunningNodes (const pg::ConstraintGraph &g, const unsigned n, const gm::PoseStamped &l) const
void	locCallback (msg::LocalizationDistribution::ConstPtr m)
msg::GraphConstraint	makeConstraint (const pg::ConstraintGraph &g, const unsigned n, const unsigned ref, const karto_scan_matcher::ScanMatchResult &res, LocalizedScan::ConstPtr scan) const
msg::GraphConstraint	makeConstraint (const pg::ConstraintGraph &g, const unsigned n, const karto_scan_matcher::ScanMatchResult &res, const pg::NodeSet &nodes, LocalizedScan::ConstPtr scan) const
boost::optional< unsigned >	nextNode (const unsigned n) const
unsigned	nodeWithNearestBarycenter (const pg::ConstraintGraph &g, const pg::NodeSet &nodes, const geometry_msgs::Point &p) const
boost::optional< unsigned >	previousNode (const unsigned n) const
void	updateDistanceTravelled (const ros::TimerEvent &e)
Private Attributes
pose_graph::CachedNodeMap < std_msgs::UInt64 >	after_
const std::string	base_frame_
pose_graph::CachedNodeMap < std_msgs::UInt64 >	before_
const double	chain_distance_threshold_
ros::Publisher	constraint_pub_
warehouse::WarehouseClient	db_
pg::DiffSubscriber	diff_sub_
double	distance_since_last_added_node_
ros::Timer	distance_update_timer_
pose_graph::CachedNodeMap < geometry_msgs::Pose >	ff_poses_
const std::string	fixed_frame_
ros::ServiceClient	get_poses_client_
bool	initialized_
const std::string	laser_frame_
tf::Pose	laser_offset_
boost::optional< unsigned >	last_added_node_
graph_slam::LocalizationBuffer	loc_buf_
ros::Subscriber	loc_sub_
const double	local_window_size_
const unsigned	loop_match_min_chain_size_
const double	loop_match_window_size_
MatcherPtr	loop_matcher_
const double	loop_scan_match_res_
const double	loop_scan_match_size_
ros::Publisher	marker_pub_
const double	max_loop_match_variance_
const double	max_nbd_size_
const double	min_loop_response_
const double	min_sequential_response_
boost::mutex	mutex_
const unsigned	near_link_min_chain_size_
ros::NodeHandle	nh_
const std::string	opt_frame_
pg::NodePoseMap	optimized_poses_
ros::Publisher	pose_pub_
const unsigned	running_buffer_size_
boost::circular_buffer< unsigned >	running_nodes_
const double	running_scan_match_res_
const double	running_scan_match_size_
ScanMap	scans_
MatcherPtr	sequential_matcher_
TfPtr	tf_

Detailed Description

Uses scan matching to generate sequential and loop closure constraints.

Definition at line 66 of file scan_match_constraints.h.

Constructor & Destructor Documentation

laser_slam::ScanMatchConstraints::ScanMatchConstraints	(	ros::NodeHandle	param_nh,
		TfPtr	tf
	)

Definition at line 47 of file odom_constraints.cpp.

Member Function Documentation

void laser_slam::ScanMatchConstraints::addConstraints	(	OptionalDiff	diff,
		const pg::ConstraintGraph &	g
	)			`[private]`

void laser_slam::ScanMatchConstraints::addSequenceLink	(	const unsigned	n1,
		const unsigned	n2
	)			`[private]`

Definition at line 505 of file odom_constraints.cpp.

tf::Pose laser_slam::ScanMatchConstraints::fixedFramePose ( const unsigned n ) const [private]

Definition at line 234 of file odom_constraints.cpp.

Chain laser_slam::ScanMatchConstraints::getChain	(	const unsigned	n,
		const pg::NodeSet &	nodes,
		const pg::NodeSet &	forbidden
	)			const `[private]`

Definition at line 515 of file odom_constraints.cpp.

ConstraintVec laser_slam::ScanMatchConstraints::getLoopConstraints	(	const unsigned	n,
		const pg::ConstraintGraph &	g,
		const gm::PoseStamped &	l,
		const pg::NodeSet &	running
	)			const `[private]`

Definition at line 292 of file odom_constraints.cpp.

ConstraintVec laser_slam::ScanMatchConstraints::getNearLinkConstraints	(	const unsigned	n,
		const pg::ConstraintGraph &	g,
		const gm::PoseStamped &	l,
		const pg::NodeSet &	running
	)			const `[private]`

Definition at line 258 of file odom_constraints.cpp.

ConstraintVec laser_slam::ScanMatchConstraints::getRunningConstraints	(	const unsigned	n,
		const pg::ConstraintGraph &	g,
		const gm::PoseStamped &	l,
		const pg::NodeSet &	running
	)			const `[private]`

Definition at line 378 of file odom_constraints.cpp.

pg::NodeSet laser_slam::ScanMatchConstraints::getRunningNodes	(	const pg::ConstraintGraph &	g,
		const unsigned	n,
		const gm::PoseStamped &	l
	)			const `[private]`

Definition at line 217 of file odom_constraints.cpp.

void laser_slam::ScanMatchConstraints::locCallback ( msg::LocalizationDistribution::ConstPtr m ) [private]

Definition at line 100 of file odom_constraints.cpp.

msg::GraphConstraint laser_slam::ScanMatchConstraints::makeConstraint	(	const pg::ConstraintGraph &	g,
		const unsigned	n,
		const unsigned	ref,
		const karto_scan_matcher::ScanMatchResult &	res,
		LocalizedScan::ConstPtr	scan
	)			const `[private]`

msg::GraphConstraint laser_slam::ScanMatchConstraints::makeConstraint	(	const pg::ConstraintGraph &	g,
		const unsigned	n,
		const karto_scan_matcher::ScanMatchResult &	res,
		const pg::NodeSet &	nodes,
		LocalizedScan::ConstPtr	scan
	)			const `[private]`

MaybeNode laser_slam::ScanMatchConstraints::nextNode ( const unsigned n ) const [private]

Definition at line 497 of file odom_constraints.cpp.

unsigned laser_slam::ScanMatchConstraints::nodeWithNearestBarycenter	(	const pg::ConstraintGraph &	g,
		const pg::NodeSet &	nodes,
		const geometry_msgs::Point &	p
	)			const `[private]`