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_
PMScanprevPMScan_
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_

Detailed Description

Definition at line 49 of file psm_node.h.


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.


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.


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.

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.

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.


The documentation for this class was generated from the following files:
 All Classes Files Functions Variables Defines


polar_scan_matcher
Author(s): Ivan Dryanovski
autogenerated on Fri Jan 11 09:16:06 2013