explore::LoopClosure Class Reference

#include <loop_closure.h>

Classes
class	VisibilityChecker
Public Member Functions
	LoopClosure (double addition_dist_min, double loop_dist_min, double loop_dist_max, double slam_entropy_max_, double graph_update_frequency, actionlib::SimpleActionClient< move_base_msgs::MoveBaseAction > &move_base_client, costmap_2d::Costmap2DROS &costmap, boost::mutex &control_mutex)
void	updateGraph (const tf::Pose &pose)
	~LoopClosure ()
Private Member Functions
void	addNode (const tf::Pose &pose)
template<class ActionType >
void	bresenham2D (ActionType at, unsigned int abs_da, unsigned int abs_db, int error_b, int offset_a, int offset_b, unsigned int offset, unsigned int max_length)
	A 2D implementation of Bresenham's raytracing algorithm... applies an action at each step.
bool	checkLoopClosure (const tf::Pose &pose, std::vector< GraphNode * > &candidates)
void	dijkstra (int source)
double	distance (const geometry_msgs::PoseStamped &p1, const geometry_msgs::PoseStamped &p2)
void	entropyCallback (const std_msgs::Float64::ConstPtr &entropy)
template<class ActionType >
void	raytraceLine (ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int size_x, unsigned int max_length=UINT_MAX)
	Raytrace a line and apply some action at each step.
int	sign (int x)
void	visualizeEdge (const tf::Pose &pose1, const tf::Pose &pose2, visualization_msgs::MarkerArray &markers)
void	visualizeGraph ()
void	visualizeNode (const tf::Pose &pose, visualization_msgs::MarkerArray &markers)
Private Attributes
double	addition_dist_min_
boost::mutex &	control_mutex_
costmap_2d::Costmap2DROS &	costmap_
GraphNode *	curr_node_
ros::Subscriber	entropy_subscriber_
std::vector< std::vector< int > >	graph_
double	graph_update_frequency_
double	loop_dist_max_
double	loop_dist_min_
int	marker_id_
ros::Publisher	marker_publisher_
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction > &	move_base_client_
ros::NodeHandle	nh_
std::vector< GraphNode * >	nodes_
navfn::NavfnROS *	planner_
double	slam_entropy_
double	slam_entropy_max_
double	slam_entropy_time_

Detailed Description

Definition at line 84 of file loop_closure.h.

Constructor & Destructor Documentation

LoopClosure::LoopClosure	(	double	addition_dist_min,
		double	loop_dist_min,
		double	loop_dist_max,
		double	slam_entropy_max_,
		double	graph_update_frequency,
		actionlib::SimpleActionClient< move_base_msgs::MoveBaseAction > &	move_base_client,
		costmap_2d::Costmap2DROS &	costmap,
		boost::mutex &	control_mutex
	)

Definition at line 52 of file loop_closure.cpp.

LoopClosure::~LoopClosure ( )

Definition at line 80 of file loop_closure.cpp.

Member Function Documentation

void LoopClosure::addNode ( const tf::Pose & pose ) [private]

Definition at line 197 of file loop_closure.cpp.

template<class ActionType >

void explore::LoopClosure::bresenham2D	(	ActionType	at,
		unsigned int	abs_da,
		unsigned int	abs_db,
		int	error_b,
		int	offset_a,
		int	offset_b,
		unsigned int	offset,
		unsigned int	max_length
	)			`[inline, private]`

A 2D implementation of Bresenham's raytracing algorithm... applies an action at each step.

Definition at line 170 of file loop_closure.h.

bool LoopClosure::checkLoopClosure	(	const tf::Pose &	pose,
		std::vector< GraphNode * > &	candidates
	)			`[private]`

Definition at line 340 of file loop_closure.cpp.

void LoopClosure::dijkstra ( int source ) [private]

Definition at line 450 of file loop_closure.cpp.

double explore::LoopClosure::distance	(	const geometry_msgs::PoseStamped &	p1,
		const geometry_msgs::PoseStamped &	p2
	)			`[inline, private]`

Definition at line 115 of file loop_closure.h.

void LoopClosure::entropyCallback ( const std_msgs::Float64::ConstPtr & entropy ) [private]

Definition at line 86 of file loop_closure.cpp.

template<class ActionType >

void explore::LoopClosure::raytraceLine	(	ActionType	at,
		unsigned int	x0,
		unsigned int	y0,
		unsigned int	x1,
		unsigned int	y1,
		unsigned int	size_x,
		unsigned int	max_length = `UINT_MAX`
	)			`[inline, private]`

Raytrace a line and apply some action at each step.

Parameters:

	at	The action to take... a functor
	x0	The starting x coordinate
	y0	The starting y coordinate
	x1	The ending x coordinate
	y1	The ending y coordinate
	max_length	The maximum desired length of the segment... allows you to not go all the way to the endpoint