Public Member Functions | Private Member Functions | Private Attributes
flirtlib_ros::Node Class Reference

List of all members.

Public Member Functions

void mainLoop (const ros::TimerEvent &e)
void mainLoop (const ros::TimerEvent &e)
void mapCB (const nm::OccupancyGrid &g)
void navCB (const mbm::MoveBaseActionResult &m)
 Node ()
 Node ()
 Node ()
 Node ()
 Node ()
void publishExecState (const ros::TimerEvent &e)
bool resetExecState (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
void scanCB (sm::LaserScan::ConstPtr scan)
void scanCB (sm::LaserScan::ConstPtr scan)
void scanCB (sm::LaserScan::ConstPtr scan)
void scanCB (unsigned i, const sm::LaserScan::ConstPtr &scan)
void scanCB (sm::LaserScan::ConstPtr scan)

Private Member Functions

tf::Transform compensateOdometry (const tf::Pose &sensor_pose, const string &frame, const ros::Time &t1, const ros::Time &t2)
RefScanRos extractFeatures (sm::LaserScan::ConstPtr scan, const gm::Pose &pose)
RefScans generateRefScans () const
gm::Pose getPose ()
gm::Pose getPose ()
gm::Pose getPoseAt (const ros::Time &t) const
MapWithMetadata::ConstPtr getSavedGrid () const
bool haveNearbyScan (const gm::Pose &pose) const
void initializeRefScans ()
void initializeRefScans ()
void publishRefScans () const
void updateLocalized (sm::LaserScan::ConstPtr scan, const gm::Pose &p)
void updateUnlocalized (sm::LaserScan::ConstPtr scan)

Private Attributes

ros::Publisher adjusted_pose_pub_
double badness_threshold_
bool continual_publish_
string db_host_
string db_name_
shared_ptr< DescriptorGenerator > descriptor_
boost::shared_ptr
< DescriptorGenerator > 		descriptor_
shared_ptr< Detector > detector_
boost::shared_ptr< Detector > detector_
shared_ptr< ScanPoseEvaluator > evaluator_
ros::Publisher exec_state_pub_
ros::Timer exec_timer_
FlirtlibFeatures features_
shared_ptr< HistogramDistance
< double > > 		histogram_dist_
boost::shared_ptr
< HistogramDistance< double > > 		histogram_dist_
const tf::Transform laser_offset_
tf::Transform laser_offset_
boost::optional< gm::Pose > last_pose_
double localization_badness_
ros::Subscriber map_sub_
ros::Publisher marker_pub_
ros::Publisher match_pose_pub_
const double min_num_matches_
unsigned min_num_matches_
unsigned min_successful_navs_
boost::mutex mutex_
ros::Subscriber nav_sub_
ros::NodeHandle nh_
const unsigned num_matches_required_
string odom_frame_
shared_ptr
< SimpleMinMaxPeakFinder > 		peak_finder_
 Flirtlib.
boost::shared_ptr
< SimpleMinMaxPeakFinder > 		peak_finder_
ros::NodeHandle pnh_
const double pos_inc_
ros::Publisher pose_est_pub_
ros::Publisher pose_pub_
ros::Timer pub_timer_
bool publishing_loc_
shared_ptr
< RansacFeatureSetMatcher > 		ransac_
boost::shared_ptr
< RansacFeatureSetMatcher > 		ransac_
ros::Publisher ref_scan_pose_pub_
RefScans ref_scans_
vector< RefScan > ref_scans_
ros::ServiceServer reset_srv_
sm::LaserScan::ConstPtr scan_
vector< sm::LaserScan::ConstPtr > scan_
const string scan_db_
ros::Subscriber scan_sub_
ros::Subscriber scan_subs_ [2]
mr::MessageCollection< RefScanRos > scans_
unsigned successful_navs_
tf::TransformListener tf_
const double theta_inc_
ros::Rate update_rate_

Detailed Description

Definition at line 104 of file flirtlib_ros_test.cpp.

Constructor & Destructor Documentation

flirtlib_ros::Node::Node ( )

Definition at line 171 of file flirtlib_ros_test.cpp.

flirtlib_ros::Node::Node ( )
flirtlib_ros::Node::Node ( )
flirtlib_ros::Node::Node ( )
flirtlib_ros::Node::Node ( )

Member Function Documentation

tf::Transform flirtlib_ros::Node::compensateOdometry ( const tf::Pose &  pose,
const string &  frame,
const ros::Time &  t1,
const ros::Time &  t2 
) [private]

Compensate for base movement between scan time and current time using odometry

Definition at line 456 of file localization_monitor_node.cpp.

RefScanRos flirtlib_ros::Node::extractFeatures ( sm::LaserScan::ConstPtr  scan,
const gm::Pose &  pose 
) [private]

Definition at line 170 of file generate_scan_map.cpp.

RefScans flirtlib_ros::Node::generateRefScans ( ) const [private]

Definition at line 213 of file place_rec_test.cpp.

gm::Pose flirtlib_ros::Node::getPose ( ) [private]
gm::Pose flirtlib_ros::Node::getPose ( ) [private]

Definition at line 327 of file place_rec_test.cpp.

gm::Pose flirtlib_ros::Node::getPoseAt ( const ros::Time &  t) const [private]

Definition at line 156 of file generate_scan_map.cpp.

MapWithMetadata::ConstPtr flirtlib_ros::Node::getSavedGrid ( ) const [private]
bool flirtlib_ros::Node::haveNearbyScan ( const gm::Pose &  pose) const [private]

Definition at line 133 of file generate_scan_map.cpp.

void flirtlib_ros::Node::initializeRefScans ( ) [private]
void flirtlib_ros::Node::initializeRefScans ( ) [private]

Definition at line 273 of file place_rec_test.cpp.

void flirtlib_ros::Node::mainLoop ( const ros::TimerEvent &  e)
void flirtlib_ros::Node::mainLoop ( const ros::TimerEvent &  e)

Definition at line 241 of file flirtlib_ros_test.cpp.

void flirtlib_ros::Node::mapCB ( const nm::OccupancyGrid &  g)

Definition at line 328 of file localization_monitor_node.cpp.

void flirtlib_ros::Node::navCB ( const mbm::MoveBaseActionResult &  m)

Definition at line 293 of file localization_monitor_node.cpp.

void flirtlib_ros::Node::publishExecState ( const ros::TimerEvent &  e)

Definition at line 282 of file localization_monitor_node.cpp.

void flirtlib_ros::Node::publishRefScans ( ) const [private]

Definition at line 307 of file localization_monitor_node.cpp.

bool flirtlib_ros::Node::resetExecState ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  resp 
)

Definition at line 233 of file localization_monitor_node.cpp.

void flirtlib_ros::Node::scanCB ( sm::LaserScan::ConstPtr  scan)

Definition at line 184 of file generate_scan_map.cpp.

void flirtlib_ros::Node::scanCB ( sm::LaserScan::ConstPtr  scan)
void flirtlib_ros::Node::scanCB ( sm::LaserScan::ConstPtr  scan)
void flirtlib_ros::Node::scanCB ( unsigned  i,
const sm::LaserScan::ConstPtr &  scan 
)

Definition at line 229 of file flirtlib_ros_test.cpp.

void flirtlib_ros::Node::scanCB ( sm::LaserScan::ConstPtr  scan)
void flirtlib_ros::Node::updateLocalized ( sm::LaserScan::ConstPtr  scan,
const gm::Pose &  p 
) [private]

Definition at line 476 of file localization_monitor_node.cpp.

void flirtlib_ros::Node::updateUnlocalized ( sm::LaserScan::ConstPtr  scan) [private]

Definition at line 370 of file localization_monitor_node.cpp.

Member Data Documentation

ros::Publisher flirtlib_ros::Node::adjusted_pose_pub_ [private]

Definition at line 110 of file startup_loc.cpp.

double flirtlib_ros::Node::badness_threshold_ [private]

Definition at line 176 of file localization_monitor_node.cpp.

bool flirtlib_ros::Node::continual_publish_ [private]

Definition at line 183 of file localization_monitor_node.cpp.

string flirtlib_ros::Node::db_host_ [private]

Definition at line 170 of file localization_monitor_node.cpp.

string flirtlib_ros::Node::db_name_ [private]

Definition at line 167 of file localization_monitor_node.cpp.

shared_ptr<DescriptorGenerator> flirtlib_ros::Node::descriptor_ [private]

Definition at line 111 of file place_rec_test.cpp.

boost::shared_ptr< DescriptorGenerator > flirtlib_ros::Node::descriptor_ [private]

Definition at line 125 of file flirtlib_ros_test.cpp.

shared_ptr<Detector> flirtlib_ros::Node::detector_ [private]

Definition at line 110 of file place_rec_test.cpp.

boost::shared_ptr< Detector > flirtlib_ros::Node::detector_ [private]

Definition at line 124 of file flirtlib_ros_test.cpp.

shared_ptr<ScanPoseEvaluator> flirtlib_ros::Node::evaluator_ [private]

Definition at line 212 of file localization_monitor_node.cpp.

ros::Publisher flirtlib_ros::Node::exec_state_pub_ [private]

Definition at line 224 of file localization_monitor_node.cpp.

ros::Timer flirtlib_ros::Node::exec_timer_ [private]

Definition at line 132 of file flirtlib_ros_test.cpp.

FlirtlibFeatures flirtlib_ros::Node::features_ [private]

Definition at line 82 of file generate_scan_map.cpp.

shared_ptr<HistogramDistance<double> > flirtlib_ros::Node::histogram_dist_ [private]

Definition at line 109 of file place_rec_test.cpp.

boost::shared_ptr< HistogramDistance< double > > flirtlib_ros::Node::histogram_dist_ [private]

Definition at line 123 of file flirtlib_ros_test.cpp.

const tf::Transform flirtlib_ros::Node::laser_offset_ [private]

Definition at line 92 of file startup_loc.cpp.

tf::Transform flirtlib_ros::Node::laser_offset_ [private]

Definition at line 193 of file localization_monitor_node.cpp.

boost::optional<gm::Pose> flirtlib_ros::Node::last_pose_ [private]

Definition at line 105 of file place_rec_test.cpp.

double flirtlib_ros::Node::localization_badness_ [private]

Definition at line 202 of file localization_monitor_node.cpp.

ros::Subscriber flirtlib_ros::Node::map_sub_ [private]

Definition at line 219 of file localization_monitor_node.cpp.

ros::Publisher flirtlib_ros::Node::marker_pub_ [private]

Definition at line 130 of file flirtlib_ros_test.cpp.

ros::Publisher flirtlib_ros::Node::match_pose_pub_ [private]

Definition at line 223 of file localization_monitor_node.cpp.

const double flirtlib_ros::Node::min_num_matches_ [private]

Definition at line 91 of file startup_loc.cpp.

unsigned flirtlib_ros::Node::min_num_matches_ [private]

Definition at line 161 of file localization_monitor_node.cpp.

unsigned flirtlib_ros::Node::min_successful_navs_ [private]

Definition at line 164 of file localization_monitor_node.cpp.

boost::mutex flirtlib_ros::Node::mutex_ [private]

Definition at line 115 of file flirtlib_ros_test.cpp.

ros::Subscriber flirtlib_ros::Node::nav_sub_ [private]

Definition at line 226 of file localization_monitor_node.cpp.

ros::NodeHandle flirtlib_ros::Node::nh_ [private]

Definition at line 116 of file flirtlib_ros_test.cpp.

const unsigned flirtlib_ros::Node::num_matches_required_ [private]

Definition at line 100 of file place_rec_test.cpp.

string flirtlib_ros::Node::odom_frame_ [private]

Definition at line 179 of file localization_monitor_node.cpp.

shared_ptr<SimpleMinMaxPeakFinder> flirtlib_ros::Node::peak_finder_ [private]

Flirtlib.

Definition at line 108 of file place_rec_test.cpp.

boost::shared_ptr< SimpleMinMaxPeakFinder > flirtlib_ros::Node::peak_finder_ [private]

Definition at line 122 of file flirtlib_ros_test.cpp.

ros::NodeHandle flirtlib_ros::Node::pnh_ [private]

Definition at line 227 of file localization_monitor_node.cpp.

const double flirtlib_ros::Node::pos_inc_ [private]

Definition at line 79 of file generate_scan_map.cpp.

ros::Publisher flirtlib_ros::Node::pose_est_pub_ [private]

Definition at line 222 of file localization_monitor_node.cpp.

ros::Publisher flirtlib_ros::Node::pose_pub_ [private]

Definition at line 225 of file localization_monitor_node.cpp.

ros::Timer flirtlib_ros::Node::pub_timer_ [private]

Definition at line 229 of file localization_monitor_node.cpp.

bool flirtlib_ros::Node::publishing_loc_ [private]

Definition at line 196 of file localization_monitor_node.cpp.

shared_ptr<RansacFeatureSetMatcher> flirtlib_ros::Node::ransac_ [private]

Definition at line 112 of file place_rec_test.cpp.

boost::shared_ptr< RansacFeatureSetMatcher > flirtlib_ros::Node::ransac_ [private]

Definition at line 126 of file flirtlib_ros_test.cpp.

ros::Publisher flirtlib_ros::Node::ref_scan_pose_pub_ [private]

Definition at line 221 of file localization_monitor_node.cpp.

RefScans flirtlib_ros::Node::ref_scans_ [private]

Definition at line 104 of file place_rec_test.cpp.

RefScans flirtlib_ros::Node::ref_scans_ [private]

Definition at line 190 of file localization_monitor_node.cpp.

ros::ServiceServer flirtlib_ros::Node::reset_srv_ [private]

Definition at line 228 of file localization_monitor_node.cpp.

sm::LaserScan::ConstPtr flirtlib_ros::Node::scan_ [private]

Definition at line 103 of file place_rec_test.cpp.

vector<sm::LaserScan::ConstPtr> flirtlib_ros::Node::scan_ [private]

Definition at line 119 of file flirtlib_ros_test.cpp.

const string flirtlib_ros::Node::scan_db_ [private]

Definition at line 99 of file place_rec_test.cpp.

ros::Subscriber flirtlib_ros::Node::scan_sub_ [private]

Definition at line 86 of file generate_scan_map.cpp.

ros::Subscriber flirtlib_ros::Node::scan_subs_[2] [private]

Definition at line 129 of file flirtlib_ros_test.cpp.

mr::MessageCollection< RefScanRos > flirtlib_ros::Node::scans_ [private]

Definition at line 88 of file generate_scan_map.cpp.

unsigned flirtlib_ros::Node::successful_navs_ [private]

Definition at line 199 of file localization_monitor_node.cpp.

tf::TransformListener flirtlib_ros::Node::tf_ [private]

Definition at line 131 of file flirtlib_ros_test.cpp.

const double flirtlib_ros::Node::theta_inc_ [private]

Definition at line 79 of file generate_scan_map.cpp.

ros::Rate flirtlib_ros::Node::update_rate_ [private]

Definition at line 173 of file localization_monitor_node.cpp.

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

flirtlib_ros
Author(s): Bhaskara Marthi
autogenerated on Thu Nov 28 2013 11:21:50