graph_slam::GraphMapper Class Reference

List of all members.

Public Member Functions
	GraphMapper ()
	Constructor initializes node based on ros params, then sets up the various timers and callbacks, then returns.
Private Member Functions
void	addNewNode ()
PoseStamped	currentFixedFramePose () const
bool	generateMap (GenerateGlobalMap::Request &req, GenerateGlobalMap::Response &resp)
optional< NodeId >	getGridNode (const NodeId n) const
void	initializeFromFile (const string &fname)
void	optimizePoses ()
void	optimizePosesTimed (const WallTimerEvent &e)
void	publishLocalization (const WallTimerEvent &e)
bool	saveGraph (SaveGraph::Request &req, SaveGraph::Response &resp)
void	scanCallback (const sm::LaserScan::ConstPtr &scan)
void	setupConstraintGenerators ()
void	statusCheck (const WallTimerEvent &e)
bool	sufficientlyFarApart (const Pose &p1, const Pose &p2) const
void	updateConstraintLocalizations ()
void	updateFixedFramePose (const Time &t)
void	updateGraph (const WallTimerEvent &e)
void	updateGrid ()
void	visualize (const WallTimerEvent &e)
void	visualizeGridCallback (const UInt64 &n)
Private Attributes
const double	angle_threshold_
const string	base_frame_
vector< ConstraintGenPtr >	constraint_generators_
ros::Publisher	current_frame_pub_
unsigned	current_graph_id_
optional< NodeId >	current_grid_node_
DiffPublisher	diff_pub_
std::queue< PoseGraphDiff >	diffs_
const string	fixed_frame_
ros::ServiceServer	generate_map_srv_
PoseGraph	graph_
ros::WallTimer	graph_publication_timer_
ros::ServiceServer	graph_save_srv_
map< NodeId, NodeSet >	grid_node_to_nodes_
bool	initialized_
optional< PoseStamped >	last_fixed_frame_pose_
optional< NodeId >	last_node_
LaserPtr	last_scan_
ros::Publisher	local_grid_pub_
const double	local_grid_resolution_
const double	local_grid_size_
optional< LocalizationState >	localization_
boost::shared_ptr < ScanMatchLocalization >	localizer_
ros::Publisher	marker_array_pub_
boost::mutex	mutex_
NodeHandle	nh_
NodePoseMap	node_fixed_frame_poses_
map< NodeId, NodeId >	node_to_grid_node_
optional< NodeId >	node_to_visualize_
ros::WallTimer	optimization_timer_
const bool	optimize_
NodePoseMap	optimized_node_poses_
const double	pos_threshold_
ros::Subscriber	scan_sub_
const string	sensor_frame_
ros::WallTimer	status_check_timer_
tf::TransformListener	tf_
tf::TransformBroadcaster	tf_broadcaster_
ros::WallTimer	update_timer_
const bool	use_spa_3d_
ros::Publisher	vis_marker_pub_
ros::Publisher	vis_scan_pub_
ros::WallTimer	visualization_timer_
ros::Subscriber	visualize_grid_sub_

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Detailed Description

Definition at line 124 of file graph_mapper.cpp.

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Constructor & Destructor Documentation

graph_slam::GraphMapper::GraphMapper

(

)

Constructor initializes node based on ros params, then sets up the various timers and callbacks, then returns.

Definition at line 399 of file graph_mapper.cpp.

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Member Function Documentation

void graph_slam::GraphMapper::addNewNode

(

)

[private]

Definition at line 618 of file graph_mapper.cpp.

PoseStamped graph_slam::GraphMapper::currentFixedFramePose

(

)

const [private]

bool graph_slam::GraphMapper::generateMap	(	GenerateGlobalMap::Request &	req,
		GenerateGlobalMap::Response &	resp
	)		[private]

Definition at line 493 of file graph_mapper.cpp.

optional< NodeId > graph_slam::GraphMapper::getGridNode

(

const NodeId

n

)

const [private]

Definition at line 885 of file graph_mapper.cpp.

void graph_slam::GraphMapper::initializeFromFile

(

const string &

fname

)

[private]

Definition at line 344 of file graph_mapper.cpp.

void graph_slam::GraphMapper::optimizePoses

(

)

[private]

Definition at line 754 of file graph_mapper.cpp.

void graph_slam::GraphMapper::optimizePosesTimed

(

const WallTimerEvent &

e

)

[private]

Definition at line 746 of file graph_mapper.cpp.

void graph_slam::GraphMapper::publishLocalization

(

const WallTimerEvent &

e

)

[private]

Definition at line 911 of file graph_mapper.cpp.

bool graph_slam::GraphMapper::saveGraph	(	SaveGraph::Request &	req,
		SaveGraph::Response &	resp
	)		[private]

Definition at line 478 of file graph_mapper.cpp.

void graph_slam::GraphMapper::scanCallback

(

const sm::LaserScan::ConstPtr &

scan

)

[private]

Definition at line 464 of file graph_mapper.cpp.

void graph_slam::GraphMapper::setupConstraintGenerators

(

)

[private]

Definition at line 322 of file graph_mapper.cpp.

void graph_slam::GraphMapper::statusCheck

(

const WallTimerEvent &

e

)

[private]

Definition at line 968 of file graph_mapper.cpp.

bool graph_slam::GraphMapper::sufficientlyFarApart	(	const Pose &	p1,
		const Pose &	p2
	)		const [private]

Definition at line 609 of file graph_mapper.cpp.

void graph_slam::GraphMapper::updateConstraintLocalizations

(

)

[private]

Definition at line 373 of file graph_mapper.cpp.

void graph_slam::GraphMapper::updateFixedFramePose

(

const Time &

t

)

[private]

Todo:

this can technically throw a tf exception if the last few lines take > 10 seconds to execute

Definition at line 578 of file graph_mapper.cpp.

void graph_slam::GraphMapper::updateGraph

(

const WallTimerEvent &

e

)

[private]

Definition at line 525 of file graph_mapper.cpp.

void graph_slam::GraphMapper::updateGrid

(

)

[private]

Definition at line 725 of file graph_mapper.cpp.

void graph_slam::GraphMapper::visualize

(

const WallTimerEvent &

e

)

[private]

Definition at line 795 of file graph_mapper.cpp.

void graph_slam::GraphMapper::visualizeGridCallback

(

const UInt64 &

n

)

[private]

Definition at line 473 of file graph_mapper.cpp.

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Member Data Documentation

const double graph_slam::GraphMapper::angle_threshold_ [private]

Definition at line 213 of file graph_mapper.cpp.

const string graph_slam::GraphMapper::base_frame_ [private]

Definition at line 204 of file graph_mapper.cpp.

vector<ConstraintGenPtr> graph_slam::GraphMapper::constraint_generators_ [private]

Definition at line 287 of file graph_mapper.cpp.

ros::Publisher graph_slam::GraphMapper::current_frame_pub_ [private]

Definition at line 284 of file graph_mapper.cpp.

unsigned graph_slam::GraphMapper::current_graph_id_ [private]

Definition at line 272 of file graph_mapper.cpp.

optional<NodeId> graph_slam::GraphMapper::current_grid_node_ [private]

Definition at line 260 of file graph_mapper.cpp.

DiffPublisher graph_slam::GraphMapper::diff_pub_ [private]

Definition at line 289 of file graph_mapper.cpp.

std::queue<PoseGraphDiff> graph_slam::GraphMapper::diffs_ [private]

Definition at line 266 of file graph_mapper.cpp.

const string graph_slam::GraphMapper::fixed_frame_ [private]

Definition at line 207 of file graph_mapper.cpp.

ros::ServiceServer graph_slam::GraphMapper::generate_map_srv_ [private]

Definition at line 285 of file graph_mapper.cpp.

PoseGraph graph_slam::GraphMapper::graph_ [private]

Definition at line 247 of file graph_mapper.cpp.

ros::WallTimer graph_slam::GraphMapper::graph_publication_timer_ [private]

Definition at line 281 of file graph_mapper.cpp.

ros::ServiceServer graph_slam::GraphMapper::graph_save_srv_ [private]

Definition at line 285 of file graph_mapper.cpp.

map<NodeId, NodeSet> graph_slam::GraphMapper::grid_node_to_nodes_ [private]

Definition at line 257 of file graph_mapper.cpp.

bool graph_slam::GraphMapper::initialized_ [private]

Definition at line 232 of file graph_mapper.cpp.

optional<PoseStamped> graph_slam::GraphMapper::last_fixed_frame_pose_ [private]

Definition at line 238 of file graph_mapper.cpp.

optional<NodeId> graph_slam::GraphMapper::last_node_ [private]

Definition at line 244 of file graph_mapper.cpp.

LaserPtr graph_slam::GraphMapper::last_scan_ [private]

Definition at line 235 of file graph_mapper.cpp.

ros::Publisher graph_slam::GraphMapper::local_grid_pub_ [private]

Definition at line 284 of file graph_mapper.cpp.

const double graph_slam::GraphMapper::local_grid_resolution_ [private]

Definition at line 225 of file graph_mapper.cpp.

const double graph_slam::GraphMapper::local_grid_size_ [private]

Definition at line 222 of file graph_mapper.cpp.

optional<LocalizationState> graph_slam::GraphMapper::localization_ [private]

Definition at line 263 of file graph_mapper.cpp.

boost::shared_ptr<ScanMatchLocalization> graph_slam::GraphMapper::localizer_ [private]

Definition at line 288 of file graph_mapper.cpp.

ros::Publisher graph_slam::GraphMapper::marker_array_pub_ [private]

Definition at line 284 of file graph_mapper.cpp.

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

Definition at line 278 of file graph_mapper.cpp.

NodeHandle graph_slam::GraphMapper::nh_ [private]

Definition at line 279 of file graph_mapper.cpp.

NodePoseMap graph_slam::GraphMapper::node_fixed_frame_poses_ [private]

Definition at line 241 of file graph_mapper.cpp.

map<NodeId, NodeId> graph_slam::GraphMapper::node_to_grid_node_ [private]

Definition at line 254 of file graph_mapper.cpp.

optional<NodeId> graph_slam::GraphMapper::node_to_visualize_ [private]

Definition at line 269 of file graph_mapper.cpp.

ros::WallTimer graph_slam::GraphMapper::optimization_timer_ [private]

Definition at line 281 of file graph_mapper.cpp.

const bool graph_slam::GraphMapper::optimize_ [private]

Definition at line 216 of file graph_mapper.cpp.

NodePoseMap graph_slam::GraphMapper::optimized_node_poses_ [private]

Definition at line 251 of file graph_mapper.cpp.

const double graph_slam::GraphMapper::pos_threshold_ [private]

Definition at line 210 of file graph_mapper.cpp.

ros::Subscriber graph_slam::GraphMapper::scan_sub_ [private]

Definition at line 283 of file graph_mapper.cpp.

const string graph_slam::GraphMapper::sensor_frame_ [private]

Definition at line 201 of file graph_mapper.cpp.

ros::WallTimer graph_slam::GraphMapper::status_check_timer_ [private]

Definition at line 281 of file graph_mapper.cpp.

tf::TransformListener graph_slam::GraphMapper::tf_ [private]

Definition at line 280 of file graph_mapper.cpp.

tf::TransformBroadcaster graph_slam::GraphMapper::tf_broadcaster_ [private]

Definition at line 286 of file graph_mapper.cpp.

ros::WallTimer graph_slam::GraphMapper::update_timer_ [private]

Definition at line 281 of file graph_mapper.cpp.

const bool graph_slam::GraphMapper::use_spa_3d_ [private]

Definition at line 219 of file graph_mapper.cpp.

ros::Publisher graph_slam::GraphMapper::vis_marker_pub_ [private]

Definition at line 284 of file graph_mapper.cpp.

ros::Publisher graph_slam::GraphMapper::vis_scan_pub_ [private]

Definition at line 284 of file graph_mapper.cpp.

ros::WallTimer graph_slam::GraphMapper::visualization_timer_ [private]

Definition at line 281 of file graph_mapper.cpp.

ros::Subscriber graph_slam::GraphMapper::visualize_grid_sub_ [private]

Definition at line 283 of file graph_mapper.cpp.

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

• graph_mapper.cpp