IRI ROS Specific Algorithm Class. More...

#include <scans_2_odom_alg_node.h>

Inheritance diagram for Scans2OdomAlgNode:

Public Member Functions
	Scans2OdomAlgNode (void)
	Constructor.
	~Scans2OdomAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	change_2_base_footprint_frame (Vector3d &odom_ICP, Matrix3d &odom_ICP_cov)
	change to base footprint frame
Matrix3d	covariance_2_matrix (const geometry_msgs::PoseWithCovariance &pose) const
	covariance to matrix
geometry_msgs::PoseWithCovariance	eigen_2_posewithcovariance (const Vector3d &p, const Matrix3d &cov) const
	matrix and vector to posewithcovariance
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Vector3d	pose_2_vector (const geometry_msgs::Pose &pose) const
	pose to vector
Matrix3d	rotation_matrix (const double &alpha) const
	rotation matrix
Private Member Functions
bool	get_linkCallback (iri_poseslam::GetLink::Request &req, iri_poseslam::GetLink::Response &res)
void	scan_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
Private Attributes
double	bad_cov_thres
Vector3d	d_base_2_laser
std::vector < sensor_msgs::LaserScan >	discarded_laser_scan_buffer_
ros::ServiceServer	get_link_server_
ros::ServiceClient	get_relative_pose_client_
iri_laser_icp::GetRelativePose	get_relative_pose_srv_
double	ICP_covariance_correction_factor
std::vector < sensor_msgs::LaserScan >	laser_scan_buffer_
bool	online_mode
ros::Subscriber	scan_subscriber_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 49 of file scans_2_odom_alg_node.h.

Constructor & Destructor Documentation

Scans2OdomAlgNode::Scans2OdomAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 3 of file scans_2_odom_alg_node.cpp.

Scans2OdomAlgNode::~Scans2OdomAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 25 of file scans_2_odom_alg_node.cpp.

Member Function Documentation

void Scans2OdomAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< Scans2OdomAlgorithm >.

Definition at line 335 of file scans_2_odom_alg_node.cpp.

void Scans2OdomAlgNode::change_2_base_footprint_frame	(	Vector3d &	odom_ICP,
		Matrix3d &	odom_ICP_cov
	)		`[protected]`

change to base footprint frame

This function changes the ICP link to the base footprint frame.

Parameters:

odom_ICP	the vector containing the link
odom_ICP_cov	the covariance matrix of the link

Definition at line 305 of file scans_2_odom_alg_node.cpp.

Matrix3d Scans2OdomAlgNode::covariance_2_matrix ( const geometry_msgs::PoseWithCovariance & pose ) const [protected]

covariance to matrix

This function converts the covariance of a PoseWithCovariance ros message to a eigen::Matrix3d

Parameters:

pose	PoseWithCovariance ros message

Returns:: the covariance matrix

Definition at line 255 of file scans_2_odom_alg_node.cpp.

geometry_msgs::PoseWithCovariance Scans2OdomAlgNode::eigen_2_posewithcovariance	(	const Vector3d &	p,
		const Matrix3d &	cov
	)		const `[protected]`

matrix and vector to posewithcovariance

This function converts a pose (eigen::Vector3d) and a covariance (eigen::Matrix3d) to a posewithcovariance ros message.

Parameters:

p	pose vector
cov	covariance matrix

Returns:: posewithcovariance message

Definition at line 283 of file scans_2_odom_alg_node.cpp.

bool Scans2OdomAlgNode::get_linkCallback	(	iri_poseslam::GetLink::Request &	req,
		iri_poseslam::GetLink::Response &	res
	)		`[private]`

Definition at line 59 of file scans_2_odom_alg_node.cpp.

void Scans2OdomAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< Scans2OdomAlgorithm >.

Definition at line 30 of file scans_2_odom_alg_node.cpp.

void Scans2OdomAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< Scans2OdomAlgorithm >.

Definition at line 319 of file scans_2_odom_alg_node.cpp.

Vector3d Scans2OdomAlgNode::pose_2_vector ( const geometry_msgs::Pose & pose ) const [protected]