SlamKarto Class Reference

List of all members.

Public Member Functions
void	laserCallback (const sensor_msgs::LaserScan::ConstPtr &scan)
bool	mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
	SlamKarto ()
	~SlamKarto ()
Private Member Functions
bool	addScan (karto::LaserRangeFinder *laser, const sensor_msgs::LaserScan::ConstPtr &scan, karto::Pose2 &karto_pose)
karto::LaserRangeFinder *	getLaser (const sensor_msgs::LaserScan::ConstPtr &scan)
bool	getOdomPose (karto::Pose2 &karto_pose, const ros::Time &t)
void	publishGraphVisualization ()
void	publishLoop (double transform_publish_period)
void	publishTransform ()
bool	updateMap ()
Private Attributes
std::string	base_frame_
karto::Dataset *	dataset_
bool	got_map_
bool	inverted_laser_
int	laser_count_
std::map< std::string, karto::LaserRangeFinder * >	lasers_
std::map< std::string, bool >	lasers_inverted_
nav_msgs::GetMap::Response	map_
std::string	map_frame_
boost::mutex	map_mutex_
tf::Transform	map_to_odom_
boost::mutex	map_to_odom_mutex_
ros::Duration	map_update_interval_
karto::Mapper *	mapper_
unsigned	marker_count_
ros::Publisher	marker_publisher_
ros::NodeHandle	node_
std::string	odom_frame_
double	resolution_
tf::MessageFilter < sensor_msgs::LaserScan > *	scan_filter_
message_filters::Subscriber < sensor_msgs::LaserScan > *	scan_filter_sub_
SpaSolver *	solver_
ros::ServiceServer	ss_
ros::Publisher	sst_
ros::Publisher	sstm_
tf::TransformListener	tf_
tf::TransformBroadcaster *	tfB_
int	throttle_scans_
boost::thread *	transform_thread_

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Detailed Description

Definition at line 52 of file slam_karto.cpp.

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Constructor & Destructor Documentation

SlamKarto::SlamKarto

(

)

Definition at line 113 of file slam_karto.cpp.

SlamKarto::~SlamKarto

(

)

Definition at line 168 of file slam_karto.cpp.

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Member Function Documentation

bool SlamKarto::addScan	(	karto::LaserRangeFinder *	laser,
		const sensor_msgs::LaserScan::ConstPtr &	scan,
		karto::Pose2 &	karto_pose
	)		[private]

Definition at line 522 of file slam_karto.cpp.

karto::LaserRangeFinder * SlamKarto::getLaser

(

const sensor_msgs::LaserScan::ConstPtr &

scan

)

[private]

Definition at line 212 of file slam_karto.cpp.

bool SlamKarto::getOdomPose	(	karto::Pose2 &	karto_pose,
		const ros::Time &	t
	)		[private]

Definition at line 298 of file slam_karto.cpp.

void SlamKarto::laserCallback

(

const sensor_msgs::LaserScan::ConstPtr &

scan

)

Definition at line 404 of file slam_karto.cpp.

bool SlamKarto::mapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)

Definition at line 592 of file slam_karto.cpp.

void SlamKarto::publishGraphVisualization

(

)

[private]

Definition at line 323 of file slam_karto.cpp.

void SlamKarto::publishLoop

(

double

transform_publish_period

)

[private]

Definition at line 190 of file slam_karto.cpp.

void SlamKarto::publishTransform

(

)

[private]

Definition at line 204 of file slam_karto.cpp.

bool SlamKarto::updateMap

(

)

[private]

Definition at line 446 of file slam_karto.cpp.

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Member Data Documentation

std::string SlamKarto::base_frame_ [private]

Definition at line 90 of file slam_karto.cpp.

karto::Dataset* SlamKarto::dataset_ [private]

Definition at line 99 of file slam_karto.cpp.

bool SlamKarto::got_map_ [private]

Definition at line 105 of file slam_karto.cpp.

bool SlamKarto::inverted_laser_ [private]

Definition at line 110 of file slam_karto.cpp.

int SlamKarto::laser_count_ [private]

Definition at line 106 of file slam_karto.cpp.

std::map<std::string, karto::LaserRangeFinder*> SlamKarto::lasers_ [private]

Definition at line 101 of file slam_karto.cpp.

std::map<std::string, bool> SlamKarto::lasers_inverted_ [private]

Definition at line 102 of file slam_karto.cpp.

nav_msgs::GetMap::Response SlamKarto::map_ [private]

Definition at line 85 of file slam_karto.cpp.

std::string SlamKarto::map_frame_ [private]

Definition at line 89 of file slam_karto.cpp.

boost::mutex SlamKarto::map_mutex_ [private]

Definition at line 94 of file slam_karto.cpp.

tf::Transform SlamKarto::map_to_odom_ [private]

Definition at line 108 of file slam_karto.cpp.

boost::mutex SlamKarto::map_to_odom_mutex_ [private]

Definition at line 95 of file slam_karto.cpp.

ros::Duration SlamKarto::map_update_interval_ [private]

Definition at line 92 of file slam_karto.cpp.

karto::Mapper* SlamKarto::mapper_ [private]

Definition at line 98 of file slam_karto.cpp.

unsigned SlamKarto::marker_count_ [private]

Definition at line 109 of file slam_karto.cpp.

ros::Publisher SlamKarto::marker_publisher_ [private]

Definition at line 80 of file slam_karto.cpp.

ros::NodeHandle SlamKarto::node_ [private]

Definition at line 74 of file slam_karto.cpp.

std::string SlamKarto::odom_frame_ [private]

Definition at line 88 of file slam_karto.cpp.

double SlamKarto::resolution_ [private]

Definition at line 93 of file slam_karto.cpp.

tf::MessageFilter<sensor_msgs::LaserScan>* SlamKarto::scan_filter_ [private]

Definition at line 78 of file slam_karto.cpp.

message_filters::Subscriber<sensor_msgs::LaserScan>* SlamKarto::scan_filter_sub_ [private]

Definition at line 77 of file slam_karto.cpp.

SpaSolver* SlamKarto::solver_ [private]

Definition at line 100 of file slam_karto.cpp.

ros::ServiceServer SlamKarto::ss_ [private]

Definition at line 82 of file slam_karto.cpp.

ros::Publisher SlamKarto::sst_ [private]

Definition at line 79 of file slam_karto.cpp.

ros::Publisher SlamKarto::sstm_ [private]

Definition at line 81 of file slam_karto.cpp.

tf::TransformListener SlamKarto::tf_ [private]

Definition at line 75 of file slam_karto.cpp.

tf::TransformBroadcaster* SlamKarto::tfB_ [private]

Definition at line 76 of file slam_karto.cpp.

int SlamKarto::throttle_scans_ [private]

Definition at line 91 of file slam_karto.cpp.

boost::thread* SlamKarto::transform_thread_ [private]

Definition at line 107 of file slam_karto.cpp.

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

• slam_karto.cpp