trans_error_icp Namespace Reference

Functions
def	base_to_laser_frame
def	calc_arc_length
def	callback_laser
def	callback_odom
def	callback_status
def	get_vector_statistics
def	icp_client
def	laser_to_base_frame
def	resta
def	write_and_print_results
Variables
string	_EC = '\033[0m'
int	arc = 0
string	CB_ = '\033[34m'
string	CC_ = '\033[36m'
string	CG_ = '\033[1;30m'
string	CK_ = '\033[1;35m'
string	CLB_ = '\033[1;34m'
string	CLC_ = '\033[1;36m'
string	CLG_ = '\033[37m'
string	CLR_ = '\033[1;31m'
string	CLV_ = '\033[1;32m'
string	CM_ = '\033[33m'
string	CN_ = '\033[30m'
string	CP_ = '\033[35m'
string	CR_ = '\033[31m'
tuple	current_pose = Pose()
tuple	current_scan = LaserScan()
string	CV_ = '\033[32m'
string	CW_ = '\033[1;37m'
string	CY_ = '\033[1;33m'
float	d = 0.0
tuple	d_fd = float(0.0)
tuple	d_icp = icp_client(first_scan, last_scan, prev_L)
list	d_mp = first_scan.ranges[int(len(first_scan.ranges)/2)]
tuple	d_wd = float(0.0)
tuple	d_wv = float(0.0)
tuple	first_scan = LaserScan()
int	i = 0
int	j = 1
string	kind = "line"
tuple	L = Pose()
tuple	last_scan = LaserScan()
tuple	last_t = rospy.Time()
list	lst_d_arc = []
list	lst_d_fd = []
list	lst_d_icp = []
list	lst_d_mp = []
list	lst_d_wd = []
list	lst_d_wv = []
list	lst_status = []
int	M = 2
int	N = 2
	no_first_scan = True
tuple	old_pose = Pose()
float	old_theta = 0.0
tuple	p_v = rospy.Publisher('/teo/segway/cmd_vel_unsafe', Twist)
tuple	prev_L = Pose()
tuple	prior_d = Pose()
tuple	r = rospy.Rate(10)
string	SB_ = '\033[1m'
	start_d_wd = d_wd
string	test_name = "test"
list	tfl2b = [[0.57], [0], [0]]
tuple	theta_total = abs(vel_ang*L.position.x/vel_lin)
tuple	tw = Twist()
tuple	tw_turn = Twist()
tuple	tw_zero = Twist()
float	vel_ang = 0.5
float	vel_lin = 0.5

---

Function Documentation

def trans_error_icp.base_to_laser_frame

(

pose_robot

)

Definition at line 128 of file trans_error_icp.py.

def trans_error_icp.calc_arc_length

(

s

)

Definition at line 243 of file trans_error_icp.py.

def trans_error_icp.callback_laser

(

data

)

Definition at line 97 of file trans_error_icp.py.

def trans_error_icp.callback_odom

(

data

)

Definition at line 104 of file trans_error_icp.py.

def trans_error_icp.callback_status

(

data

)

Definition at line 81 of file trans_error_icp.py.

def trans_error_icp.get_vector_statistics	(		name,
			v
	)

Definition at line 166 of file trans_error_icp.py.

def trans_error_icp.icp_client	(		ref,
			sens,
			d
	)

Definition at line 152 of file trans_error_icp.py.

def trans_error_icp.laser_to_base_frame

(

pose_laser

)

Definition at line 114 of file trans_error_icp.py.

def trans_error_icp.resta	(		p2,
			p1
	)

Definition at line 224 of file trans_error_icp.py.

def trans_error_icp.write_and_print_results

(

test_iterations

)

Definition at line 177 of file trans_error_icp.py.

---

Variable Documentation

string trans_error_icp::_EC = '\033[0m'

Definition at line 67 of file trans_error_icp.py.

int trans_error_icp::arc = 0

Definition at line 316 of file trans_error_icp.py.

string trans_error_icp::CB_ = '\033[34m'

Definition at line 61 of file trans_error_icp.py.

string trans_error_icp::CC_ = '\033[36m'

Definition at line 65 of file trans_error_icp.py.

string trans_error_icp::CG_ = '\033[1;30m'

Definition at line 53 of file trans_error_icp.py.

string trans_error_icp::CK_ = '\033[1;35m'

Definition at line 64 of file trans_error_icp.py.

string trans_error_icp::CLB_ = '\033[1;34m'

Definition at line 62 of file trans_error_icp.py.

string trans_error_icp::CLC_ = '\033[1;36m'

Definition at line 66 of file trans_error_icp.py.

string trans_error_icp::CLG_ = '\033[37m'

Definition at line 52 of file trans_error_icp.py.

string trans_error_icp::CLR_ = '\033[1;31m'

Definition at line 56 of file trans_error_icp.py.

string trans_error_icp::CLV_ = '\033[1;32m'

Definition at line 58 of file trans_error_icp.py.

string trans_error_icp::CM_ = '\033[33m'

Definition at line 59 of file trans_error_icp.py.

string trans_error_icp::CN_ = '\033[30m'

Definition at line 54 of file trans_error_icp.py.

string trans_error_icp::CP_ = '\033[35m'

Definition at line 63 of file trans_error_icp.py.

string trans_error_icp::CR_ = '\033[31m'

Definition at line 55 of file trans_error_icp.py.

tuple trans_error_icp::current_pose = Pose()

Definition at line 314 of file trans_error_icp.py.

tuple trans_error_icp::current_scan = LaserScan()

Definition at line 313 of file trans_error_icp.py.

string trans_error_icp::CV_ = '\033[32m'

Definition at line 57 of file trans_error_icp.py.

string trans_error_icp::CW_ = '\033[1;37m'

Definition at line 51 of file trans_error_icp.py.

string trans_error_icp::CY_ = '\033[1;33m'

Definition at line 60 of file trans_error_icp.py.

float trans_error_icp::d = 0.0

Definition at line 326 of file trans_error_icp.py.

tuple trans_error_icp::d_fd = float(0.0)

Definition at line 70 of file trans_error_icp.py.

tuple trans_error_icp::d_icp = icp_client(first_scan, last_scan, prev_L)

Definition at line 387 of file trans_error_icp.py.

list trans_error_icp::d_mp = first_scan.ranges[int(len(first_scan.ranges)/2)]

Definition at line 389 of file trans_error_icp.py.

tuple trans_error_icp::d_wd = float(0.0)

Definition at line 71 of file trans_error_icp.py.

float trans_error_icp::d_wv = float(0.0)

Definition at line 72 of file trans_error_icp.py.

tuple trans_error_icp::first_scan = LaserScan()

Definition at line 330 of file trans_error_icp.py.

int trans_error_icp::i = 0

Definition at line 324 of file trans_error_icp.py.

int trans_error_icp::j = 1

Definition at line 325 of file trans_error_icp.py.

list trans_error_icp::kind = "line"

Definition at line 276 of file trans_error_icp.py.

tuple trans_error_icp::L = Pose()

Definition at line 269 of file trans_error_icp.py.

tuple trans_error_icp::last_scan = LaserScan()

Definition at line 331 of file trans_error_icp.py.

tuple trans_error_icp::last_t = rospy.Time()

Definition at line 69 of file trans_error_icp.py.

list trans_error_icp::lst_d_arc = []

Definition at line 312 of file trans_error_icp.py.

list trans_error_icp::lst_d_fd = []

Definition at line 309 of file trans_error_icp.py.

list trans_error_icp::lst_d_icp = []

Definition at line 310 of file trans_error_icp.py.

list trans_error_icp::lst_d_mp = []

Definition at line 311 of file trans_error_icp.py.

list trans_error_icp::lst_d_wd = []

Definition at line 308 of file trans_error_icp.py.

list trans_error_icp::lst_d_wv = []

Definition at line 307 of file trans_error_icp.py.

list trans_error_icp::lst_status = []

Definition at line 306 of file trans_error_icp.py.

int trans_error_icp::M = 2

Definition at line 273 of file trans_error_icp.py.

tuple trans_error_icp::N = 2

Definition at line 272 of file trans_error_icp.py.

trans_error_icp::no_first_scan = True

Definition at line 329 of file trans_error_icp.py.

tuple trans_error_icp::old_pose = Pose()

Definition at line 334 of file trans_error_icp.py.

trans_error_icp::old_theta = 0.0

Definition at line 315 of file trans_error_icp.py.

tuple trans_error_icp::p_v = rospy.Publisher('/teo/segway/cmd_vel_unsafe', Twist)

Definition at line 322 of file trans_error_icp.py.

tuple trans_error_icp::prev_L = Pose()

Definition at line 333 of file trans_error_icp.py.

tuple trans_error_icp::prior_d = Pose()

Definition at line 332 of file trans_error_icp.py.

tuple trans_error_icp::r = rospy.Rate(10)

Definition at line 303 of file trans_error_icp.py.

string trans_error_icp::SB_ = '\033[1m'

Definition at line 50 of file trans_error_icp.py.

trans_error_icp::start_d_wd = d_wd

Definition at line 354 of file trans_error_icp.py.

list trans_error_icp::test_name = "test"

Definition at line 270 of file trans_error_icp.py.

list trans_error_icp::tfl2b = [[0.57], [0], [0]]

Definition at line 74 of file trans_error_icp.py.

tuple trans_error_icp::theta_total = abs(vel_ang*L.position.x/vel_lin)

Definition at line 328 of file trans_error_icp.py.

tuple trans_error_icp::tw = Twist()

Definition at line 292 of file trans_error_icp.py.

tuple trans_error_icp::tw_turn = Twist()

Definition at line 294 of file trans_error_icp.py.

tuple trans_error_icp::tw_zero = Twist()

Definition at line 291 of file trans_error_icp.py.

tuple trans_error_icp::vel_ang = 0.5

Definition at line 275 of file trans_error_icp.py.

tuple trans_error_icp::vel_lin = 0.5

Definition at line 274 of file trans_error_icp.py.