viso2_ros::OdometerBase Class Reference

#include <odometer_base.h>

Inheritance diagram for viso2_ros::OdometerBase:

List of all members.

Public Member Functions
	OdometerBase ()
Protected Member Functions
std::string	getSensorFrameId () const
void	integrateAndPublish (const tf::Transform &delta_transform, const ros::Time &timestamp)
bool	resetPose (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	setPoseCovariance (const boost::array< double, 36 > &pose_covariance)
void	setSensorFrameId (const std::string &frame_id)
void	setTwistCovariance (const boost::array< double, 36 > &twist_covariance)
void	updateCurrentBaseToSensorTransform (const ros::Time &timestamp)
void	updateInitialBaseToSensorTransform ()
Private Attributes
std::string	base_link_frame_id_
tf::StampedTransform	current_base_to_sensor_
tf::StampedTransform	initial_base_to_sensor_
tf::Transform	integrated_pose_
ros::Time	last_update_time_
std::string	odom_frame_id_
ros::Publisher	odom_pub_
boost::array< double, 36 >	pose_covariance_
ros::Publisher	pose_pub_
bool	publish_tf_
ros::ServiceServer	reset_service_
std::string	sensor_frame_id_
tf::TransformBroadcaster	tf_broadcaster_
tf::TransformListener	tf_listener_
boost::array< double, 36 >	twist_covariance_

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Detailed Description

Base class for odometers, handles tf's, odometry and pose publishing. This can be used as base for any incremental pose estimating sensor. Sensors that measure velocities cannot be used.

Definition at line 20 of file odometer_base.h.

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Constructor & Destructor Documentation

viso2_ros::OdometerBase::OdometerBase

(

)

[inline]

Definition at line 54 of file odometer_base.h.

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Member Function Documentation

std::string viso2_ros::OdometerBase::getSensorFrameId

(

)

const [inline, protected]

Definition at line 89 of file odometer_base.h.

void viso2_ros::OdometerBase::integrateAndPublish	(	const tf::Transform &	delta_transform,
		const ros::Time &	timestamp
	)		[inline, protected]

Definition at line 160 of file odometer_base.h.

bool viso2_ros::OdometerBase::resetPose	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)		[inline, protected]

Definition at line 229 of file odometer_base.h.

void viso2_ros::OdometerBase::setPoseCovariance

(

const boost::array< double, 36 > &

pose_covariance

)

[inline, protected]

Definition at line 94 of file odometer_base.h.

void viso2_ros::OdometerBase::setSensorFrameId

(

const std::string &

frame_id

)

[inline, protected]

Definition at line 83 of file odometer_base.h.

void viso2_ros::OdometerBase::setTwistCovariance

(

const boost::array< double, 36 > &

twist_covariance

)

[inline, protected]

Definition at line 99 of file odometer_base.h.

void viso2_ros::OdometerBase::updateCurrentBaseToSensorTransform

(

const ros::Time &

timestamp

)

[inline, protected]

Definition at line 133 of file odometer_base.h.

void viso2_ros::OdometerBase::updateInitialBaseToSensorTransform

(

)

[inline, protected]

Definition at line 104 of file odometer_base.h.

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Member Data Documentation

std::string viso2_ros::OdometerBase::base_link_frame_id_ [private]

Definition at line 34 of file odometer_base.h.

tf::StampedTransform viso2_ros::OdometerBase::current_base_to_sensor_ [private]

Definition at line 46 of file odometer_base.h.

tf::StampedTransform viso2_ros::OdometerBase::initial_base_to_sensor_ [private]

Definition at line 44 of file odometer_base.h.

tf::Transform viso2_ros::OdometerBase::integrated_pose_ [private]

Definition at line 40 of file odometer_base.h.

ros::Time viso2_ros::OdometerBase::last_update_time_ [private]

Definition at line 42 of file odometer_base.h.

std::string viso2_ros::OdometerBase::odom_frame_id_ [private]

Definition at line 33 of file odometer_base.h.

ros::Publisher viso2_ros::OdometerBase::odom_pub_ [private]

Definition at line 26 of file odometer_base.h.

boost::array<double, 36> viso2_ros::OdometerBase::pose_covariance_ [private]

Definition at line 49 of file odometer_base.h.

ros::Publisher viso2_ros::OdometerBase::pose_pub_ [private]

Definition at line 27 of file odometer_base.h.

bool viso2_ros::OdometerBase::publish_tf_ [private]

Definition at line 37 of file odometer_base.h.

ros::ServiceServer viso2_ros::OdometerBase::reset_service_ [private]

Definition at line 29 of file odometer_base.h.

std::string viso2_ros::OdometerBase::sensor_frame_id_ [private]

Definition at line 32 of file odometer_base.h.

tf::TransformBroadcaster viso2_ros::OdometerBase::tf_broadcaster_ [private]

Definition at line 36 of file odometer_base.h.

tf::TransformListener viso2_ros::OdometerBase::tf_listener_ [private]

Definition at line 35 of file odometer_base.h.

boost::array<double, 36> viso2_ros::OdometerBase::twist_covariance_ [private]

Definition at line 50 of file odometer_base.h.

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

• odometer_base.h