Public Member Functions | Public Attributes
localizer Class Reference

handles localization for the robot base More...

#include <localizer.h>

List of all members.

Public Member Functions

void baseOdometryCallback (const nav_msgs::Odometry &odometry)
float convertAngle (float theta)
 localizer ()
void positionFromCameraCallback (const youbot_overhead_vision::PositionFromCamera &newPos)

Public Attributes

ros::Publisher baseLocalizationPublisher
ros::Subscriber baseOdometrySubscriber
ros::ServiceClient coordConversionClient
nav_msgs::Odometry lastReceivedOdometry
ros::NodeHandle n
bool odometryInitialized
float P [3]
youbot_overhead_localization::Pose2d pose
ros::Subscriber positionFromCameraSubscriber
float Q [3]
float R [3]

Detailed Description

handles localization for the robot base

This class keeps track of the localization of the robot base, represented by a 2d pose consisting of x, y, and heading. This is updated periodically with the base localization, and with the position determined by the overhead cameras when that information is available.

Definition at line 36 of file localizer.h.


Constructor & Destructor Documentation

Constructor to initialize localization

This file contains the definition of the localizer class, which localizes the robot base using a Kalman filter with odometry and the overhead camera information as inputs.

Author:
David Kent

Definition at line 11 of file localizer.cpp.


Member Function Documentation

void localizer::baseOdometryCallback ( const nav_msgs::Odometry &  odometry)

Update localization based on base odometry

Parameters:
odometryupdated odometry information

Definition at line 42 of file localizer.cpp.

float localizer::convertAngle ( float  theta)

Converts an angle (in radians) so that it is within the range of -pi to pi

Parameters:
thetathe angle to be converted
Returns:
the converted angle

Definition at line 126 of file localizer.cpp.

Update robot pose based on the position determined by the overhead cameras

Parameters:
newPosthe new position calculated from the camera image

Definition at line 89 of file localizer.cpp.


Member Data Documentation

Definition at line 41 of file localizer.h.

Definition at line 43 of file localizer.h.

Definition at line 42 of file localizer.h.

nav_msgs::Odometry localizer::lastReceivedOdometry

Definition at line 56 of file localizer.h.

Definition at line 40 of file localizer.h.

Definition at line 55 of file localizer.h.

float localizer::P[3]

Definition at line 50 of file localizer.h.

Definition at line 47 of file localizer.h.

Definition at line 44 of file localizer.h.

float localizer::Q[3]

Definition at line 51 of file localizer.h.

float localizer::R[3]

Definition at line 52 of file localizer.h.


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


youbot_overhead_localization
Author(s): David Kent
autogenerated on Thu Jan 2 2014 12:14:20