EndpointModel.cpp
/home/rosbuild/hudson/workspace/doc-fuerte-alufr-humanoid_stacks/doc_stacks/2013-10-15_10-01-44.393682/humanoid_navigation/humanoid_localization/src/
EndpointModel_8cpp
humanoid_localization/EndpointModel.h
humanoid_localization
EndpointModel.h
/home/rosbuild/hudson/workspace/doc-fuerte-alufr-humanoid_stacks/doc_stacks/2013-10-15_10-01-44.393682/humanoid_navigation/humanoid_localization/include/humanoid_localization/
EndpointModel_8h
humanoid_localization/ObservationModel.h
humanoid_localization::EndpointModel
humanoid_localization
humanoid_localization_defs.h
/home/rosbuild/hudson/workspace/doc-fuerte-alufr-humanoid_stacks/doc_stacks/2013-10-15_10-01-44.393682/humanoid_navigation/humanoid_localization/include/humanoid_localization/
humanoid__localization__defs_8h
humanoid_localization::Particle
humanoid_localization
boost::mt19937
EngineT
namespacehumanoid__localization.html
a48bea6f73bca55375d2811daceb9b2f3
Eigen::Matrix< double, 6, 6 >
Matrix6d
namespacehumanoid__localization.html
ae40721656d93aa6180cd0b93bafc7b2e
Eigen::Matrix< float, 6, 6 >
Matrix6f
namespacehumanoid__localization.html
a3e23a94f8be8eb11c5d1ed780df20c4c
boost::normal_distribution
NormalDistributionT
namespacehumanoid__localization.html
a0d04eebc62b103434824b27adccc58de
boost::variate_generator< EngineT &, NormalDistributionT >
NormalGeneratorT
namespacehumanoid__localization.html
a8d194c30faf95409a683f18f55ac2005
std::vector< Particle >
Particles
namespacehumanoid__localization.html
a705aed89f9597c8e322c6bec68d53ee2
pcl::PointCloud< pcl::PointXYZ >
PointCloud
namespacehumanoid__localization.html
aa9a51664e73ed3bf89ada0c9bd0cd287
boost::uniform_real
UniformDistributionT
namespacehumanoid__localization.html
a760f2f9ec25b03cb98127a529c78ab63
boost::variate_generator< EngineT &, UniformDistributionT >
UniformGeneratorT
namespacehumanoid__localization.html
aed76ce0d41a5603a17e3eafdc96ee08c
Eigen::Matrix< double, 6, 1 >
Vector6d
namespacehumanoid__localization.html
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Eigen::Matrix< float, 6, 1 >
Vector6f
namespacehumanoid__localization.html
aa0b7c4b0e4766fd51f161a4d691b3e7c
HumanoidLocalization.cpp
/home/rosbuild/hudson/workspace/doc-fuerte-alufr-humanoid_stacks/doc_stacks/2013-10-15_10-01-44.393682/humanoid_navigation/humanoid_localization/src/
HumanoidLocalization_8cpp
humanoid_localization/HumanoidLocalization.h
humanoid_localization
#define
_BENCH_TIME
HumanoidLocalization_8cpp.html
a0606a0c4f6321d5276791aa47e347ac1
HumanoidLocalization.h
/home/rosbuild/hudson/workspace/doc-fuerte-alufr-humanoid_stacks/doc_stacks/2013-10-15_10-01-44.393682/humanoid_navigation/humanoid_localization/include/humanoid_localization/
HumanoidLocalization_8h
humanoid_localization/humanoid_localization_defs.h
humanoid_localization/MotionModel.h
humanoid_localization/ObservationModel.h
humanoid_localization/RaycastingModel.h
humanoid_localization/EndpointModel.h
humanoid_localization::HumanoidLocalization
humanoid_localization
static void
getRP
namespacehumanoid__localization.html
afca457416ef95b82fb5cd8206214e28e
(const geometry_msgs::Quaternion &msg_q, double &roll, double &pitch)
localization_node.cpp
/home/rosbuild/hudson/workspace/doc-fuerte-alufr-humanoid_stacks/doc_stacks/2013-10-15_10-01-44.393682/humanoid_navigation/humanoid_localization/src/
localization__node_8cpp
humanoid_localization/HumanoidLocalization.h
int
main
localization__node_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
mainpage.dox
/home/rosbuild/hudson/workspace/doc-fuerte-alufr-humanoid_stacks/doc_stacks/2013-10-15_10-01-44.393682/humanoid_navigation/humanoid_localization/
mainpage_8dox
MapModel.cpp
/home/rosbuild/hudson/workspace/doc-fuerte-alufr-humanoid_stacks/doc_stacks/2013-10-15_10-01-44.393682/humanoid_navigation/humanoid_localization/src/
MapModel_8cpp
humanoid_localization/MapModel.h
humanoid_localization
MapModel.h
/home/rosbuild/hudson/workspace/doc-fuerte-alufr-humanoid_stacks/doc_stacks/2013-10-15_10-01-44.393682/humanoid_navigation/humanoid_localization/include/humanoid_localization/
MapModel_8h
humanoid_localization/humanoid_localization_defs.h
humanoid_localization::DistanceMap
humanoid_localization::MapModel
humanoid_localization::OccupancyMap
humanoid_localization
MotionModel.cpp
/home/rosbuild/hudson/workspace/doc-fuerte-alufr-humanoid_stacks/doc_stacks/2013-10-15_10-01-44.393682/humanoid_navigation/humanoid_localization/src/
MotionModel_8cpp
humanoid_localization/MotionModel.h
humanoid_localization
MotionModel.h
/home/rosbuild/hudson/workspace/doc-fuerte-alufr-humanoid_stacks/doc_stacks/2013-10-15_10-01-44.393682/humanoid_navigation/humanoid_localization/include/humanoid_localization/
MotionModel_8h
humanoid_localization/humanoid_localization_defs.h
humanoid_localization::MotionModel
humanoid_localization
ObservationModel.cpp
/home/rosbuild/hudson/workspace/doc-fuerte-alufr-humanoid_stacks/doc_stacks/2013-10-15_10-01-44.393682/humanoid_navigation/humanoid_localization/src/
ObservationModel_8cpp
humanoid_localization/ObservationModel.h
humanoid_localization
ObservationModel.h
/home/rosbuild/hudson/workspace/doc-fuerte-alufr-humanoid_stacks/doc_stacks/2013-10-15_10-01-44.393682/humanoid_navigation/humanoid_localization/include/humanoid_localization/
ObservationModel_8h
humanoid_localization/humanoid_localization_defs.h
humanoid_localization/MapModel.h
humanoid_localization::ObservationModel
humanoid_localization
static const double
LOG_SQRT_2_PI
namespacehumanoid__localization.html
a8d1a536f9c0ce464b5dae59867832d94
static const double
SQRT_2_PI
namespacehumanoid__localization.html
a49e1b8aba390a2c3ef4634e118c871c7
RaycastingModel.cpp
/home/rosbuild/hudson/workspace/doc-fuerte-alufr-humanoid_stacks/doc_stacks/2013-10-15_10-01-44.393682/humanoid_navigation/humanoid_localization/src/
RaycastingModel_8cpp
humanoid_localization/RaycastingModel.h
humanoid_localization
RaycastingModel.h
/home/rosbuild/hudson/workspace/doc-fuerte-alufr-humanoid_stacks/doc_stacks/2013-10-15_10-01-44.393682/humanoid_navigation/humanoid_localization/include/humanoid_localization/
RaycastingModel_8h
humanoid_localization/ObservationModel.h
humanoid_localization::RaycastingModel
humanoid_localization
humanoid_localization
namespacehumanoid__localization.html
humanoid_localization::DistanceMap
humanoid_localization::EndpointModel
humanoid_localization::HumanoidLocalization
humanoid_localization::MapModel
humanoid_localization::MotionModel
humanoid_localization::ObservationModel
humanoid_localization::OccupancyMap
humanoid_localization::Particle
humanoid_localization::RaycastingModel
boost::mt19937
EngineT
namespacehumanoid__localization.html
a48bea6f73bca55375d2811daceb9b2f3
Eigen::Matrix< double, 6, 6 >
Matrix6d
namespacehumanoid__localization.html
ae40721656d93aa6180cd0b93bafc7b2e
Eigen::Matrix< float, 6, 6 >
Matrix6f
namespacehumanoid__localization.html
a3e23a94f8be8eb11c5d1ed780df20c4c
boost::normal_distribution
NormalDistributionT
namespacehumanoid__localization.html
a0d04eebc62b103434824b27adccc58de
boost::variate_generator< EngineT &, NormalDistributionT >
NormalGeneratorT
namespacehumanoid__localization.html
a8d194c30faf95409a683f18f55ac2005
std::vector< Particle >
Particles
namespacehumanoid__localization.html
a705aed89f9597c8e322c6bec68d53ee2
pcl::PointCloud< pcl::PointXYZ >
PointCloud
namespacehumanoid__localization.html
aa9a51664e73ed3bf89ada0c9bd0cd287
boost::uniform_real
UniformDistributionT
namespacehumanoid__localization.html
a760f2f9ec25b03cb98127a529c78ab63
boost::variate_generator< EngineT &, UniformDistributionT >
UniformGeneratorT
namespacehumanoid__localization.html
aed76ce0d41a5603a17e3eafdc96ee08c
Eigen::Matrix< double, 6, 1 >
Vector6d
namespacehumanoid__localization.html
ab742dbc19714ed01902ec555bd889acd
Eigen::Matrix< float, 6, 1 >
Vector6f
namespacehumanoid__localization.html
aa0b7c4b0e4766fd51f161a4d691b3e7c
static void
getRP
namespacehumanoid__localization.html
afca457416ef95b82fb5cd8206214e28e
(const geometry_msgs::Quaternion &msg_q, double &roll, double &pitch)
static const double
LOG_SQRT_2_PI
namespacehumanoid__localization.html
a8d1a536f9c0ce464b5dae59867832d94
static const double
SQRT_2_PI
namespacehumanoid__localization.html
a49e1b8aba390a2c3ef4634e118c871c7
humanoid_localization::DistanceMap
classhumanoid__localization_1_1DistanceMap.html
humanoid_localization::MapModel
DistanceMap
classhumanoid__localization_1_1DistanceMap.html
a468582bd1c19ad752b8aca0720f59681
(ros::NodeHandle *nh)
virtual double
getFloorHeight
classhumanoid__localization_1_1DistanceMap.html
a50049c2fd57d9db9f4f4a151745630e2
(const tf::Transform &pose) const
virtual bool
isOccupied
classhumanoid__localization_1_1DistanceMap.html
a1f3f03141e26e70b3c9208838014a20d
(octomap::OcTreeNode *node) const
virtual
~DistanceMap
classhumanoid__localization_1_1DistanceMap.html
abebcf1d28ce209f072f0d1a2aafa8943
()
humanoid_localization::EndpointModel
classhumanoid__localization_1_1EndpointModel.html
humanoid_localization::ObservationModel
EndpointModel
classhumanoid__localization_1_1EndpointModel.html
ad1fa03d23c3d77daaef073a5bfd98aa4
(ros::NodeHandle *nh, boost::shared_ptr< MapModel > mapModel, EngineT *rngEngine)
virtual void
integrateMeasurement
classhumanoid__localization_1_1EndpointModel.html
acd77b4e88dbe16369da152acc8de0759
(Particles &particles, const PointCloud &pc, const std::vector< float > &ranges, float max_range, const tf::Transform &baseToSensor)
virtual void
setMap
classhumanoid__localization_1_1EndpointModel.html
ad56eec67cfb62157354c5b1b6473ff68
(boost::shared_ptr< octomap::OcTree > map)
virtual
~EndpointModel
classhumanoid__localization_1_1EndpointModel.html
a318654d13f69eb074fea7490cceaf410
()
bool
getHeightError
classhumanoid__localization_1_1EndpointModel.html
ad530205d76dda20e7b406c9037f0d041
(const Particle &p, const tf::StampedTransform &footprintToBase, double &heightError) const
void
initDistanceMap
classhumanoid__localization_1_1EndpointModel.html
a7b14fc209f27888d57529dda3b32913b
()
boost::shared_ptr< DynamicEDTOctomap >
m_distanceMap
classhumanoid__localization_1_1EndpointModel.html
a5fbe648f3e512fcdb696370ed21e88ee
double
m_maxObstacleDistance
classhumanoid__localization_1_1EndpointModel.html
a767f4ee068095dcbfa88dd5b96dc97af
double
m_sigma
classhumanoid__localization_1_1EndpointModel.html
ae679019024bd560e6b376c00e174328a
humanoid_localization::HumanoidLocalization
classhumanoid__localization_1_1HumanoidLocalization.html
unsigned
getBestParticleIdx
classhumanoid__localization_1_1HumanoidLocalization.html
a188b73f91739a9ab42adce1a71c563b0
() const
tf::Pose
getBestParticlePose
classhumanoid__localization_1_1HumanoidLocalization.html
a85197065834fce2ebe996126d9859397
() const
tf::Pose
getMeanParticlePose
classhumanoid__localization_1_1HumanoidLocalization.html
aa25ba4588aadcce0ff412c76c92c86df
() const
tf::Pose
getParticlePose
classhumanoid__localization_1_1HumanoidLocalization.html
a590e5c2057e44d84fb00f8226f453fd3
(unsigned particleIdx) const
bool
globalLocalizationCallback
classhumanoid__localization_1_1HumanoidLocalization.html
a6faf0a3c5b5de7addcd5d4a4588c780a
(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
HumanoidLocalization
classhumanoid__localization_1_1HumanoidLocalization.html
aecd69c155a39672adde94ae996906919
(unsigned randomSeed)
void
imuCallback
classhumanoid__localization_1_1HumanoidLocalization.html
a8bd39045c3d1e88f4e09d6f4026829f0
(const sensor_msgs::ImuConstPtr &msg)
void
initGlobal
classhumanoid__localization_1_1HumanoidLocalization.html
aadb10f1a6978fed50b175eb930ea127c
()
void
initPoseCallback
classhumanoid__localization_1_1HumanoidLocalization.html
ad7234622ed2895a07466a638fbc8d4c1
(const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)
virtual void
laserCallback
classhumanoid__localization_1_1HumanoidLocalization.html
a8e40801555400a9e5038a68ee48e595c
(const sensor_msgs::LaserScanConstPtr &msg)
void
pauseLocalizationCallback
classhumanoid__localization_1_1HumanoidLocalization.html
a9b74f911b14e99491e6e6b6d9909a32d
(const std_msgs::BoolConstPtr &msg)
bool
pauseLocalizationSrvCallback
classhumanoid__localization_1_1HumanoidLocalization.html
a942b0a6c56e49649772c1fd51daf29c7
(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
virtual void
pointCloudCallback
classhumanoid__localization_1_1HumanoidLocalization.html
af735ad91ebdeca6614ccb313951ddbfe
(const PointCloud::ConstPtr &msg)
void
resample
classhumanoid__localization_1_1HumanoidLocalization.html
ae6ea0548a3359702d59bb3ad24294c63
(unsigned numParticles=0)
bool
resumeLocalizationSrvCallback
classhumanoid__localization_1_1HumanoidLocalization.html
a02c7fdd78e47af383f14a9c7cf2a00ae
(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
virtual
~HumanoidLocalization
classhumanoid__localization_1_1HumanoidLocalization.html
aad176935b07f88a74dbfd66ca1e42dbe
()
static void
filterGroundPlane
classhumanoid__localization_1_1HumanoidLocalization.html
a9dee9f3a438e197ba0f9e8f35d87338f
(const PointCloud &pc, PointCloud &ground, PointCloud &nonground, double groundFilterDistance, double groundFilterAngle, double groundFilterPlaneDistance)
unsigned
computeBeamStep
classhumanoid__localization_1_1HumanoidLocalization.html
a4550f8684ccdca64ea5492ac615956f1
(unsigned numBeams) const
void
constrainMotion
classhumanoid__localization_1_1HumanoidLocalization.html
a0b16a0f085af95096e6c85c83ec410b9
(const tf::Pose &odomPose)
int
filterUniform
classhumanoid__localization_1_1HumanoidLocalization.html
a780e5bbee57685ad8da1ceb95002d8cf
(const PointCloud &cloud_in, PointCloud &cloud_out, int numSamples) const
double
getCumParticleWeight
classhumanoid__localization_1_1HumanoidLocalization.html
a927a3c1da9dadd3467ad99e9869505d2
() const
bool
getImuMsg
classhumanoid__localization_1_1HumanoidLocalization.html
ae32b717c1a8892d7c5bc87f590b8feb3
(const ros::Time &stamp, ros::Time &imuStamp, double &angleX, double &angleY) const
void
initZRP
classhumanoid__localization_1_1HumanoidLocalization.html
acbb80a3724257f3d2c073b71f9a921de
(double &z, double &roll, double &pitch)
bool
isAboveMotionThreshold
classhumanoid__localization_1_1HumanoidLocalization.html
a4dd894e2c244b8ef915a7ea00035e833
(const tf::Pose &odomTransform)
bool
localizeWithMeasurement
classhumanoid__localization_1_1HumanoidLocalization.html
ab5eb52c5a7ae95f60dc0d116382fb4a1
(const PointCloud &pc_filtered, const std::vector< float > &ranges, double max_range)
bool
lookupPoseHeight
classhumanoid__localization_1_1HumanoidLocalization.html
ae3772ab47d7061a660984a5e841cc872
(const ros::Time &t, double &poseHeight) const
double
nEff
classhumanoid__localization_1_1HumanoidLocalization.html
a5d6fab7973555adb693cefdfd4417d6f
() const
void
normalizeWeights
classhumanoid__localization_1_1HumanoidLocalization.html
a7767127166fabb29bf2d240a1e7c31eb
()
void
prepareGeneralPointCloud
classhumanoid__localization_1_1HumanoidLocalization.html
a5c173b3bbe85f544a4ff9fe539053138
(const PointCloud::ConstPtr &msg, PointCloud &pc, std::vector< float > &ranges) const
void
prepareLaserPointCloud
classhumanoid__localization_1_1HumanoidLocalization.html
a3b2328fc7b2d3b186b87beadebfaa54e
(const sensor_msgs::LaserScanConstPtr &laser, PointCloud &pc, std::vector< float > &ranges) const
void
publishPoseEstimate
classhumanoid__localization_1_1HumanoidLocalization.html
a800544c9b7ba12c0c2da94bc24b6ffcd
(const ros::Time &time, bool publish_eval)
void
reset
classhumanoid__localization_1_1HumanoidLocalization.html
a48a9a7f522a716ee81604a49daff60fd
()
void
timerCallback
classhumanoid__localization_1_1HumanoidLocalization.html
a2d0a80e6ad2c20830e1b065796a9a164
(const ros::TimerEvent &e)
void
toLogForm
classhumanoid__localization_1_1HumanoidLocalization.html
a7a0bee8f4c4c611dc524199a0ac653d6
()
void
voxelGridSampling
classhumanoid__localization_1_1HumanoidLocalization.html
aaa3bd337e02a24fa616597ac4021098e
(const PointCloud &pc, pcl::PointCloud< int > &sampledIndices, double searchRadius) const
std::string
m_baseFootprintId
classhumanoid__localization_1_1HumanoidLocalization.html
a363cf0f222694a7aa0bdb7d24376ac20
std::string
m_baseFrameId
classhumanoid__localization_1_1HumanoidLocalization.html
a65ddd5628b0439f28783cb479b0e2e9c
bool
m_bestParticleAsMean
classhumanoid__localization_1_1HumanoidLocalization.html
af00139a45bf17f23c895a0f08d9f3f56
int
m_bestParticleIdx
classhumanoid__localization_1_1HumanoidLocalization.html
a0c62081324731a073fae18495894e2fd
ros::Publisher
m_bestPosePub
classhumanoid__localization_1_1HumanoidLocalization.html
a90ed8a10b066f87480d2203d78c05001
bool
m_constrainMotionRP
classhumanoid__localization_1_1HumanoidLocalization.html
a69439102ca7535151c370dc3043974e6
bool
m_constrainMotionZ
classhumanoid__localization_1_1HumanoidLocalization.html
a6bf5295995db91297a74b611684799f4
ros::Publisher
m_filteredPointCloudPub
classhumanoid__localization_1_1HumanoidLocalization.html
ac18a229e0cef8dbe68307627df0affce
double
m_filterMaxRange
classhumanoid__localization_1_1HumanoidLocalization.html
a22cebc405f1d8c8ba8949b45977fb6f6
double
m_filterMinRange
classhumanoid__localization_1_1HumanoidLocalization.html
a85d88c2a58c2dd720ad9fb15ed7e023a
std::string
m_globalFrameId
classhumanoid__localization_1_1HumanoidLocalization.html
ad56b847a2c424ae653130afae1c21307
ros::ServiceServer
m_globalLocSrv
classhumanoid__localization_1_1HumanoidLocalization.html
a9b45042a5e5e4e9020826f67009e3d42
double
m_groundFilterAngle
classhumanoid__localization_1_1HumanoidLocalization.html
a60a733eaa94a01fd8ddc7b99e2a58d1a
double
m_groundFilterDistance
classhumanoid__localization_1_1HumanoidLocalization.html
a926f86cb2693a6db8797ef0531a6516d
double
m_groundFilterPlaneDistance
classhumanoid__localization_1_1HumanoidLocalization.html
afc231150d28cfdcb9d119273b610136f
bool
m_groundFilterPointCloud
classhumanoid__localization_1_1HumanoidLocalization.html
aedf5bf3d58541fc5a6d900ea2e7c3c65
double
m_headPitchRotationLastScan
classhumanoid__localization_1_1HumanoidLocalization.html
aef9ab76ad20004aa577bd86c43363007
double
m_headYawRotationLastScan
classhumanoid__localization_1_1HumanoidLocalization.html
ad5a333a87dca59f55cc5d814883a97c7
ros::Subscriber
m_imuSub
classhumanoid__localization_1_1HumanoidLocalization.html
aafc273a2d2ee13d7c271a730fb80705d
bool
m_initFromTruepose
classhumanoid__localization_1_1HumanoidLocalization.html
a8b484f01c7f4aea17c4990fe8b1f464d
bool
m_initGlobal
classhumanoid__localization_1_1HumanoidLocalization.html
a261f70ff8b3f9e0114abd4c5d7f3cb8f
bool
m_initialized
classhumanoid__localization_1_1HumanoidLocalization.html
a0ec9f7d34600ded2f89d5d50f24be900
Vector6d
m_initNoiseStd
classhumanoid__localization_1_1HumanoidLocalization.html
a6c068a4f5f2977ebdaf5b5f9583d85c1
Vector6d
m_initPose
classhumanoid__localization_1_1HumanoidLocalization.html
afd3ce97486964f8dfaa26ff05eeaa355
tf::MessageFilter< geometry_msgs::PoseWithCovarianceStamped > *
m_initPoseFilter
classhumanoid__localization_1_1HumanoidLocalization.html
aa7ca4b644872f9a27fbc5a708576a6b6
bool
m_initPoseRealZRP
classhumanoid__localization_1_1HumanoidLocalization.html
a8d2c8facd82a888559f9cbff89014150
message_filters::Subscriber< geometry_msgs::PoseWithCovarianceStamped > *
m_initPoseSub
classhumanoid__localization_1_1HumanoidLocalization.html
a3ebe3b9784d2ab724e09f1d973e42a62
tf::MessageFilter< sensor_msgs::LaserScan > *
m_laserFilter
classhumanoid__localization_1_1HumanoidLocalization.html
a71e0a11450539d5d19a7da7322add69f
message_filters::Subscriber< sensor_msgs::LaserScan > *
m_laserSub
classhumanoid__localization_1_1HumanoidLocalization.html
aa051d209bd38b0b11075a9c9f51f8b91
boost::circular_buffer< sensor_msgs::Imu >
m_lastIMUMsgBuffer
classhumanoid__localization_1_1HumanoidLocalization.html
a2f2a6abf2922622f647a0b94df896b3b
ros::Time
m_lastLaserTime
classhumanoid__localization_1_1HumanoidLocalization.html
a63fa74ae37dc50c99fde3a9a75c15d63
tf::Pose
m_lastLocalizedPose
classhumanoid__localization_1_1HumanoidLocalization.html
a4661aed26f0fea0cb562ab0ec491642b
ros::Time
m_lastPointCloudTime
classhumanoid__localization_1_1HumanoidLocalization.html
a2cf66f8c50b462cd1513d659e4c80af8
tf::StampedTransform
m_latest_transform
classhumanoid__localization_1_1HumanoidLocalization.html
a55e168e358ad8dce531cedcca6942851
boost::shared_ptr< MapModel >
m_mapModel
classhumanoid__localization_1_1HumanoidLocalization.html
aa7c188663378073193c558fb7a2b1ffe
double
m_minParticleWeight
classhumanoid__localization_1_1HumanoidLocalization.html
a2c9667c9dfc50ec047ca4e8e2fbe317f
boost::shared_ptr< MotionModel >
m_motionModel
classhumanoid__localization_1_1HumanoidLocalization.html
a27859b51b47bbe08ed49f0492eaffc9e
double
m_nEffFactor
classhumanoid__localization_1_1HumanoidLocalization.html
a080980d2d9b71fc2d0d3fd21d7cfa401
ros::Publisher
m_nEffPub
classhumanoid__localization_1_1HumanoidLocalization.html
a473adccc9c45968659ab4c3184e7411d
ros::NodeHandle
m_nh
classhumanoid__localization_1_1HumanoidLocalization.html
a3bb87b7683496e0215e1df8d3b936cd6
int
m_numFloorPoints
classhumanoid__localization_1_1HumanoidLocalization.html
a10a905e59c08bb1c957901479ff25109
int
m_numNonFloorPoints
classhumanoid__localization_1_1HumanoidLocalization.html
a955807c2749d569aa972166a2cb19f45
int
m_numParticles
classhumanoid__localization_1_1HumanoidLocalization.html
acb87bdee1921c160d13d9aeef98b0ce1
boost::shared_ptr< ObservationModel >
m_observationModel
classhumanoid__localization_1_1HumanoidLocalization.html
a04d6b6e16525caab0bd2a775d796ec5f
double
m_observationThresholdHeadPitchRot
classhumanoid__localization_1_1HumanoidLocalization.html
a64a729cc5354ff244f505ff563991732
double
m_observationThresholdHeadYawRot
classhumanoid__localization_1_1HumanoidLocalization.html
a4cac4b88b82f8fe4eb5a2c333465f928
double
m_observationThresholdRot
classhumanoid__localization_1_1HumanoidLocalization.html
aa9cd10395012f8cab79c93f36c8a9d6f
double
m_observationThresholdTrans
classhumanoid__localization_1_1HumanoidLocalization.html
abfe3ec99fa201434b45a3b3a3c455c66
std::string
m_odomFrameId
classhumanoid__localization_1_1HumanoidLocalization.html
aa982898178aa352f3ed94446825e7633
tf::Pose
m_odomPose
classhumanoid__localization_1_1HumanoidLocalization.html
acf853f80ca1c3da57183221436e74d59
Particles
m_particles
classhumanoid__localization_1_1HumanoidLocalization.html
ade96cc992670057d361514b47867f266
bool
m_paused
classhumanoid__localization_1_1HumanoidLocalization.html
ab02ed47d89ce59d87c2f4aa309870963
ros::Subscriber
m_pauseIntegrationSub
classhumanoid__localization_1_1HumanoidLocalization.html
ab998bb7a3d2bcfbc47f13021952d698b
ros::ServiceServer
m_pauseLocSrv
classhumanoid__localization_1_1HumanoidLocalization.html
ac148e4e50c89ce9ab25604a0b8609a6b
tf::MessageFilter< PointCloud > *
m_pointCloudFilter
classhumanoid__localization_1_1HumanoidLocalization.html
a7e8feffcc286a77311d8f73b9552509a
message_filters::Subscriber< PointCloud > *
m_pointCloudSub
classhumanoid__localization_1_1HumanoidLocalization.html
aa22b1e7fdeef1cf36069b5cabaf18b20
geometry_msgs::PoseArray
m_poseArray
classhumanoid__localization_1_1HumanoidLocalization.html
a78df093792df754e87707611566e83af
ros::Publisher
m_poseArrayPub
classhumanoid__localization_1_1HumanoidLocalization.html
a1690e3fe0bf183962f2673c49406ebc3
ros::Publisher
m_poseEvalPub
classhumanoid__localization_1_1HumanoidLocalization.html
a69f7c8c9ade14bcb37892c31e2068960
ros::Publisher
m_poseOdomPub
classhumanoid__localization_1_1HumanoidLocalization.html
a9800f6f6974c999cc47a6c49f91e1899
ros::Publisher
m_posePub
classhumanoid__localization_1_1HumanoidLocalization.html
a5cd6725f7cfc19c68dc1a5e43afe0898
ros::Publisher
m_poseTruePub
classhumanoid__localization_1_1HumanoidLocalization.html
a82bdc93e9e586890e72da42a79774da6
ros::NodeHandle
m_privateNh
classhumanoid__localization_1_1HumanoidLocalization.html
ab7001551a0cab2915de295558a2dcd52
bool
m_receivedSensorData
classhumanoid__localization_1_1HumanoidLocalization.html
a54ed2261df9ae30934a777100a2ee8a2
ros::ServiceServer
m_resumeLocSrv
classhumanoid__localization_1_1HumanoidLocalization.html
a47f97ca04aaa45bca9be90226cfa9ec6
EngineT
m_rngEngine
classhumanoid__localization_1_1HumanoidLocalization.html
a8cbbdb7cedf586b39c5383a4955d19d7
NormalGeneratorT
m_rngNormal
classhumanoid__localization_1_1HumanoidLocalization.html
a9c91f453af067f5fe1e885f3b2cf83f9
UniformGeneratorT
m_rngUniform
classhumanoid__localization_1_1HumanoidLocalization.html
adeb9c5ce1c34f45c1b0741a726807072
double
m_sensorSampleDist
classhumanoid__localization_1_1HumanoidLocalization.html
a32eca99a2552e749cf06673cfa11c9a5
double
m_sensorSampleDistGroundFactor
classhumanoid__localization_1_1HumanoidLocalization.html
a0321164cb00b3dbab109ba33a79ea535
bool
m_syncedTruepose
classhumanoid__localization_1_1HumanoidLocalization.html
a6e5c7f6040e7693866fac576a7ca33e5
std::string
m_targetFrameId
classhumanoid__localization_1_1HumanoidLocalization.html
ad704fd90c56782b2b1690abd1d92ca58
double
m_temporalSamplingRange
classhumanoid__localization_1_1HumanoidLocalization.html
a66038b362393250a3b035e0ad3a0762e
tf::TransformBroadcaster
m_tfBroadcaster
classhumanoid__localization_1_1HumanoidLocalization.html
a703ec963cb2402b55559d56e705a89f5
tf::TransformListener
m_tfListener
classhumanoid__localization_1_1HumanoidLocalization.html
a8bbaa72db4145f28edd5c46c3565b972
ros::Timer
m_timer
classhumanoid__localization_1_1HumanoidLocalization.html
a083f0637e24cf93085f8fd5992362b1c
double
m_timerPeriod
classhumanoid__localization_1_1HumanoidLocalization.html
a37184bbae500c527e2b67d7e2028f7d7
double
m_transformTolerance
classhumanoid__localization_1_1HumanoidLocalization.html
a30a10c2cdcd7ef4de4a39253aaf341a5
bool
m_useIMU
classhumanoid__localization_1_1HumanoidLocalization.html
a437021fa4ac5e06a8251b1f4cb989afc
bool
m_useRaycasting
classhumanoid__localization_1_1HumanoidLocalization.html
a22932bb4c03d248f2405ef3316ed4ce0
bool
m_useTimer
classhumanoid__localization_1_1HumanoidLocalization.html
a383dc62170557c43e827844c0ca90c82
humanoid_localization::MapModel
classhumanoid__localization_1_1MapModel.html
virtual double
getFloorHeight
classhumanoid__localization_1_1MapModel.html
adf99d0b6f7a16e5be77abf0dcad39110
(const tf::Transform &pose) const =0
void
getHeightlist
classhumanoid__localization_1_1MapModel.html
adc452e0131f1ea49fc01d0e1b60f0b0f
(double x, double y, double totalHeight, std::vector< double > &heights)
boost::shared_ptr< octomap::OcTree >
getMap
classhumanoid__localization_1_1MapModel.html
a2db58edfc4744a67f43e1a114242ef61
() const
virtual void
initGlobal
classhumanoid__localization_1_1MapModel.html
a4424871d9ea529f21dbdb9e03d9c89c5
(Particles &particles, double z, double roll, double pitch, const Vector6d &initNoise, UniformGeneratorT &rngUniform, NormalGeneratorT &rngNormal)
virtual bool
isOccupied
classhumanoid__localization_1_1MapModel.html
a6cb03de5bf687f7d7885476955514fae
(const octomap::point3d &position) const
virtual bool
isOccupied
classhumanoid__localization_1_1MapModel.html
ad342bd7bd4866c2b3d8dc722fb4ec279
(octomap::OcTreeNode *node) const =0
MapModel
classhumanoid__localization_1_1MapModel.html
aba114b71f56bc30db97f29654fc20ca2
(ros::NodeHandle *nh)
virtual void
verifyPoses
classhumanoid__localization_1_1MapModel.html
acc8c2b23555f053ef31fff54f571de57
(Particles &particles)
virtual
~MapModel
classhumanoid__localization_1_1MapModel.html
a03386a3cfe4c86667a6a9de76ac53f62
()
boost::shared_ptr< octomap::OcTree >
m_map
classhumanoid__localization_1_1MapModel.html
aa553a9630851adef7c3d828541f8bc19
double
m_motionMeanZ
classhumanoid__localization_1_1MapModel.html
a7d205f2b03ea5790d53b0794d3bce3ab
double
m_motionObstacleDist
classhumanoid__localization_1_1MapModel.html
a21024180bb118951234f7abb23dbce1e
double
m_motionRangePitch
classhumanoid__localization_1_1MapModel.html
ab198b289454775ceb4e2e031ea6542ba
double
m_motionRangeRoll
classhumanoid__localization_1_1MapModel.html
a3288a935659585a8009315a12ce5c5d1
double
m_motionRangeZ
classhumanoid__localization_1_1MapModel.html
a93b1401df5cc65bb441d74707e411a60
humanoid_localization::MotionModel
classhumanoid__localization_1_1MotionModel.html
void
applyOdomTransform
classhumanoid__localization_1_1MotionModel.html
acc12de7981a74abc6b23122efa6e49bf
(Particles &particles, const tf::Transform &odomTransform)
bool
applyOdomTransformTemporal
classhumanoid__localization_1_1MotionModel.html
af58e21d490aeeec5dca44ef662f88d9d
(Particles &particles, const ros::Time &t, double dt)
tf::Transform
computeOdomTransform
classhumanoid__localization_1_1MotionModel.html
a477cce131b97ffddd42754d61207cc83
(const tf::Transform currentPose) const
bool
getLastOdomPose
classhumanoid__localization_1_1MotionModel.html
a9118987b625400a2fec9090982fe7351
(tf::Stamped< tf::Pose > &lastOdomPose) const
bool
lookupLocalTransform
classhumanoid__localization_1_1MotionModel.html
a7108d6fbd723fa39ed32ceb1ff8b0202
(const std::string &targetFrame, const ros::Time &t, tf::StampedTransform &localTransform) const
bool
lookupOdomPose
classhumanoid__localization_1_1MotionModel.html
a219f288eeb7759434fbe7704067dfec0
(const ros::Time &t, tf::Stamped< tf::Pose > &odomPose) const
bool
lookupOdomTransform
classhumanoid__localization_1_1MotionModel.html
a5765e15ae1a18a091ee00d45a5458f96
(const ros::Time &t, tf::Transform &odomTransform) const
bool
lookupPoseHeight
classhumanoid__localization_1_1MotionModel.html
a3dd4916265fe461722da07ee9ef634a9
(const ros::Time &t, double &poseHeight) const
MotionModel
classhumanoid__localization_1_1MotionModel.html
af04c2976ddb7b3c2b43d101c02bd1781
(ros::NodeHandle *nh, EngineT *rngEngine, tf::TransformListener *tf, const std::string &odomFrameId, const std::string &baseFrameId)
void
reset
classhumanoid__localization_1_1MotionModel.html
a4e9d35a33f3bab8b1e036d8572044b07
()
void
storeOdomPose
classhumanoid__localization_1_1MotionModel.html
a0b1b8155751ca99413313333778232c0
(const tf::Stamped< tf::Pose > &odomPose)
virtual
~MotionModel
classhumanoid__localization_1_1MotionModel.html
a4247ad19b371f41bbbd8aff6f3beee00
()
void
applyOdomTransform
classhumanoid__localization_1_1MotionModel.html
ab9b7e451333a2e2d46101e293e53741a
(tf::Pose &particlePose, const tf::Transform &odomTransform)
tf::Transform
calibrateOdometry
classhumanoid__localization_1_1MotionModel.html
a245f268a432aaef668c4f9cffca5e4d1
(const tf::Transform &odomTransform) const
tf::Transform
odomTransformNoise
classhumanoid__localization_1_1MotionModel.html
a91f704571bfaf1499839524ec8b8d4e5
(const tf::Transform &odomTransform)
void
transformPose
classhumanoid__localization_1_1MotionModel.html
ae55ad20026970cf410a3d6550de8fd9b
(tf::Pose &particlePose, const tf::Transform &odomTransform)
std::string
m_baseFrameId
classhumanoid__localization_1_1MotionModel.html
a6da69ba84cd8a7cc864563faea1d398e
bool
m_firstOdometryReceived
classhumanoid__localization_1_1MotionModel.html
a431549f8689ba963b77d8396c8b84c21
std::string
m_footprintFrameId
classhumanoid__localization_1_1MotionModel.html
a3511c44f2aa7acaadfd5a406f1f8fd5f
tf::Stamped< tf::Pose >
m_lastOdomPose
classhumanoid__localization_1_1MotionModel.html
ab149a8474754a7ebfdace8a3dd2c8b1b
Eigen::Matrix3d
m_odomCalibration2D
classhumanoid__localization_1_1MotionModel.html
a1ad46fcfa8abc12adecf1f5f253b22c6
std::string
m_odomFrameId
classhumanoid__localization_1_1MotionModel.html
a252d2a296f2c20b737d7569b8228e6ec
Eigen::Matrix3d
m_odomNoise2D
classhumanoid__localization_1_1MotionModel.html
a83ec8d0c9d0a2cb1c5d034cf308c1946
double
m_odomNoisePitch
classhumanoid__localization_1_1MotionModel.html
ac3c03c114732269a539005c415fcefc6
double
m_odomNoiseRoll
classhumanoid__localization_1_1MotionModel.html
afe53ac90a4c4c9998dd7ed34fa7551b1
double
m_odomNoiseZ
classhumanoid__localization_1_1MotionModel.html
a33b7be8b41440997c90ad7c8606a1bef
NormalGeneratorT
m_rngNormal
classhumanoid__localization_1_1MotionModel.html
a927e186f54b78803c4524caa08da6bda
UniformGeneratorT
m_rngUniform
classhumanoid__localization_1_1MotionModel.html
aeed7ac4b183b175637c263694bcdad73
tf::TransformListener *
m_tfListener
classhumanoid__localization_1_1MotionModel.html
a42a56c075cee5652b13bf7e313350c8b
humanoid_localization::ObservationModel
classhumanoid__localization_1_1ObservationModel.html
virtual void
integrateMeasurement
classhumanoid__localization_1_1ObservationModel.html
aac23d720ec5ab9564c1d6cb37236f0ef
(Particles &particles, const PointCloud &pc, const std::vector< float > &ranges, float max_range, const tf::Transform &baseToSensor)=0
virtual void
integratePoseMeasurement
classhumanoid__localization_1_1ObservationModel.html
a9807035efb387e2b62fb44fc52777202
(Particles &particles, double roll, double pitch, const tf::StampedTransform &footprintToTorso)
ObservationModel
classhumanoid__localization_1_1ObservationModel.html
a62565765c0cd89bf9d55884ddb82d3e3
(ros::NodeHandle *nh, boost::shared_ptr< MapModel > mapModel, EngineT *rngEngine)
virtual void
setMap
classhumanoid__localization_1_1ObservationModel.html
adcc38927a5ddf4a0ff998c8076363522
(boost::shared_ptr< octomap::OcTree > map)
virtual
~ObservationModel
classhumanoid__localization_1_1ObservationModel.html
ab153df8400c45e8ff79b87a8ec34fbbf
()
static double
logLikelihood
classhumanoid__localization_1_1ObservationModel.html
a94e08f920d3cd332d1313e4a21aa5fbc
(double x, double sigma)
static double
logLikelihoodSq
classhumanoid__localization_1_1ObservationModel.html
a1d6cff4bab04c322bc3ea7465f4f0bc3
(double x_sq, double sigma)
virtual bool
getHeightError
classhumanoid__localization_1_1ObservationModel.html
aa9ba794d25b4618ce63a85fab7d4579d
(const Particle &p, const tf::StampedTransform &footprintToBase, double &heightError) const =0
boost::shared_ptr< octomap::OcTree >
m_map
classhumanoid__localization_1_1ObservationModel.html
a2e111b3f48a4b6012ff2164310417a80
boost::shared_ptr< MapModel >
m_mapModel
classhumanoid__localization_1_1ObservationModel.html
a785c421897f1a4692b133c94b24f7f7e
ros::Publisher
m_pc_pub
classhumanoid__localization_1_1ObservationModel.html
a26e6490df5d26ca76824682aa35bbd62
EngineT
m_rngEngine
classhumanoid__localization_1_1ObservationModel.html
a9bb9e53929648f1d096ef188abf34d14
NormalGeneratorT
m_rngNormal
classhumanoid__localization_1_1ObservationModel.html
a95dbb878ac1636872ff5a8c6ffc39e74
UniformGeneratorT
m_rngUniform
classhumanoid__localization_1_1ObservationModel.html
adafd3f3baa719623349a2337ebc711a1
double
m_sigmaPitch
classhumanoid__localization_1_1ObservationModel.html
a46fd0558740957aebff35d71b617aa82
double
m_sigmaRoll
classhumanoid__localization_1_1ObservationModel.html
a483dcdfd01d04370ed4bf0328869f51c
double
m_sigmaZ
classhumanoid__localization_1_1ObservationModel.html
a49a6d05590bab1e04788dcc60d256857
bool
m_use_squared_error
classhumanoid__localization_1_1ObservationModel.html
a3f457de489015f5e117884c0236a6648
double
m_weightPitch
classhumanoid__localization_1_1ObservationModel.html
a7211dbd7210630f6f7691f6786b6a39c
double
m_weightRoll
classhumanoid__localization_1_1ObservationModel.html
ab3a805dc9f84af5bcb6cf28607d603b0
double
m_weightZ
classhumanoid__localization_1_1ObservationModel.html
a41091e6846d03944926cdb8a25e7c131
humanoid_localization::OccupancyMap
classhumanoid__localization_1_1OccupancyMap.html
humanoid_localization::MapModel
virtual double
getFloorHeight
classhumanoid__localization_1_1OccupancyMap.html
a00401fd29b7cd6582ebc0d47aaa37eda
(const tf::Transform &pose) const
virtual bool
isOccupied
classhumanoid__localization_1_1OccupancyMap.html
acad0d47079aa41ff96f660834ba9f194
(octomap::OcTreeNode *node) const
OccupancyMap
classhumanoid__localization_1_1OccupancyMap.html
a8d5438b9592ff51b5302f4391ce0a481
(ros::NodeHandle *nh)
virtual
~OccupancyMap
classhumanoid__localization_1_1OccupancyMap.html
aefd2776fe762b7c65d1e9f3f585b2c54
()
humanoid_localization::Particle
structhumanoid__localization_1_1Particle.html
tf::Pose
pose
structhumanoid__localization_1_1Particle.html
af35c09373743039171b964b3513ce75c
double
weight
structhumanoid__localization_1_1Particle.html
a16e5a2860a2ee784d7eb2847fb770b71
humanoid_localization::RaycastingModel
classhumanoid__localization_1_1RaycastingModel.html
humanoid_localization::ObservationModel
virtual void
integrateMeasurement
classhumanoid__localization_1_1RaycastingModel.html
a6e366c22f4e263172cb7fad53a4d7864
(Particles &particles, const PointCloud &pc, const std::vector< float > &ranges, float max_range, const tf::Transform &baseToSensor)
RaycastingModel
classhumanoid__localization_1_1RaycastingModel.html
a06a039ab10a84ff36bd59589a5b7a8e0
(ros::NodeHandle *nh, boost::shared_ptr< MapModel > mapModel, EngineT *rngEngine)
virtual
~RaycastingModel
classhumanoid__localization_1_1RaycastingModel.html
a9cb94a4ed003f865fd74fabd3fc3552d
()
bool
getHeightError
classhumanoid__localization_1_1RaycastingModel.html
a35bde7cc9099f7dc9e47c8b35770b956
(const Particle &p, const tf::StampedTransform &footprintToBase, double &heightError) const
bool
m_filterPointCloudGround
classhumanoid__localization_1_1RaycastingModel.html
a6406e66fd092e4f9c84f82fca83f7435
double
m_groundFilterAngle
classhumanoid__localization_1_1RaycastingModel.html
a9335d75ae1e589efc66a10976479023d
double
m_groundFilterDistance
classhumanoid__localization_1_1RaycastingModel.html
a33a2fde411c8b271957fc78b0695a10d
double
m_groundFilterPlaneDistance
classhumanoid__localization_1_1RaycastingModel.html
a11a04f584e09b1ef155576bd8314b5b5
double
m_lambdaShort
classhumanoid__localization_1_1RaycastingModel.html
aa078239c52dd7491a2c16d8840857e3e
int
m_numFloorPoints
classhumanoid__localization_1_1RaycastingModel.html
a7d293fcb102354ef1dd2af82ceb87a38
int
m_numNonFloorPoints
classhumanoid__localization_1_1RaycastingModel.html
a399379c01e0b926aa730884a1566ae3d
double
m_sigmaHit
classhumanoid__localization_1_1RaycastingModel.html
a626db40d55a4e06ea4f7bad161c77b42
double
m_zHit
classhumanoid__localization_1_1RaycastingModel.html
a4e48f57b3dc76464fbb583ebcc12f024
double
m_zMax
classhumanoid__localization_1_1RaycastingModel.html
aeba7fdfda1bee8ce9f6c209248c3d621
double
m_zRand
classhumanoid__localization_1_1RaycastingModel.html
afa7c3320f65d971d75bed2abd2c97342
double
m_zShort
classhumanoid__localization_1_1RaycastingModel.html
aa0c9a19ea9ff77b7d75028f232835afe
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