#include <SelfLocalizer.h>
Definition at line 37 of file SelfLocalizer.h.
SelfLocalizer::SelfLocalizer | ( | bool | publish = true | ) |
Definition at line 80 of file SelfLocalizer.cpp.
Definition at line 146 of file SelfLocalizer.cpp.
double SelfLocalizer::calculateBeamModel | ( | LaserData * | data, |
pf_sample_set_t * | set | ||
) | [static] |
Definition at line 225 of file SelfLocalizer.cpp.
double SelfLocalizer::calculateLikelihoodFieldModel | ( | LaserData * | data, |
pf_sample_set_t * | set | ||
) | [static] |
Definition at line 282 of file SelfLocalizer.cpp.
double SelfLocalizer::calculateMoveModel | ( | OdometryData * | data, |
pf_sample_set_t * | set | ||
) | [static] |
Definition at line 183 of file SelfLocalizer.cpp.
void SelfLocalizer::convertMap | ( | const nav_msgs::OccupancyGrid & | map_msg | ) |
Definition at line 466 of file SelfLocalizer.cpp.
pf_vector_t SelfLocalizer::distributeParticles | ( | void * | map | ) | [static] |
Definition at line 154 of file SelfLocalizer.cpp.
Definition at line 510 of file SelfLocalizer.cpp.
double SelfLocalizer::getCovariance | ( | ) |
Definition at line 501 of file SelfLocalizer.cpp.
tf::StampedTransform SelfLocalizer::getMapToOdometry | ( | ) | [inline] |
Definition at line 56 of file SelfLocalizer.h.
bool SelfLocalizer::initialize | ( | ) |
Definition at line 357 of file SelfLocalizer.cpp.
void SelfLocalizer::process | ( | const sensor_msgs::LaserScan::ConstPtr & | scan | ) |
Definition at line 393 of file SelfLocalizer.cpp.
void SelfLocalizer::publishParticleCloud | ( | ) |
Definition at line 556 of file SelfLocalizer.cpp.
Definition at line 132 of file SelfLocalizer.h.
double SelfLocalizer::mAlphaFast [private] |
Definition at line 119 of file SelfLocalizer.h.
double SelfLocalizer::mAlphaSlow [private] |
Definition at line 118 of file SelfLocalizer.h.
bool SelfLocalizer::mFirstScanReceived [private] |
Definition at line 127 of file SelfLocalizer.h.
std::string SelfLocalizer::mLaserFrame [private] |
Definition at line 98 of file SelfLocalizer.h.
int SelfLocalizer::mLaserModelType [private] |
Definition at line 129 of file SelfLocalizer.h.
tf::StampedTransform SelfLocalizer::mLastPose [static, private] |
Definition at line 110 of file SelfLocalizer.h.
std::string SelfLocalizer::mMapFrame [private] |
Definition at line 95 of file SelfLocalizer.h.
tf::Transform SelfLocalizer::mMapToOdometry [private] |
Definition at line 113 of file SelfLocalizer.h.
int SelfLocalizer::mMaxParticles [private] |
Definition at line 117 of file SelfLocalizer.h.
int SelfLocalizer::mMinParticles [private] |
Definition at line 116 of file SelfLocalizer.h.
double SelfLocalizer::mMinRotation [private] |
Definition at line 124 of file SelfLocalizer.h.
double SelfLocalizer::mMinTranslation [private] |
Definition at line 123 of file SelfLocalizer.h.
std::string SelfLocalizer::mOdometryFrame [private] |
Definition at line 96 of file SelfLocalizer.h.
pf_t* SelfLocalizer::mParticleFilter [private] |
Definition at line 102 of file SelfLocalizer.h.
Definition at line 107 of file SelfLocalizer.h.
double SelfLocalizer::mPopulationErr [private] |
Definition at line 120 of file SelfLocalizer.h.
double SelfLocalizer::mPopulationZ [private] |
Definition at line 121 of file SelfLocalizer.h.
int SelfLocalizer::mProcessedScans [private] |
Definition at line 103 of file SelfLocalizer.h.
bool SelfLocalizer::mPublishParticles [private] |
Definition at line 126 of file SelfLocalizer.h.
std::string SelfLocalizer::mRobotFrame [private] |
Definition at line 97 of file SelfLocalizer.h.
Definition at line 131 of file SelfLocalizer.h.
Definition at line 106 of file SelfLocalizer.h.
double SelfLocalizer::sAlpha1 [static, private] |
Definition at line 71 of file SelfLocalizer.h.
double SelfLocalizer::sAlpha2 [static, private] |
Definition at line 71 of file SelfLocalizer.h.
double SelfLocalizer::sAlpha3 [static, private] |
Definition at line 71 of file SelfLocalizer.h.
double SelfLocalizer::sAlpha4 [static, private] |
Definition at line 71 of file SelfLocalizer.h.
double SelfLocalizer::sLamdaShort [static, private] |
Definition at line 87 of file SelfLocalizer.h.
pf_vector_t SelfLocalizer::sLaserPose [static, private] |
Definition at line 72 of file SelfLocalizer.h.
double SelfLocalizer::sLikelihoodMaxDist [static, private] |
Definition at line 78 of file SelfLocalizer.h.
map_t * SelfLocalizer::sMap = NULL [static, private] |
Definition at line 81 of file SelfLocalizer.h.
int SelfLocalizer::sMaxBeams [static, private] |
Definition at line 75 of file SelfLocalizer.h.
double SelfLocalizer::sSigmaHit [static, private] |
Definition at line 84 of file SelfLocalizer.h.
double SelfLocalizer::sZHit [static, private] |
Definition at line 90 of file SelfLocalizer.h.
double SelfLocalizer::sZMax [static, private] |
Definition at line 92 of file SelfLocalizer.h.
double SelfLocalizer::sZRand [static, private] |
Definition at line 93 of file SelfLocalizer.h.
double SelfLocalizer::sZShort [static, private] |
Definition at line 91 of file SelfLocalizer.h.