Public Member Functions | Protected Member Functions | Private Attributes
viso2_ros::OdometerBase Class Reference

#include <odometer_base.h>

Inheritance diagram for viso2_ros::OdometerBase:
Inheritance graph
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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)

Private Attributes

std::string base_link_frame_id_
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_

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.


Constructor & Destructor Documentation

Definition at line 50 of file odometer_base.h.


Member Function Documentation

std::string viso2_ros::OdometerBase::getSensorFrameId ( ) const [inline, protected]

Definition at line 84 of file odometer_base.h.

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

Definition at line 99 of file odometer_base.h.

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

Definition at line 184 of file odometer_base.h.

void viso2_ros::OdometerBase::setPoseCovariance ( const boost::array< double, 36 > &  pose_covariance) [inline, protected]

Definition at line 89 of file odometer_base.h.

void viso2_ros::OdometerBase::setSensorFrameId ( const std::string &  frame_id) [inline, protected]

Definition at line 79 of file odometer_base.h.

void viso2_ros::OdometerBase::setTwistCovariance ( const boost::array< double, 36 > &  twist_covariance) [inline, protected]

Definition at line 94 of file odometer_base.h.


Member Data Documentation

Definition at line 34 of file odometer_base.h.

Definition at line 40 of file odometer_base.h.

Definition at line 42 of file odometer_base.h.

Definition at line 33 of file odometer_base.h.

Definition at line 26 of file odometer_base.h.

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

Definition at line 45 of file odometer_base.h.

Definition at line 27 of file odometer_base.h.

Definition at line 37 of file odometer_base.h.

Definition at line 29 of file odometer_base.h.

Definition at line 32 of file odometer_base.h.

Definition at line 36 of file odometer_base.h.

Definition at line 35 of file odometer_base.h.

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

Definition at line 46 of file odometer_base.h.


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


viso2_ros
Author(s): Stephan Wirth
autogenerated on Mon Oct 6 2014 08:41:10