Public Member Functions | Public Attributes | Private Member Functions | Private Attributes
crsm_slam::CrsmSlam Class Reference

The main slam class. Contains the main functionalities of CRSM slam. More...

#include <crsm_slam.h>

List of all members.

Public Member Functions

void calculateCriticalRays (void)
 Chooses important rays for RRHC.
 CrsmSlam (int argc, char **argv)
 Default costructor.
void findTransformation (void)
 Calculates the transformation (translation & rotation) with RRHC.
void fixNewScans (const sensor_msgs::LaserScanConstPtr &msg)
 Serves the laser scan messages.
std::string getBaseFootprintFrame (void)
 Gets the base_footprint_frame of CRSM_SlamParameters.
std::string getBaseFrame (void)
 Gets the base_frame of CRSM_SlamParameters.
double getDensity (void)
 Gets the density of CRSM_SlamParameters.
int getDesiredNumberOfPickedRays (void)
 Gets the desired_number_of_picked_rays of CRSM_SlamParameters.
int getDisparity (void)
 Gets the disparity of CRSM_SlamParameters.
double getDxLaserRobotCenter (void)
 Gets the dx_laser_robotCenter of CRSM_SlamParameters.
int getInitialMapSize (void)
 Gets the map_size of CRSM_SlamParameters.
std::string getLaserFrame (void)
 Gets the laser_frame of CRSM_SlamParameters.
CrsmLaserInfo getLaserInfo (void)
 Returns the laser info in a CrsmLaserInfo structure.
std::string getLaserSubscriberTopic (void)
 Gets the laser_subscriber_topic of CRSM_SlamParameters.
std::string getMapFrame (void)
 Gets the map_frame of CRSM_SlamParameters.
CrsmMapInfo getMapInfo (void)
 Returns the map info in a CrsmMapInfo structure.
char getMapProbability (int x, int y)
 Returns the map occupancy probability of coordinates (x,y) ranging from 0-255 (0 is occupied, 255 is free)
int getMaxHillClimbingIterations (void)
 Gets the max_hill_climbing_iterations of CRSM_SlamParameters.
double getObstacleDensity (void)
 Gets the obstacle_density of CRSM_SlamParameters.
double getOccupancyGridMapFreq (void)
 Gets the occupancy_grid_map_freq of CRSM_SlamParameters.
std::string getOccupancyGridPublishTopic (void)
 Gets the occupancy_grid_publish_topic of CRSM_SlamParameters.
double getOcgd (void)
 Gets the ocgd of CRSM_SlamParameters.
double getRobotLength (void)
 Gets the robot_length of CRSM_SlamParameters.
CrsmPose getRobotPose (void)
 Returns the robot pose in a CrsmPose structure.
double getRobotPoseTfFreq (void)
 Gets the robot_pose_tf_freq of CRSM_SlamParameters.
std::string getRobotTrajectoryPublishTopic (void)
 Gets the robot_trajectory_publish_topic of CRSM_SlamParameters.
double getRobotWidth (void)
 Gets the robot_width of CRSM_SlamParameters.
double getScanSelectionMeters (void)
 Gets the scan_selection_meters of CRSM_SlamParameters.
std::vector< CrsmPose > getTrajectory (void)
 Returns the robot trajectory in a vector of CrsmPose structures.
double getTrajectoryFreq (void)
 Gets the trajectory_freq of CRSM_SlamParameters.
std::string getTrajectoryPublisherFrameId (void)
 Gets the trajectory_publisher_frame_id of CRSM_SlamParameters.
std::string getWorldFrame (void)
 Gets the world_frame of CRSM_SlamParameters.
void publishOGM (const ros::TimerEvent &e)
 Publishes the OccupancyGrid map as nav_msgs::OccupancyGrid, posting with occupancy_grid_map_freq Hz from parameters.
void publishRobotPoseTf (const ros::TimerEvent &e)
 Publishes the Tf robot pose, posting with robot_pose_tf_freq Hz from parameters.
void publishTrajectory (const ros::TimerEvent &e)
 Publishes the robot trajectory as nav_msgs::Path, posting with trajectory_freq Hz from parameters.
void setBaseFootprintFrame (std::string frame)
 Sets the base_footprint_frame of CRSM_SlamParameters.
void setBaseFrame (std::string frame)
 Sets the base_frame of CRSM_SlamParameters.
void setDensity (double density)
 Sets the density of CRSM_SlamParameters.
void setDesiredNumberOfPickedRays (int rays)
 Sets the desired_number_of_picked_rays of CRSM_SlamParameters.
void setDisparity (int disparity)
 Sets the disparity of CRSM_SlamParameters.
void setDxLaserRobotCenter (double dx)
 Sets the dx_laser_robotCenter of CRSM_SlamParameters.
void setInitialMapSize (int size)
 Sets the map_size of CRSM_SlamParameters.
void setLaserFrame (std::string frame)
 Sets the laser_frame of CRSM_SlamParameters.
void setLaserSubscriberTopic (std::string topic)
 Sets the laser_subscriber_topic of CRSM_SlamParameters.
void setMapFrame (std::string frame)
 Sets the map_frame of CRSM_SlamParameters.
void setMaxHillClimbingIterations (int iterations)
 Sets the max_hill_climbing_iterations of CRSM_SlamParameters.
void setObstacleDensity (double ob_density)
 Sets the obstacle_density of CRSM_SlamParameters.
void setOccupancyGridMapFreq (double freq)
 Sets the occupancy_grid_map_freq of CRSM_SlamParameters.
void setOccupancyGridPublishTopic (std::string topic)
 Sets the occupancy_grid_publish_topic of CRSM_SlamParameters.
void setOcgd (double ocgd)
 Sets the ocgd of CRSM_SlamParameters.
void setRobotLength (double length)
 Sets the robot_length of CRSM_SlamParameters.
void setRobotPoseTfFreq (double freq)
 Sets the robot_pose_tf_freq of CRSM_SlamParameters.
void setRobotTrajectoryPublishTopic (std::string topic)
 Sets the robot_trajectory_publish_topic of CRSM_SlamParameters.
void setRobotWidth (double width)
 Sets the robot_width of CRSM_SlamParameters.
void setScanSelectionMeters (double scan_selection_meters)
 Sets the scan_selection_meters of CRSM_SlamParameters.
void setTrajectoryFreq (double freq)
 Sets the trajectory_freq of CRSM_SlamParameters.
void setTrajectoryPublisherFrameId (std::string frame_id)
 Sets the trajectory_publisher_frame_id of CRSM_SlamParameters.
void setWorldFrame (std::string frame)
 Sets the world_frame of CRSM_SlamParameters.
void startLaserSubscriber (void)
 Starts the laser subscriber, listening to laser_subscriber_topic from parameters.
void startOGMPublisher (void)
 Starts the OccupancyGrid publisher, posting to occupancy_grid_publish_topic from parameters.
void startTrajectoryPublisher (void)
 Starts the Trajectory publisher, posting to robot_trajectory_publish_topic from parameters, with trajectory_publisher_frame_id as frame ID.
void stopLaserSubscriber (void)
 Stops the laser subscriber.
void stopOGMPublisher (void)
 Stops the OccupancyGrid publisher.
void stopTrajectoryPublisher (void)
 Stops the Trajectory publisher.
void updateMapProbabilities (void)
 Updates map after finding the new robot pose.
 ~CrsmSlam ()
 Destructor.

Public Attributes

ros::NodeHandle n
 The ROS node handle.

Private Member Functions

bool checkExpansion (int x, int y, bool update)
void expandMap (void)
void updateParameters (void)
 Reads the CRSM slam parameters from the yaml file and fills the CrsmSlamParameters structure.

Private Attributes

tf::TransformListener _listener
 Tf listener to aquire the transformation between the laser and the robot center.
ros::Timer _mapPublishingTimer
 The map publishing timer.
ros::Publisher _occupancyGridPublisher
 The occupancy grid map publisher.
ros::Publisher _pathPublisher
 The robot trajectory publisher.
ros::Timer _pathPublishingTimer
 The trajectory publishing timer.
ros::Timer _robotPosePublishingTimer
 The robot pose publishing timer.
tf::TransformBroadcaster _slamFrameBroadcaster
 The tf robpt pose broadcaster.
int argc
 Number of input arguments.
char ** argv
 The input arguments.
float bestFitness
 The best RRHC fitness for a specific iteration.
CrsmTransformation bestTransformation
 The best RRHC transformation for a specific iteration.
std::set< int > bigChanges
 Holds the irregularities of a specific scan in terms of distance.
ros::Subscriber clientLaserValues
 The laser subscriber.
unsigned int counter
 Slam iterations counter.
CrsmExpansion expansion
CrsmLaser laser
 The laser container.
CrsmMap map
 The OGM container.
float meanDensity
 The mean laser scan density for a specific iteration.
CrsmPose robotPose
 The robot pose.
std::vector< CrsmPose > robotTrajectory
 Container for the robot trajectory.
std::set< int > scanSelections
 Holds the critical rays, on which the scan matching is performed.
CrsmSlamParameters slamParams
 The slam parameters.

Detailed Description

The main slam class. Contains the main functionalities of CRSM slam.

Definition at line 50 of file crsm_slam.h.

Constructor & Destructor Documentation

crsm_slam::CrsmSlam::CrsmSlam ( int  argc,
char **  argv 
)

Default costructor.

Parameters:
argc[int] The number of input arguments
argv[char **] The input arguments
Returns:
void

Definition at line 32 of file crsm_slam.cpp.

crsm_slam::CrsmSlam::~CrsmSlam ( ) [inline]

Destructor.

Returns:
void

Definition at line 112 of file crsm_slam.h.

Member Function Documentation

void crsm_slam::CrsmSlam::calculateCriticalRays ( void  )

Chooses important rays for RRHC.

Returns:
void

Definition at line 305 of file crsm_slam.cpp.

bool crsm_slam::CrsmSlam::checkExpansion ( int  x,
int  y,
bool  update 
) [private]

Definition at line 468 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::expandMap ( void  ) [private]

Definition at line 501 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::findTransformation ( void  )

Calculates the transformation (translation & rotation) with RRHC.

Returns:
void

Definition at line 239 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::fixNewScans ( const sensor_msgs::LaserScanConstPtr &  msg)

Serves the laser scan messages.

Parameters:
msg[sensor_msgs::LaserScanConstPtr&] : The laser rays distances
Returns:
void

< Check if laser measurement is in nominal values

Definition at line 399 of file crsm_slam.cpp.

std::string crsm_slam::CrsmSlam::getBaseFootprintFrame ( void  )

Gets the base_footprint_frame of CRSM_SlamParameters.

Returns:
std::string Holds the base footprint frame - (x,y,yaw)

Definition at line 1096 of file crsm_slam.cpp.

std::string crsm_slam::CrsmSlam::getBaseFrame ( void  )

Gets the base_frame of CRSM_SlamParameters.

Returns:
std::string Holds the base frame

Definition at line 1104 of file crsm_slam.cpp.

double crsm_slam::CrsmSlam::getDensity ( void  )

Gets the density of CRSM_SlamParameters.

Returns:
double Map update density (0-127)

Definition at line 968 of file crsm_slam.cpp.

int crsm_slam::CrsmSlam::getDesiredNumberOfPickedRays ( void  )

Gets the desired_number_of_picked_rays of CRSM_SlamParameters.

Returns:
int The desired number of picked rays [algorithm specific]

Definition at line 1032 of file crsm_slam.cpp.

int crsm_slam::CrsmSlam::getDisparity ( void  )

Gets the disparity of CRSM_SlamParameters.

Returns:
int Disparity of mutation in pixels at hill climbing

Definition at line 944 of file crsm_slam.cpp.

double crsm_slam::CrsmSlam::getDxLaserRobotCenter ( void  )

Gets the dx_laser_robotCenter of CRSM_SlamParameters.

Returns:
double Translation in x axis of laser in comparison to robot center

Definition at line 1000 of file crsm_slam.cpp.

int crsm_slam::CrsmSlam::getInitialMapSize ( void  )

Gets the map_size of CRSM_SlamParameters.

Returns:
int Map size of initial allocated map

Definition at line 952 of file crsm_slam.cpp.

std::string crsm_slam::CrsmSlam::getLaserFrame ( void  )

Gets the laser_frame of CRSM_SlamParameters.

Returns:
std::string Holds the laser frame

Definition at line 1120 of file crsm_slam.cpp.

CrsmLaserInfo crsm_slam::CrsmSlam::getLaserInfo ( void  )

Returns the laser info in a CrsmLaserInfo structure.

Returns:
CrsmLaserInfo

Definition at line 664 of file crsm_slam.cpp.

std::string crsm_slam::CrsmSlam::getLaserSubscriberTopic ( void  )

Gets the laser_subscriber_topic of CRSM_SlamParameters.

Returns:
std::string The laser subscriber topic

Definition at line 1080 of file crsm_slam.cpp.

std::string crsm_slam::CrsmSlam::getMapFrame ( void  )

Gets the map_frame of CRSM_SlamParameters.

Returns:
std::string Holds the map frame

Definition at line 1112 of file crsm_slam.cpp.

CrsmMapInfo crsm_slam::CrsmSlam::getMapInfo ( void  )

Returns the map info in a CrsmMapInfo structure.

Returns:
CrsmMapInfo

Definition at line 648 of file crsm_slam.cpp.

char crsm_slam::CrsmSlam::getMapProbability ( int  x,
int  y 
)

Returns the map occupancy probability of coordinates (x,y) ranging from 0-255 (0 is occupied, 255 is free)

Parameters:
x[int] : The x coordinate
y[int] : The y coordinate
Returns:
char probability

Definition at line 640 of file crsm_slam.cpp.

int crsm_slam::CrsmSlam::getMaxHillClimbingIterations ( void  )

Gets the max_hill_climbing_iterations of CRSM_SlamParameters.

Returns:
int Maximum RRHC iterations

Definition at line 992 of file crsm_slam.cpp.

double crsm_slam::CrsmSlam::getObstacleDensity ( void  )

Gets the obstacle_density of CRSM_SlamParameters.

Returns:
double Coefficient for obstacle update density (0+)

Definition at line 976 of file crsm_slam.cpp.

double crsm_slam::CrsmSlam::getOccupancyGridMapFreq ( void  )

Gets the occupancy_grid_map_freq of CRSM_SlamParameters.

Returns:
double The occupancy grid map publishing frequency

Definition at line 1008 of file crsm_slam.cpp.

std::string crsm_slam::CrsmSlam::getOccupancyGridPublishTopic ( void  )

Gets the occupancy_grid_publish_topic of CRSM_SlamParameters.

Returns:
std::string The occupancy grid publishing topic

Definition at line 1056 of file crsm_slam.cpp.

double crsm_slam::CrsmSlam::getOcgd ( void  )

Gets the ocgd of CRSM_SlamParameters.

Returns:
double [OC]cupancy [G]rid [D]imentionality - the width and height in meters of a pixel

Definition at line 960 of file crsm_slam.cpp.

double crsm_slam::CrsmSlam::getRobotLength ( void  )

Gets the robot_length of CRSM_SlamParameters.

Returns:
double The robot length

Definition at line 1048 of file crsm_slam.cpp.

CrsmPose crsm_slam::CrsmSlam::getRobotPose ( void  )

Returns the robot pose in a CrsmPose structure.

Returns:
CrsmPose

Definition at line 656 of file crsm_slam.cpp.

double crsm_slam::CrsmSlam::getRobotPoseTfFreq ( void  )

Gets the robot_pose_tf_freq of CRSM_SlamParameters.

Returns:
double The robot pose publishing frequency

Definition at line 1016 of file crsm_slam.cpp.

std::string crsm_slam::CrsmSlam::getRobotTrajectoryPublishTopic ( void  )

Gets the robot_trajectory_publish_topic of CRSM_SlamParameters.

Returns:
std::string The trajectory publishing topic

Definition at line 1064 of file crsm_slam.cpp.

double crsm_slam::CrsmSlam::getRobotWidth ( void  )

Gets the robot_width of CRSM_SlamParameters.

Returns:
double The robot width

Definition at line 1040 of file crsm_slam.cpp.

double crsm_slam::CrsmSlam::getScanSelectionMeters ( void  )

Gets the scan_selection_meters of CRSM_SlamParameters.

Returns:
double Scan density lower boundary for a scan-part identification

Definition at line 984 of file crsm_slam.cpp.

std::vector< CrsmPose > crsm_slam::CrsmSlam::getTrajectory ( void  )

Returns the robot trajectory in a vector of CrsmPose structures.

Returns:
std::vector<CrsmPose>

Definition at line 672 of file crsm_slam.cpp.

double crsm_slam::CrsmSlam::getTrajectoryFreq ( void  )

Gets the trajectory_freq of CRSM_SlamParameters.

Returns:
double The trajectory publishing frequency

Definition at line 1024 of file crsm_slam.cpp.

std::string crsm_slam::CrsmSlam::getTrajectoryPublisherFrameId ( void  )

Gets the trajectory_publisher_frame_id of CRSM_SlamParameters.

Returns:
std::string The trajectory frame ID

Definition at line 1072 of file crsm_slam.cpp.

std::string crsm_slam::CrsmSlam::getWorldFrame ( void  )

Gets the world_frame of CRSM_SlamParameters.

Returns:
std::string Holds the world frame

Definition at line 1088 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::publishOGM ( const ros::TimerEvent &  e)

Publishes the OccupancyGrid map as nav_msgs::OccupancyGrid, posting with occupancy_grid_map_freq Hz from parameters.

Parameters:
e[const ros::TimerEvent&] The timer event
Returns:
void

Definition at line 609 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::publishRobotPoseTf ( const ros::TimerEvent &  e)

Publishes the Tf robot pose, posting with robot_pose_tf_freq Hz from parameters.

Parameters:
e[const ros::TimerEvent&] The timer event
Returns:
void

Definition at line 681 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::publishTrajectory ( const ros::TimerEvent &  e)

Publishes the robot trajectory as nav_msgs::Path, posting with trajectory_freq Hz from parameters.

Parameters:
e[const ros::TimerEvent&] The timer event
Returns:
void

Definition at line 714 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setBaseFootprintFrame ( std::string  frame)

Sets the base_footprint_frame of CRSM_SlamParameters.

Parameters:
frame[std::string] Holds the base footprint frame - (x,y,yaw)
Returns:
void

Definition at line 907 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setBaseFrame ( std::string  frame)

Sets the base_frame of CRSM_SlamParameters.

Parameters:
frame[std::string] Holds the base frame
Returns:
void

Definition at line 916 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setDensity ( double  density)

Sets the density of CRSM_SlamParameters.

Parameters:
density[double] Map update density (0-127)
Returns:
void

Definition at line 763 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setDesiredNumberOfPickedRays ( int  rays)

Sets the desired_number_of_picked_rays of CRSM_SlamParameters.

Parameters:
rays[int] The desired number of picked rays [algorithm specific]
Returns:
void

Definition at line 835 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setDisparity ( int  disparity)

Sets the disparity of CRSM_SlamParameters.

Parameters:
disparity[int] Disparity of mutation in pixels at hill climbing
Returns:
void

Definition at line 736 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setDxLaserRobotCenter ( double  dx)

Sets the dx_laser_robotCenter of CRSM_SlamParameters.

Parameters:
dx[double] Translation in x axis of laser in comparison to robot center
Returns:
void

Definition at line 799 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setInitialMapSize ( int  size)

Sets the map_size of CRSM_SlamParameters.

Parameters:
size[int] Map size of initial allocated map
Returns:
void

Definition at line 745 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setLaserFrame ( std::string  frame)

Sets the laser_frame of CRSM_SlamParameters.

Parameters:
frame[std::string] Holds the laser frame
Returns:
void

Definition at line 934 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setLaserSubscriberTopic ( std::string  topic)

Sets the laser_subscriber_topic of CRSM_SlamParameters.

Parameters:
topic[std::string] The laser subscriber topic
Returns:
void

Definition at line 889 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setMapFrame ( std::string  frame)

Sets the map_frame of CRSM_SlamParameters.

Parameters:
frame[std::string] Holds the map frame
Returns:
void

Definition at line 925 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setMaxHillClimbingIterations ( int  iterations)

Sets the max_hill_climbing_iterations of CRSM_SlamParameters.

Parameters:
iterations[int] Maximum RRHC iterations
Returns:
void

Definition at line 790 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setObstacleDensity ( double  ob_density)

Sets the obstacle_density of CRSM_SlamParameters.

Parameters:
ob_density[double] Coefficient for obstacle update density (0+)
Returns:
void

Definition at line 772 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setOccupancyGridMapFreq ( double  freq)

Sets the occupancy_grid_map_freq of CRSM_SlamParameters.

Parameters:
freq[double] The occupancy grid map publishing frequency
Returns:
void

Definition at line 808 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setOccupancyGridPublishTopic ( std::string  topic)

Sets the occupancy_grid_publish_topic of CRSM_SlamParameters.

Parameters:
topic[std::string] The occupancy grid publishing topic
Returns:
void

Definition at line 862 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setOcgd ( double  ocgd)

Sets the ocgd of CRSM_SlamParameters.

Parameters:
ocgd[double] [OC]cupancy [G]rid [D]imentionality - the width and height in meters of a pixel
Returns:
void

Definition at line 754 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setRobotLength ( double  length)

Sets the robot_length of CRSM_SlamParameters.

Parameters:
length[double] The robot length
Returns:
void

Definition at line 853 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setRobotPoseTfFreq ( double  freq)

Sets the robot_pose_tf_freq of CRSM_SlamParameters.

Parameters:
freq[double] The robot pose publishing frequency
Returns:
void

Definition at line 817 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setRobotTrajectoryPublishTopic ( std::string  topic)

Sets the robot_trajectory_publish_topic of CRSM_SlamParameters.

Parameters:
topic[std::string] The trajectory publishing topic
Returns:
void

Definition at line 871 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setRobotWidth ( double  width)

Sets the robot_width of CRSM_SlamParameters.

Parameters:
width[double] The robot width
Returns:
void

Definition at line 844 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setScanSelectionMeters ( double  scan_selection_meters)

Sets the scan_selection_meters of CRSM_SlamParameters.

Parameters:
scan_selection_meters[double] Scan density lower boundary for a scan-part identification
Returns:
void

Definition at line 781 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setTrajectoryFreq ( double  freq)

Sets the trajectory_freq of CRSM_SlamParameters.

Parameters:
freq[double] The trajectory publishing frequency
Returns:
void

Definition at line 826 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setTrajectoryPublisherFrameId ( std::string  frame_id)

Sets the trajectory_publisher_frame_id of CRSM_SlamParameters.

Parameters:
frame_id[std::string] The trajectory frame ID
Returns:
void

Definition at line 880 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::setWorldFrame ( std::string  frame)

Sets the world_frame of CRSM_SlamParameters.

Parameters:
frame[std::string] Holds the world frame
Returns:
void

Definition at line 898 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::startLaserSubscriber ( void  )

Starts the laser subscriber, listening to laser_subscriber_topic from parameters.

Returns:
void

Definition at line 573 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::startOGMPublisher ( void  )

Starts the OccupancyGrid publisher, posting to occupancy_grid_publish_topic from parameters.

Returns:
void

Definition at line 590 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::startTrajectoryPublisher ( void  )

Starts the Trajectory publisher, posting to robot_trajectory_publish_topic from parameters, with trajectory_publisher_frame_id as frame ID.

Returns:
void

Definition at line 695 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::stopLaserSubscriber ( void  )

Stops the laser subscriber.

Returns:
void

Definition at line 582 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::stopOGMPublisher ( void  )

Stops the OccupancyGrid publisher.

Returns:
void

Definition at line 599 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::stopTrajectoryPublisher ( void  )

Stops the Trajectory publisher.

Returns:
void

Definition at line 704 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::updateMapProbabilities ( void  )

Updates map after finding the new robot pose.

Returns:
void

Definition at line 515 of file crsm_slam.cpp.

void crsm_slam::CrsmSlam::updateParameters ( void  ) [private]

Reads the CRSM slam parameters from the yaml file and fills the CrsmSlamParameters structure.

Returns:
void

Definition at line 65 of file crsm_slam.cpp.

Member Data Documentation

tf::TransformListener crsm_slam::CrsmSlam::_listener [private]

Tf listener to aquire the transformation between the laser and the robot center.

Definition at line 57 of file crsm_slam.h.

ros::Timer crsm_slam::CrsmSlam::_mapPublishingTimer [private]

The map publishing timer.

Definition at line 93 of file crsm_slam.h.

ros::Publisher crsm_slam::CrsmSlam::_occupancyGridPublisher [private]

The occupancy grid map publisher.

Definition at line 54 of file crsm_slam.h.

ros::Publisher crsm_slam::CrsmSlam::_pathPublisher [private]

The robot trajectory publisher.

Definition at line 55 of file crsm_slam.h.

ros::Timer crsm_slam::CrsmSlam::_pathPublishingTimer [private]

The trajectory publishing timer.

Definition at line 91 of file crsm_slam.h.

ros::Timer crsm_slam::CrsmSlam::_robotPosePublishingTimer [private]

The robot pose publishing timer.

Definition at line 92 of file crsm_slam.h.

tf::TransformBroadcaster crsm_slam::CrsmSlam::_slamFrameBroadcaster [private]

The tf robpt pose broadcaster.

Definition at line 56 of file crsm_slam.h.

int crsm_slam::CrsmSlam::argc [private]

Number of input arguments.

Definition at line 64 of file crsm_slam.h.

char** crsm_slam::CrsmSlam::argv [private]

The input arguments.

Definition at line 65 of file crsm_slam.h.

float crsm_slam::CrsmSlam::bestFitness [private]

The best RRHC fitness for a specific iteration.

Definition at line 69 of file crsm_slam.h.

CrsmTransformation crsm_slam::CrsmSlam::bestTransformation [private]

The best RRHC transformation for a specific iteration.

Definition at line 72 of file crsm_slam.h.

std::set<int> crsm_slam::CrsmSlam::bigChanges [private]

Holds the irregularities of a specific scan in terms of distance.

Definition at line 79 of file crsm_slam.h.

ros::Subscriber crsm_slam::CrsmSlam::clientLaserValues [private]

The laser subscriber.

Definition at line 53 of file crsm_slam.h.

unsigned int crsm_slam::CrsmSlam::counter [private]

Slam iterations counter.

Definition at line 67 of file crsm_slam.h.

CrsmExpansion crsm_slam::CrsmSlam::expansion [private]

Definition at line 59 of file crsm_slam.h.

CrsmLaser crsm_slam::CrsmSlam::laser [private]

The laser container.

Definition at line 62 of file crsm_slam.h.

CrsmMap crsm_slam::CrsmSlam::map [private]

The OGM container.

Definition at line 61 of file crsm_slam.h.

float crsm_slam::CrsmSlam::meanDensity [private]

The mean laser scan density for a specific iteration.

Definition at line 70 of file crsm_slam.h.

ros::NodeHandle crsm_slam::CrsmSlam::n

The ROS node handle.

Definition at line 97 of file crsm_slam.h.

CrsmPose crsm_slam::CrsmSlam::robotPose [private]

The robot pose.

Definition at line 73 of file crsm_slam.h.

std::vector<CrsmPose> crsm_slam::CrsmSlam::robotTrajectory [private]

Container for the robot trajectory.

Definition at line 76 of file crsm_slam.h.

std::set<int> crsm_slam::CrsmSlam::scanSelections [private]

Holds the critical rays, on which the scan matching is performed.

Definition at line 78 of file crsm_slam.h.

CrsmSlamParameters crsm_slam::CrsmSlam::slamParams [private]

The slam parameters.

Definition at line 74 of file crsm_slam.h.

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

crsm_slam
Author(s): Manos Tsardoulias
autogenerated on Thu Aug 27 2015 12:54:13