NDTMCL3DNode Class Reference

List of all members.

Public Member Functions
void	callback (const sensor_msgs::PointCloud2::ConstPtr &cloud_in, const nav_msgs::Odometry::ConstPtr &odo_in)
	NDTMCL3DNode (ros::NodeHandle param_nh)
bool	sendROSOdoMessage (Eigen::Affine3d mean, ros::Time ts)
	~NDTMCL3DNode ()
Private Attributes
bool	do_visualize
bool	forceSIR
bool	hasInitialPose
bool	hasSensorPose
Eigen::Affine3d	initPoseT
bool	isFirstLoad
std::string	mapName
	name and the path to the map
boost::mutex	mcl_m
ros::Publisher	mcl_pub
	The output of MCL is published with this!
boost::mutex	message_m
NDTViz	ndt_viz
NDTMCL3D *	ndtmcl
ros::NodeHandle	nh_
message_filters::Subscriber < nav_msgs::Odometry > *	odom_sub_
std::string	odometry_topic
std::string	output_map_name
int	pcounter
message_filters::Subscriber < sensor_msgs::PointCloud2 > *	points2_sub_
std::string	points_topic
double	resolution
bool	saveMap
	indicates if we want to save the map in a regular intervals
Eigen::Affine3d	sensorPoseT
	Laser sensor offset.
double	subsample_level
message_filters::Synchronizer < PointsOdomSync > *	sync_po_
Eigen::Affine3d	Tcum
std::string	tf_base_link
std::string	tf_sensor_link
Eigen::Affine3d	Todo
Eigen::Affine3d	Todo_old
Eigen::Affine3d	Told

---

Detailed Description

Definition at line 56 of file 3d_ndt_mcl_node.cpp.

---

Constructor & Destructor Documentation

NDTMCL3DNode::NDTMCL3DNode

(

ros::NodeHandle

param_nh

)

[inline]

Prepare Pose offsets

initial pose of the vehicle with respect to the map

pose of the sensor with respect to the vehicle odometry frame

Prepare the map

Prepare MCL object

Prepare the callbacks and message filters

topic to wait for point clouds

topic to wait for odometry messages

Definition at line 87 of file 3d_ndt_mcl_node.cpp.

NDTMCL3DNode::~NDTMCL3DNode

(

)

[inline]

Definition at line 183 of file 3d_ndt_mcl_node.cpp.

---

Member Function Documentation

void NDTMCL3DNode::callback	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_in,
		const nav_msgs::Odometry::ConstPtr &	odo_in
	)		[inline]

Set the cloud to sensor frame with respect to base

DRAW STUFF///

Definition at line 191 of file 3d_ndt_mcl_node.cpp.

bool NDTMCL3DNode::sendROSOdoMessage	(	Eigen::Affine3d	mean,
		ros::Time	ts
	)		[inline]

Definition at line 297 of file 3d_ndt_mcl_node.cpp.

---

Member Data Documentation

bool NDTMCL3DNode::do_visualize [private]

Definition at line 73 of file 3d_ndt_mcl_node.cpp.

bool NDTMCL3DNode::forceSIR [private]

Definition at line 73 of file 3d_ndt_mcl_node.cpp.

bool NDTMCL3DNode::hasInitialPose [private]

Definition at line 71 of file 3d_ndt_mcl_node.cpp.

bool NDTMCL3DNode::hasSensorPose [private]

Definition at line 71 of file 3d_ndt_mcl_node.cpp.

Eigen::Affine3d NDTMCL3DNode::initPoseT [private]

Definition at line 69 of file 3d_ndt_mcl_node.cpp.

bool NDTMCL3DNode::isFirstLoad [private]

Definition at line 72 of file 3d_ndt_mcl_node.cpp.

std::string NDTMCL3DNode::mapName [private]

name and the path to the map

Definition at line 75 of file 3d_ndt_mcl_node.cpp.

boost::mutex NDTMCL3DNode::mcl_m [private]

Definition at line 61 of file 3d_ndt_mcl_node.cpp.

ros::Publisher NDTMCL3DNode::mcl_pub [private]

The output of MCL is published with this!

Definition at line 82 of file 3d_ndt_mcl_node.cpp.

boost::mutex NDTMCL3DNode::message_m [private]

Definition at line 61 of file 3d_ndt_mcl_node.cpp.

NDTViz NDTMCL3DNode::ndt_viz [private]

Definition at line 80 of file 3d_ndt_mcl_node.cpp.

NDTMCL3D* NDTMCL3DNode::ndtmcl [private]

Definition at line 60 of file 3d_ndt_mcl_node.cpp.

ros::NodeHandle NDTMCL3DNode::nh_ [private]

Definition at line 59 of file 3d_ndt_mcl_node.cpp.

message_filters::Subscriber<nav_msgs::Odometry>* NDTMCL3DNode::odom_sub_ [private]

Definition at line 64 of file 3d_ndt_mcl_node.cpp.

std::string NDTMCL3DNode::odometry_topic [private]

Definition at line 85 of file 3d_ndt_mcl_node.cpp.

std::string NDTMCL3DNode::output_map_name [private]

Definition at line 76 of file 3d_ndt_mcl_node.cpp.

int NDTMCL3DNode::pcounter [private]

Definition at line 79 of file 3d_ndt_mcl_node.cpp.

message_filters::Subscriber<sensor_msgs::PointCloud2>* NDTMCL3DNode::points2_sub_ [private]

Definition at line 63 of file 3d_ndt_mcl_node.cpp.

std::string NDTMCL3DNode::points_topic [private]

Definition at line 85 of file 3d_ndt_mcl_node.cpp.

double NDTMCL3DNode::resolution [private]

Definition at line 77 of file 3d_ndt_mcl_node.cpp.

bool NDTMCL3DNode::saveMap [private]

indicates if we want to save the map in a regular intervals

Definition at line 74 of file 3d_ndt_mcl_node.cpp.

Eigen::Affine3d NDTMCL3DNode::sensorPoseT [private]

Laser sensor offset.

Definition at line 67 of file 3d_ndt_mcl_node.cpp.

double NDTMCL3DNode::subsample_level [private]

Definition at line 78 of file 3d_ndt_mcl_node.cpp.

message_filters::Synchronizer< PointsOdomSync >* NDTMCL3DNode::sync_po_ [private]

Definition at line 83 of file 3d_ndt_mcl_node.cpp.

Eigen::Affine3d NDTMCL3DNode::Tcum [private]

Definition at line 68 of file 3d_ndt_mcl_node.cpp.

std::string NDTMCL3DNode::tf_base_link [private]

Definition at line 85 of file 3d_ndt_mcl_node.cpp.

std::string NDTMCL3DNode::tf_sensor_link [private]

Definition at line 85 of file 3d_ndt_mcl_node.cpp.

Eigen::Affine3d NDTMCL3DNode::Todo [private]

Definition at line 68 of file 3d_ndt_mcl_node.cpp.

Eigen::Affine3d NDTMCL3DNode::Todo_old [private]

Definition at line 68 of file 3d_ndt_mcl_node.cpp.

Eigen::Affine3d NDTMCL3DNode::Told [private]

Definition at line 68 of file 3d_ndt_mcl_node.cpp.

---

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

• 3d_ndt_mcl_node.cpp