#include <base.h>

Classes
struct	Params
Public Member Functions
void	finalize ()
	Finalize stereo slam node.
Params	params () const
void	setParams (const Params &params)
	SlamBase (ros::NodeHandle nh, ros::NodeHandle nhp)
	Class constructor. Reads node parameters and initialize some properties.
Protected Member Functions
void	init ()
	Initializes the stereo slam node.
void	msgsCallback (const nav_msgs::Odometry::ConstPtr &odom_msg, const sensor_msgs::ImageConstPtr &l_img_msg, const sensor_msgs::ImageConstPtr &r_img_msg, const sensor_msgs::CameraInfoConstPtr &l_info_msg, const sensor_msgs::CameraInfoConstPtr &r_info_msg)
	Messages callback. This function is called when synchronized odometry and image message are received.
void	msgsCallback (const nav_msgs::Odometry::ConstPtr &odom_msg, const sensor_msgs::ImageConstPtr &l_img_msg, const sensor_msgs::ImageConstPtr &r_img_msg, const sensor_msgs::CameraInfoConstPtr &l_info_msg, const sensor_msgs::CameraInfoConstPtr &r_info_msg, const sensor_msgs::PointCloud2ConstPtr &cloud_msg)
	Messages callback. This function is called when synchronized odometry and image message are received.
void	readParameters ()
	Reads the stereo slam node parameters.
Protected Attributes
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
Private Types
typedef message_filters::sync_policies::ExactTime < nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2 >	ExactPolicyCloud
typedef message_filters::sync_policies::ExactTime < nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	ExactPolicyNoCloud
typedef message_filters::Synchronizer < ExactPolicyCloud >	ExactSyncCloud
typedef message_filters::Synchronizer < ExactPolicyNoCloud >	ExactSyncNoCloud
Private Attributes
message_filters::Subscriber < sensor_msgs::PointCloud2 >	cloud_sub_
boost::shared_ptr< ExactSyncCloud >	exact_sync_cloud_
boost::shared_ptr < ExactSyncNoCloud >	exact_sync_no_cloud_
bool	first_iter_
	> Graph object
slam::Graph	graph_
	> Pose object
haloc::LoopClosure	lc_
	> Stores parameters
message_filters::Subscriber < sensor_msgs::CameraInfo >	left_info_sub_
image_transport::SubscriberFilter	left_sub_
message_filters::Subscriber < nav_msgs::Odometry >	odom_sub_
Params	params_
PointCloud	pcl_cloud_
	> Indicates first iteration
slam::Pose	pose_
	> Loop closure object
message_filters::Subscriber < sensor_msgs::CameraInfo >	right_info_sub_
image_transport::SubscriberFilter	right_sub_

Detailed Description

Definition at line 37 of file base.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ExactTime<nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2> slam::SlamBase::ExactPolicyCloud [private]

Definition at line 120 of file base.h.

typedef message_filters::sync_policies::ExactTime<nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> slam::SlamBase::ExactPolicyNoCloud [private]

Definition at line 110 of file base.h.

typedef message_filters::Synchronizer<ExactPolicyCloud> slam::SlamBase::ExactSyncCloud [private]

Definition at line 121 of file base.h.

typedef message_filters::Synchronizer<ExactPolicyNoCloud> slam::SlamBase::ExactSyncNoCloud [private]

Definition at line 111 of file base.h.

Constructor & Destructor Documentation

slam::SlamBase::SlamBase	(	ros::NodeHandle	nh,
		ros::NodeHandle	nhp
	)

Class constructor. Reads node parameters and initialize some properties.

Returns:

Parameters:

nh	public node handler
nhp	private node handler

Definition at line 12 of file base.cpp.

Member Function Documentation

void slam::SlamBase::finalize ( )

Finalize stereo slam node.

Returns:

Definition at line 25 of file base.cpp.

void slam::SlamBase::init ( ) [protected]

Initializes the stereo slam node.

Returns:: true if init OK

Definition at line 261 of file base.cpp.

void slam::SlamBase::msgsCallback	(	const nav_msgs::Odometry::ConstPtr &	odom_msg,
		const sensor_msgs::ImageConstPtr &	l_img_msg,
		const sensor_msgs::ImageConstPtr &	r_img_msg,
		const sensor_msgs::CameraInfoConstPtr &	l_info_msg,
		const sensor_msgs::CameraInfoConstPtr &	r_info_msg
	)		`[protected]`

Messages callback. This function is called when synchronized odometry and image message are received.

Returns:

Parameters:

odom_msg	ros odometry message of type nav_msgs::Odometry
l_img	left stereo image message of type sensor_msgs::Image
r_img	right stereo image message of type sensor_msgs::Image
l_info	left stereo info message of type sensor_msgs::CameraInfo
r_info	right stereo info message of type sensor_msgs::CameraInfo

Definition at line 67 of file base.cpp.

void slam::SlamBase::msgsCallback	(	const nav_msgs::Odometry::ConstPtr &	odom_msg,
		const sensor_msgs::ImageConstPtr &	l_img_msg,
		const sensor_msgs::ImageConstPtr &	r_img_msg,
		const sensor_msgs::CameraInfoConstPtr &	l_info_msg,
		const sensor_msgs::CameraInfoConstPtr &	r_info_msg,
		const sensor_msgs::PointCloud2ConstPtr &	cloud_msg
	)		`[protected]`

Messages callback. This function is called when synchronized odometry and image message are received.

Returns:

Parameters:

odom_msg	ros odometry message of type nav_msgs::Odometry
l_img	left stereo image message of type sensor_msgs::Image
r_img	right stereo image message of type sensor_msgs::Image
l_info	left stereo info message of type sensor_msgs::CameraInfo
r_info	right stereo info message of type sensor_msgs::CameraInfo
cloud_msg	ros pointcloud message of type sensor_msgs::PointCloud2