lj_laser::Jockey Class Reference

#include <jockey.h>

Inheritance diagram for lj_laser::Jockey:

List of all members.

Public Member Functions
	Jockey (std::string name, const double frontier_width, const double max_frontier_angle=0.785)
virtual void	onGetDissimilarity ()
virtual void	onGetEdgesDescriptors ()
virtual void	onGetVertexDescriptor ()
virtual void	onLocalizeEdge ()
virtual void	onLocalizeInVertex ()
void	setDissimilarityServerName (std::string name)
Protected Attributes
ros::ServiceClient	crossing_descriptor_setter_
crossing_detector::LaserCrossingDetector	crossing_detector_
std::string	crossing_interface_name_
	Interface name in the database, access via "~crossing_interface_name".
bool	data_received_
ros::ServiceClient	dissimilarity_server_
std::string	dissimilarity_server_name_
	Service name, access via "~dissimilarity_server_name".
ros::ServiceClient	laser_descriptor_getter_
	Client to laser scan getter for LaMa.
ros::ServiceClient	laser_descriptor_setter_
	Client to laser scan setter for LaMa.
std::string	laser_interface_name_
	Interface name in the database, access via "~laser_interface_name".
ros::Subscriber	laserHandler_
sensor_msgs::LaserScan	scan_
	Last received laser scan.
ros::Time	scan_reception_time_
	Time of reception of last received laser scan.
Private Member Functions
lama_msgs::DescriptorLink	crossingDescriptorLink (const int32_t id)
void	getData ()
void	handleLaser (const sensor_msgs::LaserScanConstPtr &msg)
bool	initMapCrossingInterface ()
bool	initMapLaserInterface ()
lama_msgs::DescriptorLink	laserDescriptorLink (const int32_t id)

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Detailed Description

Definition at line 63 of file jockey.h.

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Constructor & Destructor Documentation

lj_laser::Jockey::Jockey	(	std::string	name,
		const double	frontier_width,
		const double	max_frontier_angle = 0.785
	)

Definition at line 5 of file jockey.cpp.

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Member Function Documentation

lama_msgs::DescriptorLink lj_laser::Jockey::crossingDescriptorLink

(

const int32_t

id

)

[private]

Return a DescriptorLink for Crossing.

Returns:

DescriptorLink with correct interface_name and id

Definition at line 281 of file jockey.cpp.

void lj_laser::Jockey::getData

(

)

[private]

Start the subscriber, wait for a LaserScan and exit upon reception.

Definition at line 84 of file jockey.cpp.

void lj_laser::Jockey::handleLaser

(

const sensor_msgs::LaserScanConstPtr &

msg

)

[private]

Receive a LaserScan message and store it.

Definition at line 105 of file jockey.cpp.

bool lj_laser::Jockey::initMapCrossingInterface

(

)

[private]

Create the setter services for Crossing descriptors.

Returns:

true if interface initialization went fine.

Definition at line 62 of file jockey.cpp.

bool lj_laser::Jockey::initMapLaserInterface

(

)

[private]

Create the getter and setter services for LaserScan descriptors.

Returns:

true if interface initialization went fine.

Definition at line 36 of file jockey.cpp.

lama_msgs::DescriptorLink lj_laser::Jockey::laserDescriptorLink

(

const int32_t

id

)

[private]

Return a DescriptorLink for LaserScan.

Returns:

DescriptorLink with correct interface_name and id

Definition at line 269 of file jockey.cpp.

void lj_laser::Jockey::onGetDissimilarity

(

)

[virtual]

Reimplemented from lama_jockeys::LocalizingJockey.

Definition at line 184 of file jockey.cpp.

void lj_laser::Jockey::onGetEdgesDescriptors

(

)

[virtual]

Reimplemented from lama_jockeys::LocalizingJockey.

Definition at line 163 of file jockey.cpp.

void lj_laser::Jockey::onGetVertexDescriptor

(

)

[virtual]

Return the vertex descriptors associated with the current robot position through result_.

The descriptor are a LaserScan and a Crossing.

Reimplemented from lama_jockeys::LocalizingJockey.

Definition at line 119 of file jockey.cpp.

void lj_laser::Jockey::onLocalizeEdge

(

)

[virtual]

Reimplemented from lama_jockeys::LocalizingJockey.

Definition at line 177 of file jockey.cpp.

void lj_laser::Jockey::onLocalizeInVertex

(

)

[virtual]

Reimplemented from lama_jockeys::LocalizingJockey.

Definition at line 170 of file jockey.cpp.

void lj_laser::Jockey::setDissimilarityServerName

(

std::string

name

)

[inline]

Definition at line 77 of file jockey.h.

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Member Data Documentation

ros::ServiceClient lj_laser::Jockey::crossing_descriptor_setter_ [protected]

Definition at line 96 of file jockey.h.

crossing_detector::LaserCrossingDetector lj_laser::Jockey::crossing_detector_ [protected]

Definition at line 101 of file jockey.h.

std::string lj_laser::Jockey::crossing_interface_name_ [protected]

Interface name in the database, access via "~crossing_interface_name".

Definition at line 90 of file jockey.h.

bool lj_laser::Jockey::data_received_ [protected]

Definition at line 81 of file jockey.h.

ros::ServiceClient lj_laser::Jockey::dissimilarity_server_ [protected]

Definition at line 99 of file jockey.h.

std::string lj_laser::Jockey::dissimilarity_server_name_ [protected]

Service name, access via "~dissimilarity_server_name".

Definition at line 91 of file jockey.h.

ros::ServiceClient lj_laser::Jockey::laser_descriptor_getter_ [protected]

Client to laser scan getter for LaMa.

Definition at line 94 of file jockey.h.

ros::ServiceClient lj_laser::Jockey::laser_descriptor_setter_ [protected]

Client to laser scan setter for LaMa.

Definition at line 95 of file jockey.h.

std::string lj_laser::Jockey::laser_interface_name_ [protected]

Interface name in the database, access via "~laser_interface_name".

Definition at line 89 of file jockey.h.

ros::Subscriber lj_laser::Jockey::laserHandler_ [protected]

Definition at line 84 of file jockey.h.

sensor_msgs::LaserScan lj_laser::Jockey::scan_ [protected]

Last received laser scan.

Definition at line 86 of file jockey.h.

ros::Time lj_laser::Jockey::scan_reception_time_ [protected]

Time of reception of last received laser scan.

Definition at line 85 of file jockey.h.

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

• jockey.h
• jockey.cpp