ohm_tsd_slam::SlamNode Class Reference

Main node management of the 2D SLAM. More...

#include <SlamNode.h>

List of all members.

Public Member Functions
	SlamNode (void)
void	start (void)
virtual	~SlamNode ()
Private Member Functions
void	run (void)
void	timedGridPub (void)
Private Attributes
obvious::TsdGrid *	_grid
ros::Duration *	_gridInterval
std::vector< ThreadLocalize * >	_localizers
ros::Rate *	_loopRate
ros::NodeHandle	_nh
std::vector< ros::Subscriber >	_subsLaser
ThreadGrid *	_threadGrid
ThreadMapping *	_threadMapping
double	_xOffFactor
double	_yOffFactor

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Detailed Description

Main node management of the 2D SLAM.

Author:

Philipp Koch

Definition at line 27 of file SlamNode.h.

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Constructor & Destructor Documentation

ohm_tsd_slam::SlamNode::SlamNode

(

void

)

Default constructor

Definition at line 18 of file SlamNode.cpp.

ohm_tsd_slam::SlamNode::~SlamNode

(

)

[virtual]

Destructor

Definition at line 99 of file SlamNode.cpp.

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Member Function Documentation

void ohm_tsd_slam::SlamNode::run

(

void

)

[private]

run Main SLAM method

Definition at line 134 of file SlamNode.cpp.

void ohm_tsd_slam::SlamNode::start

(

void

)

[inline]

start Method to start the SLAM

Definition at line 45 of file SlamNode.h.

void ohm_tsd_slam::SlamNode::timedGridPub

(

void

)

[private]

timedGridPub Enables occupancy grid thread with certain frequency

Definition at line 123 of file SlamNode.cpp.

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Member Data Documentation

obvious::TsdGrid* ohm_tsd_slam::SlamNode::_grid [private]

Representation

Definition at line 68 of file SlamNode.h.

ros::Duration* ohm_tsd_slam::SlamNode::_gridInterval [private]

Rate used for occupancy grid generation

Definition at line 93 of file SlamNode.h.

std::vector<ThreadLocalize*> ohm_tsd_slam::SlamNode::_localizers [private]

Localizing threads

Definition at line 109 of file SlamNode.h.

ros::Rate* ohm_tsd_slam::SlamNode::_loopRate [private]

Desired loop rate

Definition at line 98 of file SlamNode.h.

ros::NodeHandle ohm_tsd_slam::SlamNode::_nh [private]

Main node handle

Definition at line 63 of file SlamNode.h.

std::vector<ros::Subscriber> ohm_tsd_slam::SlamNode::_subsLaser [private]

Ros laser subscriber

Definition at line 103 of file SlamNode.h.

ThreadGrid* ohm_tsd_slam::SlamNode::_threadGrid [private]

Grid thread instance

Definition at line 78 of file SlamNode.h.

ThreadMapping* ohm_tsd_slam::SlamNode::_threadMapping [private]

Mapping thread instance

Definition at line 73 of file SlamNode.h.

double ohm_tsd_slam::SlamNode::_xOffFactor [private]

X starting offset factor

Definition at line 83 of file SlamNode.h.

double ohm_tsd_slam::SlamNode::_yOffFactor [private]

Y starting offset factor

Definition at line 88 of file SlamNode.h.

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

• SlamNode.h
• SlamNode.cpp