Public Member Functions | Private Member Functions | Private Attributes
PSMNode Class Reference

#include <psm_node.h>

List of all members.

Public Member Functions

 PSMNode ()
virtual ~PSMNode ()

Private Member Functions

void getCurrentEstimatedPose (tf::Transform &worldToBase, const sensor_msgs::LaserScan &scanMsg)
void getParams ()
void imuCallback (const sensor_msgs::Imu &imuMsg)
bool initialize (const sensor_msgs::LaserScan &scan)
void pose2DToTf (const geometry_msgs::Pose2D &pose, tf::Transform &t)
void publishPose (const tf::Transform &transform)
void publishTf (const tf::Transform &transform, const ros::Time &time)
void rosToPMScan (const sensor_msgs::LaserScan &scan, const tf::Transform &change, PMScan *pmScan)
void scanCallback (const sensor_msgs::LaserScan &scan)
void tfToPose2D (const tf::Transform &t, geometry_msgs::Pose2D &pose)

Private Attributes

std::string baseFrame_
tf::Transform baseToLaser_
double currImuAngle_
boost::mutex imuMutex_
ros::Subscriber imuSubscriber_
bool initialized_
std::string laserFrame_
tf::Transform laserToBase_
PolarMatcher matcher_
double maxError_
int maxIterations_
int minValidPoints_
ros::Publisher posePublisher_
double prevImuAngle_
tf::Transform prevWorldToBase_
bool publishPose_
bool publishTf_
int scansCount_
ros::Subscriber scanSubscriber_
int searchWindow_
double stopCondition_
tf::TransformBroadcaster tfBroadcaster_
tf::TransformListener tfListener_
double totalDuration_
bool useImuOdometry_
bool useTfOdometry_
std::string worldFrame_

Detailed Description

Definition at line 51 of file psm_node.h.

Constructor & Destructor Documentation

Definition at line 40 of file psm_node.cpp.

PSMNode::~PSMNode ( ) [virtual]

Definition at line 59 of file psm_node.cpp.

Member Function Documentation

void PSMNode::getCurrentEstimatedPose ( tf::Transform worldToBase,
const sensor_msgs::LaserScan &  scanMsg 
) [private]

Definition at line 339 of file psm_node.cpp.

void PSMNode::getParams ( ) [private]

Definition at line 64 of file psm_node.cpp.

void PSMNode::imuCallback ( const sensor_msgs::Imu &  imuMsg) [private]

Definition at line 174 of file psm_node.cpp.

bool PSMNode::initialize ( const sensor_msgs::LaserScan &  scan) [private]

Definition at line 120 of file psm_node.cpp.

void PSMNode::pose2DToTf ( const geometry_msgs::Pose2D &  pose,
tf::Transform t 
) [private]

Definition at line 357 of file psm_node.cpp.

void PSMNode::publishPose ( const tf::Transform transform) [private]

Definition at line 296 of file psm_node.cpp.

void PSMNode::publishTf ( const tf::Transform transform,
const ros::Time time 
) [private]

Definition at line 289 of file psm_node.cpp.

void PSMNode::rosToPMScan ( const sensor_msgs::LaserScan &  scan,
const tf::Transform change,
PMScan pmScan 
) [private]

Definition at line 304 of file psm_node.cpp.

void PSMNode::scanCallback ( const sensor_msgs::LaserScan &  scan) [private]

Definition at line 184 of file psm_node.cpp.

void PSMNode::tfToPose2D ( const tf::Transform t,
geometry_msgs::Pose2D &  pose 
) [private]

Definition at line 365 of file psm_node.cpp.

Member Data Documentation

std::string PSMNode::baseFrame_ [private]

Definition at line 90 of file psm_node.h.

Definition at line 62 of file psm_node.h.

double PSMNode::currImuAngle_ [private]

Definition at line 74 of file psm_node.h.

boost::mutex PSMNode::imuMutex_ [private]

Definition at line 72 of file psm_node.h.

Definition at line 56 of file psm_node.h.

bool PSMNode::initialized_ [private]

Definition at line 65 of file psm_node.h.

std::string PSMNode::laserFrame_ [private]

Definition at line 91 of file psm_node.h.

Definition at line 63 of file psm_node.h.

Definition at line 69 of file psm_node.h.

double PSMNode::maxError_ [private]

Definition at line 85 of file psm_node.h.

int PSMNode::maxIterations_ [private]

Definition at line 86 of file psm_node.h.

int PSMNode::minValidPoints_ [private]

Definition at line 83 of file psm_node.h.

Definition at line 57 of file psm_node.h.

double PSMNode::prevImuAngle_ [private]

Definition at line 73 of file psm_node.h.

Definition at line 70 of file psm_node.h.

Definition at line 61 of file psm_node.h.

bool PSMNode::publishPose_ [private]

Definition at line 79 of file psm_node.h.

bool PSMNode::publishTf_ [private]

Definition at line 78 of file psm_node.h.

int PSMNode::scansCount_ [private]

Definition at line 67 of file psm_node.h.

Definition at line 55 of file psm_node.h.

int PSMNode::searchWindow_ [private]

Definition at line 84 of file psm_node.h.

double PSMNode::stopCondition_ [private]

Definition at line 87 of file psm_node.h.

Definition at line 59 of file psm_node.h.

Definition at line 60 of file psm_node.h.

double PSMNode::totalDuration_ [private]

Definition at line 66 of file psm_node.h.

bool PSMNode::useImuOdometry_ [private]

Definition at line 81 of file psm_node.h.

bool PSMNode::useTfOdometry_ [private]

Definition at line 80 of file psm_node.h.

std::string PSMNode::worldFrame_ [private]

Definition at line 89 of file psm_node.h.

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

Author(s): Ivan Dryanovski
autogenerated on Thu Jun 6 2019 22:03:36