Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
rtabmap_ros::OdometryROS Class Reference

#include <OdometryROS.h>

Inheritance diagram for rtabmap_ros::OdometryROS:
Inheritance graph
[legend]

List of all members.

Public Member Functions

const std::string & frameId () const
rtabmap::Transform getTransform (const std::string &fromFrameId, const std::string &toFrameId, const ros::Time &stamp) const
bool isPaused () const
 OdometryROS (bool stereoParams, bool visParams, bool icpParams)
const std::string & odomFrameId () const
const rtabmap::ParametersMap & parameters () const
bool pause (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void processData (const rtabmap::SensorData &data, const ros::Time &stamp)
bool reset (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool resetToPose (rtabmap_ros::ResetPose::Request &, rtabmap_ros::ResetPose::Response &)
bool resume (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool setLogDebug (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool setLogError (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool setLogInfo (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool setLogWarn (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
virtual ~OdometryROS ()

Protected Member Functions

void callbackCalled ()
virtual void flushCallbacks ()=0
void startWarningThread (const std::string &subscribedTopicsMsg, bool approxSync)
tf::TransformListener & tfListener ()

Private Member Functions

virtual void onInit ()
virtual void onOdomInit ()=0
virtual void updateParameters (rtabmap::ParametersMap &parameters)
void warningLoop (const std::string &subscribedTopicsMsg, bool approxSync)

Private Attributes

bool callbackCalled_
std::string frameId_
std::string groundTruthBaseFrameId_
std::string groundTruthFrameId_
rtabmap::Transform guess_
std::string guessFrameId_
double guessMinRotation_
double guessMinTranslation_
double guessStamp_
bool icpParams_
rtabmap::Odometry * odometry_
std::string odomFrameId_
ros::Publisher odomInfoPub_
ros::Publisher odomLastFrame_
ros::Publisher odomLocalMap_
ros::Publisher odomLocalScanMap_
ros::Publisher odomPub_
rtabmap::ParametersMap parameters_
bool paused_
ros::ServiceServer pauseSrv_
bool publishNullWhenLost_
bool publishTf_
int resetCountdown_
int resetCurrentCount_
ros::ServiceServer resetSrv_
ros::ServiceServer resetToPoseSrv_
ros::ServiceServer resumeSrv_
ros::ServiceServer setLogDebugSrv_
ros::ServiceServer setLogErrorSrv_
ros::ServiceServer setLogInfoSrv_
ros::ServiceServer setLogWarnSrv_
bool stereoParams_
tf2_ros::TransformBroadcaster tfBroadcaster_
tf::TransformListener tfListener_
bool visParams_
bool waitForTransform_
double waitForTransformDuration_
boost::thread * warningThread_

Detailed Description

Definition at line 52 of file OdometryROS.h.

Constructor & Destructor Documentation

rtabmap_ros::OdometryROS::OdometryROS ( bool  stereoParams,
bool  visParams,
bool  icpParams 
)

Definition at line 60 of file OdometryROS.cpp.

rtabmap_ros::OdometryROS::~OdometryROS ( ) [virtual]

Definition at line 86 of file OdometryROS.cpp.

Member Function Documentation

void rtabmap_ros::OdometryROS::callbackCalled ( ) [inline, protected]

Definition at line 78 of file OdometryROS.h.

virtual void rtabmap_ros::OdometryROS::flushCallbacks ( ) [protected, pure virtual]

Implemented in rtabmap_ros::RGBDOdometry, rtabmap_ros::RGBDICPOdometry, rtabmap_ros::StereoOdometry, and rtabmap_ros::ICPOdometry.

const std::string& rtabmap_ros::OdometryROS::frameId ( ) const [inline]

Definition at line 70 of file OdometryROS.h.

Transform rtabmap_ros::OdometryROS::getTransform ( const std::string &  fromFrameId,
const std::string &  toFrameId,
const ros::Time &  stamp 
) const

Definition at line 350 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::isPaused ( ) const [inline]

Definition at line 73 of file OdometryROS.h.

const std::string& rtabmap_ros::OdometryROS::odomFrameId ( ) const [inline]

Definition at line 71 of file OdometryROS.h.

void rtabmap_ros::OdometryROS::onInit ( ) [private, virtual]

Implements nodelet::Nodelet.

Definition at line 106 of file OdometryROS.cpp.

virtual void rtabmap_ros::OdometryROS::onOdomInit ( ) [private, pure virtual]

Implemented in rtabmap_ros::RGBDOdometry, rtabmap_ros::RGBDICPOdometry, rtabmap_ros::StereoOdometry, and rtabmap_ros::ICPOdometry.

const rtabmap::ParametersMap& rtabmap_ros::OdometryROS::parameters ( ) const [inline]

Definition at line 72 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::pause ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)

Definition at line 730 of file OdometryROS.cpp.

void rtabmap_ros::OdometryROS::processData ( const rtabmap::SensorData &  data,
const ros::Time &  stamp 
)

Definition at line 379 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::reset ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)

Definition at line 707 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::resetToPose ( rtabmap_ros::ResetPose::Request &  req,
rtabmap_ros::ResetPose::Response &   
)

Definition at line 718 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::resume ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)

Definition at line 744 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::setLogDebug ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)

Definition at line 758 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::setLogError ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)

Definition at line 776 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::setLogInfo ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)

Definition at line 764 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::setLogWarn ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)

Definition at line 770 of file OdometryROS.cpp.

void rtabmap_ros::OdometryROS::startWarningThread ( const std::string &  subscribedTopicsMsg,
bool  approxSync 
) [protected]

Definition at line 325 of file OdometryROS.cpp.

tf::TransformListener& rtabmap_ros::OdometryROS::tfListener ( ) [inline, protected]

Definition at line 81 of file OdometryROS.h.

virtual void rtabmap_ros::OdometryROS::updateParameters ( rtabmap::ParametersMap &  parameters) [inline, private, virtual]

Definition at line 87 of file OdometryROS.h.

void rtabmap_ros::OdometryROS::warningLoop ( const std::string &  subscribedTopicsMsg,
bool  approxSync 
) [private]

Definition at line 331 of file OdometryROS.cpp.

Member Data Documentation

bool rtabmap_ros::OdometryROS::callbackCalled_ [private]

Definition at line 92 of file OdometryROS.h.

std::string rtabmap_ros::OdometryROS::frameId_ [private]

Definition at line 95 of file OdometryROS.h.

std::string rtabmap_ros::OdometryROS::groundTruthBaseFrameId_ [private]

Definition at line 98 of file OdometryROS.h.

std::string rtabmap_ros::OdometryROS::groundTruthFrameId_ [private]

Definition at line 97 of file OdometryROS.h.

rtabmap::Transform rtabmap_ros::OdometryROS::guess_ [private]

Definition at line 130 of file OdometryROS.h.

std::string rtabmap_ros::OdometryROS::guessFrameId_ [private]

Definition at line 99 of file OdometryROS.h.

double rtabmap_ros::OdometryROS::guessMinRotation_ [private]

Definition at line 101 of file OdometryROS.h.

double rtabmap_ros::OdometryROS::guessMinTranslation_ [private]

Definition at line 100 of file OdometryROS.h.

double rtabmap_ros::OdometryROS::guessStamp_ [private]

Definition at line 131 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::icpParams_ [private]

Definition at line 129 of file OdometryROS.h.

rtabmap::Odometry* rtabmap_ros::OdometryROS::odometry_ [private]

Definition at line 90 of file OdometryROS.h.

std::string rtabmap_ros::OdometryROS::odomFrameId_ [private]

Definition at line 96 of file OdometryROS.h.

ros::Publisher rtabmap_ros::OdometryROS::odomInfoPub_ [private]

Definition at line 109 of file OdometryROS.h.

ros::Publisher rtabmap_ros::OdometryROS::odomLastFrame_ [private]

Definition at line 112 of file OdometryROS.h.

ros::Publisher rtabmap_ros::OdometryROS::odomLocalMap_ [private]

Definition at line 110 of file OdometryROS.h.

ros::Publisher rtabmap_ros::OdometryROS::odomLocalScanMap_ [private]

Definition at line 111 of file OdometryROS.h.

ros::Publisher rtabmap_ros::OdometryROS::odomPub_ [private]

Definition at line 108 of file OdometryROS.h.

rtabmap::ParametersMap rtabmap_ros::OdometryROS::parameters_ [private]

Definition at line 106 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::paused_ [private]

Definition at line 124 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::pauseSrv_ [private]

Definition at line 115 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::publishNullWhenLost_ [private]

Definition at line 105 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::publishTf_ [private]

Definition at line 102 of file OdometryROS.h.

int rtabmap_ros::OdometryROS::resetCountdown_ [private]

Definition at line 125 of file OdometryROS.h.

int rtabmap_ros::OdometryROS::resetCurrentCount_ [private]

Definition at line 126 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::resetSrv_ [private]

Definition at line 113 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::resetToPoseSrv_ [private]

Definition at line 114 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::resumeSrv_ [private]

Definition at line 116 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::setLogDebugSrv_ [private]

Definition at line 117 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::setLogErrorSrv_ [private]

Definition at line 120 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::setLogInfoSrv_ [private]

Definition at line 118 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::setLogWarnSrv_ [private]

Definition at line 119 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::stereoParams_ [private]

Definition at line 127 of file OdometryROS.h.

tf2_ros::TransformBroadcaster rtabmap_ros::OdometryROS::tfBroadcaster_ [private]

Definition at line 121 of file OdometryROS.h.

tf::TransformListener rtabmap_ros::OdometryROS::tfListener_ [private]

Definition at line 122 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::visParams_ [private]

Definition at line 128 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::waitForTransform_ [private]

Definition at line 103 of file OdometryROS.h.

double rtabmap_ros::OdometryROS::waitForTransformDuration_ [private]

Definition at line 104 of file OdometryROS.h.

boost::thread* rtabmap_ros::OdometryROS::warningThread_ [private]

Definition at line 91 of file OdometryROS.h.

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

rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:30:50