Classes
struct	TransformListenerWrapper
Public Member Functions
	AmclNode ()
int	process ()
void	runFromBag (const std::string &in_bag_fn)
	Uses TF and LaserScan messages from bag file to drive AMCL instead.
void	savePoseToServer ()
	~AmclNode ()
Private Member Functions
void	applyInitialPose ()
void	checkLaserReceived (const ros::TimerEvent &event)
map_t *	convertMap (const nav_msgs::OccupancyGrid &map_msg)
void	freeMapDependentMemory ()
bool	getOdomPose (tf::Stamped< tf::Pose > &pose, double &x, double &y, double &yaw, const ros::Time &t, const std::string &f)
double	getYaw (tf::Pose &t)
bool	globalLocalizationCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	handleInitialPoseMessage (const geometry_msgs::PoseWithCovarianceStamped &msg)
void	handleMapMessage (const nav_msgs::OccupancyGrid &msg)
void	initialPoseReceived (const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)
void	laserReceived (const sensor_msgs::LaserScanConstPtr &laser_scan)
void	mapReceived (const nav_msgs::OccupancyGridConstPtr &msg)
bool	nomotionUpdateCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	reconfigureCB (amcl::AMCLConfig &config, uint32_t level)
void	requestMap ()
bool	setMapCallback (nav_msgs::SetMap::Request &req, nav_msgs::SetMap::Response &res)
void	updatePoseFromServer ()
Static Private Member Functions
static pf_vector_t	uniformPoseGenerator (void *arg)
Private Attributes
double	a_thresh_
double	alpha1_
double	alpha2_
double	alpha3_
double	alpha4_
double	alpha5_
double	alpha_fast_
double	alpha_slow_
ros::WallDuration	bag_scan_period_
std::string	base_frame_id_
double	beam_skip_distance_
double	beam_skip_error_threshold_
double	beam_skip_threshold_
ros::Timer	check_laser_timer_
ros::Duration	cloud_pub_interval
boost::recursive_mutex	configuration_mutex_
double	d_thresh_
amcl::AMCLConfig	default_config_
bool	do_beamskip_
dynamic_reconfigure::Server < amcl::AMCLConfig > *	dsrv_
bool	first_map_only_
bool	first_map_received_
bool	first_reconfigure_call_
std::map< std::string, int >	frame_to_laser_
std::string	global_frame_id_
ros::ServiceServer	global_loc_srv_
ros::Duration	gui_publish_period
double	init_cov_ [3]
double	init_pose_ [3]
amcl_hyp_t *	initial_pose_hyp_
ros::Subscriber	initial_pose_sub_
ros::Subscriber	initial_pose_sub_old_
double	lambda_short_
AMCLLaser *	laser_
ros::Duration	laser_check_interval_
double	laser_likelihood_max_dist_
double	laser_max_range_
double	laser_min_range_
laser_model_t	laser_model_type_
tf::MessageFilter < sensor_msgs::LaserScan > *	laser_scan_filter_
message_filters::Subscriber < sensor_msgs::LaserScan > *	laser_scan_sub_
std::vector< AMCLLaser * >	lasers_
std::vector< bool >	lasers_update_
ros::Time	last_cloud_pub_time
ros::Time	last_laser_received_ts_
geometry_msgs::PoseWithCovarianceStamped	last_published_pose
tf::Stamped< tf::Pose >	latest_odom_pose_
tf::Transform	latest_tf_
bool	latest_tf_valid_
bool	m_force_update
map_t *	map_
ros::Subscriber	map_sub_
char *	mapdata
int	max_beams_
int	max_particles_
int	min_particles_
ros::NodeHandle	nh_
ros::ServiceServer	nomotion_update_srv_
AMCLOdom *	odom_
std::string	odom_frame_id_
odom_model_t	odom_model_type_
ros::Publisher	particlecloud_pub_
pf_t *	pf_
double	pf_err_
bool	pf_init_
pf_vector_t	pf_odom_pose_
double	pf_z_
ros::Publisher	pose_pub_
ros::NodeHandle	private_nh_
int	resample_count_
int	resample_interval_
double	resolution
ros::Time	save_pose_last_time
ros::Duration	save_pose_period
bool	sent_first_transform_
ros::ServiceServer	set_map_srv_
double	sigma_hit_
int	sx
int	sy
TransformListenerWrapper *	tf_
bool	tf_broadcast_
tf::TransformBroadcaster *	tfb_
ros::Duration	transform_tolerance_
bool	use_map_topic_
double	z_hit_
double	z_max_
double	z_rand_
double	z_short_
Static Private Attributes
static std::vector< std::pair < int, int > >	free_space_indices

Detailed Description

Definition at line 110 of file amcl_node.cpp.

Constructor & Destructor Documentation

AmclNode::AmclNode ( )

Definition at line 314 of file amcl_node.cpp.

AmclNode::~AmclNode ( )

Definition at line 927 of file amcl_node.cpp.

Member Function Documentation

void AmclNode::applyInitialPose ( ) [private]

If initial_pose_hyp_ and map_ are both non-null, apply the initial pose to the particle filter state. initial_pose_hyp_ is deleted and set to NULL after it is used.

Definition at line 1517 of file amcl_node.cpp.

void AmclNode::checkLaserReceived ( const ros::TimerEvent & event ) [private]

Definition at line 755 of file amcl_node.cpp.

map_t * AmclNode::convertMap ( const nav_msgs::OccupancyGrid & map_msg ) [private]

Convert an OccupancyGrid map message into the internal representation. This allocates a map_t and returns it.

Definition at line 901 of file amcl_node.cpp.

void AmclNode::freeMapDependentMemory ( ) [private]

Definition at line 880 of file amcl_node.cpp.