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

List of all members.

Public Member Functions

 mbicp (ConfigFile *cf, int section)
virtual int ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data)
virtual int Setup ()
virtual int Shutdown ()
virtual ~mbicp ()

Private Member Functions

void compute ()
virtual void Main ()
void playerLaser2Tpfp (player_laser_data_t laserData, Tpfp *laserDataTpfp)
Tsc playerPose2Tsc (player_pose2d_t posicion)
void ProcessCommand (player_msghdr_t *hdr, player_position2d_cmd_pos_t &)
void ProcessOdom (player_msghdr_t *hdr, player_position2d_data_t &data)
void ProcessSubtypeLaser (player_msghdr_t *hdr, player_laser_data_scanpose_t &data)
int SetupDevice ()
void setupScanMatching ()
int ShutdownDevice ()
player_pose2d_t Tsc2playerPose (Tsc posicion)

Private Attributes

float AsocError
float Br
float Bw
player_pose2d_t currentPose
player_laser_data_t currentScan
float errorRatio
float errt_out
float errx_out
float erry_out
float filter
bool havePrevious
int IterSmoothConv
float L
Device * laser
player_devaddr_t laser_addr
Tsc laserPoseTsc
int laserStep
player_pose2d_t lastPoseOdom
float max_laser_range
float MaxDistInter
int MaxIter
Device * odom
player_devaddr_t odom_addr
player_devaddr_t posicion_addr
player_pose2d_t previousPose
player_laser_data_t previousScan
int ProjectionFilter
player_pose2d_t scanmatchingPose

Detailed Description

Definition at line 184 of file mbicp_driver.cc.


Constructor & Destructor Documentation

mbicp::mbicp ( ConfigFile *  cf,
int  section 
)

Definition at line 334 of file mbicp_driver.cc.

mbicp::~mbicp ( ) [virtual]

Definition at line 383 of file mbicp_driver.cc.


Member Function Documentation

void mbicp::compute ( ) [private]

Definition at line 586 of file mbicp_driver.cc.

void mbicp::Main ( ) [private, virtual]

Definition at line 435 of file mbicp_driver.cc.

void mbicp::playerLaser2Tpfp ( player_laser_data_t  laserData,
Tpfp laserDataTpfp 
) [private]

Definition at line 687 of file mbicp_driver.cc.

Tsc mbicp::playerPose2Tsc ( player_pose2d_t  posicion) [private]

Definition at line 663 of file mbicp_driver.cc.

void mbicp::ProcessCommand ( player_msghdr_t *  hdr,
player_position2d_cmd_pos_t &   
) [private]
int mbicp::ProcessMessage ( QueuePointer &  resp_queue,
player_msghdr *  hdr,
void *  data 
) [virtual]

Definition at line 450 of file mbicp_driver.cc.

void mbicp::ProcessOdom ( player_msghdr_t *  hdr,
player_position2d_data_t &  data 
) [private]

Definition at line 505 of file mbicp_driver.cc.

void mbicp::ProcessSubtypeLaser ( player_msghdr_t *  hdr,
player_laser_data_scanpose_t &  data 
) [private]

Definition at line 547 of file mbicp_driver.cc.

int mbicp::Setup ( ) [virtual]

Definition at line 282 of file mbicp_driver.cc.

int mbicp::SetupDevice ( ) [private]

Definition at line 389 of file mbicp_driver.cc.

void mbicp::setupScanMatching ( ) [private]

Definition at line 301 of file mbicp_driver.cc.

int mbicp::Shutdown ( ) [virtual]

Definition at line 323 of file mbicp_driver.cc.

int mbicp::ShutdownDevice ( ) [private]

Definition at line 414 of file mbicp_driver.cc.

player_pose2d_t mbicp::Tsc2playerPose ( Tsc  posicion) [private]

Definition at line 675 of file mbicp_driver.cc.


Member Data Documentation

float mbicp::AsocError [private]

Definition at line 208 of file mbicp_driver.cc.

float mbicp::Br [private]

Definition at line 202 of file mbicp_driver.cc.

float mbicp::Bw [private]

Definition at line 201 of file mbicp_driver.cc.

player_pose2d_t mbicp::currentPose [private]

Definition at line 217 of file mbicp_driver.cc.

player_laser_data_t mbicp::currentScan [private]

Definition at line 222 of file mbicp_driver.cc.

float mbicp::errorRatio [private]

Definition at line 210 of file mbicp_driver.cc.

float mbicp::errt_out [private]

Definition at line 213 of file mbicp_driver.cc.

float mbicp::errx_out [private]

Definition at line 211 of file mbicp_driver.cc.

float mbicp::erry_out [private]

Definition at line 212 of file mbicp_driver.cc.

float mbicp::filter [private]

Definition at line 206 of file mbicp_driver.cc.

bool mbicp::havePrevious [private]

Definition at line 225 of file mbicp_driver.cc.

int mbicp::IterSmoothConv [private]

Definition at line 214 of file mbicp_driver.cc.

float mbicp::L [private]

Definition at line 203 of file mbicp_driver.cc.

Device* mbicp::laser [private]

Definition at line 260 of file mbicp_driver.cc.

player_devaddr_t mbicp::laser_addr [private]

Definition at line 261 of file mbicp_driver.cc.

Definition at line 215 of file mbicp_driver.cc.

int mbicp::laserStep [private]

Definition at line 204 of file mbicp_driver.cc.

player_pose2d_t mbicp::lastPoseOdom [private]

Definition at line 217 of file mbicp_driver.cc.

float mbicp::max_laser_range [private]

Definition at line 200 of file mbicp_driver.cc.

float mbicp::MaxDistInter [private]

Definition at line 205 of file mbicp_driver.cc.

int mbicp::MaxIter [private]

Definition at line 209 of file mbicp_driver.cc.

Device* mbicp::odom [private]

Definition at line 257 of file mbicp_driver.cc.

player_devaddr_t mbicp::odom_addr [private]

Definition at line 258 of file mbicp_driver.cc.

player_devaddr_t mbicp::posicion_addr [private]

Definition at line 254 of file mbicp_driver.cc.

player_pose2d_t mbicp::previousPose [private]

Definition at line 217 of file mbicp_driver.cc.

player_laser_data_t mbicp::previousScan [private]

Definition at line 222 of file mbicp_driver.cc.

int mbicp::ProjectionFilter [private]

Definition at line 207 of file mbicp_driver.cc.

player_pose2d_t mbicp::scanmatchingPose [private]

Definition at line 217 of file mbicp_driver.cc.


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


csm
Author(s): Andrea Censi
autogenerated on Mon Jan 16 2017 03:48:29