mrpt_graphslam_2d: CGraphSlamEngine

Go to the documentation of this file.
00001 /* +---------------------------------------------------------------------------+
00002          |                     Mobile Robot Programming Toolkit (MRPT)               |
00003          |                          http://www.mrpt.org/                             |
00004          |                                                                           |
00005          | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file        |
00006          | See: http://www.mrpt.org/Authors - All rights reserved.                   |
00007          | Released under BSD License. See details in http://www.mrpt.org/License    |
00008          +---------------------------------------------------------------------------+ */
00009 
00010 #ifndef CGRAPHSLAMENGINE_ROS_H
00011 #define CGRAPHSLAMENGINE_ROS_H
00012 
00013 #include "mrpt_graphslam_2d/interfaces/CRegistrationDeciderOrOptimizer_ROS.h"
00014 
00015 #include <mrpt/graphslam/CGraphSlamEngine.h>
00016 #include <ros/ros.h>
00017 
00018 namespace mrpt { namespace graphslam {
00019 
00025 template<class GRAPH_t=typename mrpt::graphs::CNetworkOfPoses2DInf>
00026 class CGraphSlamEngine_ROS : public CGraphSlamEngine<GRAPH_t>
00027 {
00028 public:
00029         typedef CGraphSlamEngine<GRAPH_t> parent;
00030 
00031         CGraphSlamEngine_ROS(
00032                         ros::NodeHandle* nh,
00033                         const std::string& config_file,
00034                         const std::string& rawlog_fname="",
00035                         const std::string& fname_GT="",
00036                         mrpt::graphslam::CWindowManager* win_manager=NULL,
00037                         mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_t>* node_reg=NULL,
00038                         mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_t>* edge_reg=NULL,
00039                         mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_t>* optimizer=NULL
00040                         );
00041         virtual ~CGraphSlamEngine_ROS();
00048         void setupComm();
00049 
00051         void initClass();
00052         ros::NodeHandle* m_nh;
00053 protected:
00058         void readParams();
00064         virtual void usePublishersBroadcasters();
00070         void readROSParameters();
00071         virtual bool _execGraphSlamStep(
00072                         mrpt::obs::CActionCollectionPtr& action,
00073                         mrpt::obs::CSensoryFramePtr& observations,
00074                         mrpt::obs::CObservationPtr& observation,
00075                         size_t& rawlog_entry);
00076 
00084         virtual void setupSubs();
00085         virtual void setupPubs();
00086         virtual void setupSrvs();
00098         ros::CallbackQueue custom_service_queue;
00099 
00100 
00101         int m_queue_size;
00102 };
00103 
00104 } } // end of namespaces
00105 
00106 #include "mrpt_graphslam_2d/CGraphSlamEngine_ROS_impl.h"
00107 
00108 #endif /* end of include guard: CGRAPHSLAMENGINE_ROS_H */