Public Member Functions | Private Member Functions | Private Attributes | List of all members
mbicp Class Reference
Inheritance diagram for mbicp:
Inheritance graph
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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 ( )
privatevirtual

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.

Tsc mbicp::laserPoseTsc
private

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 Tue May 11 2021 02:18:23