#include <HumanoidLocalization.h>

Public Member Functions
unsigned	getBestParticleIdx () const
	Returns index of particle with highest weight (log or normal scale) More...

tf::Pose	getBestParticlePose () const
	Returns the 6D pose of the best particle (highest weight) More...

tf::Pose	getMeanParticlePose () const
	Returns the 6D pose of the weighted mean particle. More...

tf::Pose	getParticlePose (unsigned particleIdx) const
	Returns the 6D pose of a particle. More...

bool	globalLocalizationCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

	HumanoidLocalization (unsigned randomSeed)

void	imuCallback (const sensor_msgs::ImuConstPtr &msg)

void	initGlobal ()
	function call for global initialization (called by globalLocalizationCallback) More...

void	initPoseCallback (const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)

virtual void	laserCallback (const sensor_msgs::LaserScanConstPtr &msg)

void	pauseLocalizationCallback (const std_msgs::BoolConstPtr &msg)

bool	pauseLocalizationSrvCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	pause localization by service call More...

virtual void	pointCloudCallback (const sensor_msgs::PointCloud2::ConstPtr &msg)

void	resample (unsigned numParticles=0)

bool	resumeLocalizationSrvCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	unpause localization by service call More...

virtual	~HumanoidLocalization ()

Static Public Member Functions
static void	filterGroundPlane (const PointCloud &pc, PointCloud &ground, PointCloud &nonground, double groundFilterDistance, double groundFilterAngle, double groundFilterPlaneDistance)

Protected Member Functions
unsigned	computeBeamStep (unsigned numBeams) const

void	constrainMotion (const tf::Pose &odomPose)

int	filterUniform (const PointCloud &cloud_in, PointCloud &cloud_out, int numSamples) const

double	getCumParticleWeight () const
	cumulative weight of all particles (=1 when normalized) More...

bool	getImuMsg (const ros::Time &stamp, ros::Time &imuStamp, double &angleX, double &angleY) const

void	initZRP (double &z, double &roll, double &pitch)

bool	isAboveMotionThreshold (const tf::Pose &odomTransform)

bool	localizeWithMeasurement (const PointCloud &pc_filtered, const std::vector< float > &ranges, double max_range)

bool	lookupPoseHeight (const ros::Time &t, double &poseHeight) const

double	nEff () const

void	normalizeWeights ()

void	prepareGeneralPointCloud (const sensor_msgs::PointCloud2::ConstPtr &msg, PointCloud &pc, std::vector< float > &ranges) const

void	prepareLaserPointCloud (const sensor_msgs::LaserScanConstPtr &laser, PointCloud &pc, std::vector< float > &ranges) const

void	publishPoseEstimate (const ros::Time &time, bool publish_eval)

void	reset ()

void	timerCallback (const ros::TimerEvent &e)

void	toLogForm ()

void	voxelGridSampling (const PointCloud &pc, pcl::PointCloud< int > &sampledIndices, double searchRadius) const

Protected Attributes
std::string	m_baseFootprintId

std::string	m_baseFrameId

bool	m_bestParticleAsMean

int	m_bestParticleIdx

ros::Publisher	m_bestPosePub

bool	m_constrainMotionRP
	< True = do not estimate height, directly use odometry pose More...

bool	m_constrainMotionZ

ros::Publisher	m_filteredPointCloudPub

double	m_filterMaxRange

double	m_filterMinRange

std::string	m_globalFrameId

ros::ServiceServer	m_globalLocSrv

double	m_groundFilterAngle

double	m_groundFilterDistance

double	m_groundFilterPlaneDistance

bool	m_groundFilterPointCloud

double	m_headPitchRotationLastScan
	absolute, summed pitch angle since last measurement integraton More...

double	m_headYawRotationLastScan
	absolute, summed yaw angle since last measurement integraton More...

ros::Subscriber	m_imuSub

bool	m_initFromTruepose

bool	m_initGlobal

bool	m_initialized

Vector6d	m_initNoiseStd

Vector6d	m_initPose

tf::MessageFilter< geometry_msgs::PoseWithCovarianceStamped > *	m_initPoseFilter

bool	m_initPoseRealZRP

message_filters::Subscriber< geometry_msgs::PoseWithCovarianceStamped > *	m_initPoseSub

tf::MessageFilter< sensor_msgs::LaserScan > *	m_laserFilter

message_filters::Subscriber< sensor_msgs::LaserScan > *	m_laserSub

boost::circular_buffer< sensor_msgs::Imu >	m_lastIMUMsgBuffer

ros::Time	m_lastLaserTime

tf::Pose	m_lastLocalizedPose
	sensor data last integrated at this odom pose, to check if moved enough since then More...

ros::Time	m_lastPointCloudTime

tf::StampedTransform	m_latest_transform

boost::shared_ptr< MapModel >	m_mapModel

double	m_minParticleWeight

boost::shared_ptr< MotionModel >	m_motionModel

double	m_nEffFactor

ros::Publisher	m_nEffPub

ros::NodeHandle	m_nh

int	m_numParticles

boost::shared_ptr< ObservationModel >	m_observationModel

double	m_observationThresholdHeadPitchRot

double	m_observationThresholdHeadYawRot

double	m_observationThresholdRot

double	m_observationThresholdTrans

std::string	m_odomFrameId

tf::Pose	m_odomPose

Particles	m_particles

bool	m_paused

ros::Subscriber	m_pauseIntegrationSub

ros::ServiceServer	m_pauseLocSrv

tf::MessageFilter< sensor_msgs::PointCloud2 > *	m_pointCloudFilter

message_filters::Subscriber< sensor_msgs::PointCloud2 > *	m_pointCloudSub

geometry_msgs::PoseArray	m_poseArray

ros::Publisher	m_poseArrayPub

ros::Publisher	m_poseEvalPub

ros::Publisher	m_poseOdomPub

ros::Publisher	m_posePub

ros::Publisher	m_poseTruePub

ros::NodeHandle	m_privateNh

bool	m_receivedSensorData

ros::ServiceServer	m_resumeLocSrv

EngineT	m_rngEngine

NormalGeneratorT	m_rngNormal
	standard normal distribution More...

UniformGeneratorT	m_rngUniform
	uniform distribution [0:1] More...

double	m_sensorSampleDist

double	m_sensorSampleDistGroundFactor

bool	m_syncedTruepose

std::string	m_targetFrameId

double	m_temporalSamplingRange

tf::TransformBroadcaster	m_tfBroadcaster

tf::TransformListener	m_tfListener

ros::Timer	m_timer

double	m_timerPeriod

double	m_transformTolerance

bool	m_useIMU
	True = use IMU for initialization and observation models, false = use orientation from odometry. More...

bool	m_useRaycasting

bool	m_useTimer
	< True = do not estimate roll and pitch, directly use odometry pose More...

Detailed Description

Definition at line 82 of file HumanoidLocalization.h.

Constructor & Destructor Documentation

humanoid_localization::HumanoidLocalization::HumanoidLocalization ( unsigned randomSeed )

Definition at line 35 of file HumanoidLocalization.cpp.

humanoid_localization::HumanoidLocalization::~HumanoidLocalization ( )

virtual

Definition at line 193 of file HumanoidLocalization.cpp.

Member Function Documentation

unsigned humanoid_localization::HumanoidLocalization::computeBeamStep ( unsigned numBeams ) const

protected

void humanoid_localization::HumanoidLocalization::constrainMotion ( const tf::Pose & odomPose )

protected

Definition at line 371 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::filterGroundPlane	(	const PointCloud &	pc,
		PointCloud &	ground,
		PointCloud &	nonground,
		double	groundFilterDistance,
		double	groundFilterAngle,
		double	groundFilterPlaneDistance
	)

static

Definition at line 580 of file HumanoidLocalization.cpp.

int humanoid_localization::HumanoidLocalization::filterUniform	(	const PointCloud &	cloud_in,
		PointCloud &	cloud_out,
		int	numSamples
	)		const

protected

Definition at line 561 of file HumanoidLocalization.cpp.

unsigned humanoid_localization::HumanoidLocalization::getBestParticleIdx ( ) const

Returns index of particle with highest weight (log or normal scale)

Definition at line 1309 of file HumanoidLocalization.cpp.

tf::Pose humanoid_localization::HumanoidLocalization::getBestParticlePose ( ) const

Returns the 6D pose of the best particle (highest weight)

Definition at line 1322 of file HumanoidLocalization.cpp.

double humanoid_localization::HumanoidLocalization::getCumParticleWeight ( ) const

protected

cumulative weight of all particles (=1 when normalized)

Definition at line 1158 of file HumanoidLocalization.cpp.

bool humanoid_localization::HumanoidLocalization::getImuMsg	(	const ros::Time &	stamp,
		ros::Time &	imuStamp,
		double &	angleX,
		double &	angleY
	)		const

protected

Returns the IMU message with stamp closest to a given stamp.

Parameters

[in]	stamp	Timestamp to search.
[out]	imuStamp	Stamp of closest IMU message (or interpolation of two IMU messages).
[out]	angleX	Interpolated roll angle.
[out]	angleY	Interpolated pitch angle.

Returns: Success.

Definition at line 880 of file HumanoidLocalization.cpp.

tf::Pose humanoid_localization::HumanoidLocalization::getMeanParticlePose ( ) const

Returns the 6D pose of the weighted mean particle.

Definition at line 1326 of file HumanoidLocalization.cpp.

tf::Pose humanoid_localization::HumanoidLocalization::getParticlePose ( unsigned particleIdx ) const

Returns the 6D pose of a particle.

Definition at line 1318 of file HumanoidLocalization.cpp.

bool humanoid_localization::HumanoidLocalization::globalLocalizationCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 1090 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::imuCallback ( const sensor_msgs::ImuConstPtr & msg )

Definition at line 876 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::initGlobal ( )

function call for global initialization (called by globalLocalizationCallback)

Definition at line 1209 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::initPoseCallback ( const geometry_msgs::PoseWithCovarianceStampedConstPtr & msg )

Definition at line 929 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::initZRP	(	double &	z,
		double &	roll,
		double &	pitch
	)

protected

Initializes z, roll and pitch values either from parameters or fromo real (odom) values

Definition at line 290 of file HumanoidLocalization.cpp.

bool humanoid_localization::HumanoidLocalization::isAboveMotionThreshold ( const tf::Pose & odomTransform )

protected

Definition at line 398 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::laserCallback ( const sensor_msgs::LaserScanConstPtr & msg )

virtual

absolute, current odom pose

Definition at line 320 of file HumanoidLocalization.cpp.

bool humanoid_localization::HumanoidLocalization::localizeWithMeasurement	(	const PointCloud &	pc_filtered,
		const std::vector< float > &	ranges,
		double	max_range
	)

protected

Definition at line 408 of file HumanoidLocalization.cpp.

bool humanoid_localization::HumanoidLocalization::lookupPoseHeight	(	const ros::Time &	t,
		double &	poseHeight
	)		const

protected

Definition at line 1424 of file HumanoidLocalization.cpp.

double humanoid_localization::HumanoidLocalization::nEff ( ) const

protected

nEff - returns the number of effective particles = 1/sum(w_i^2)

Needed for selective resampling (Doucet 98, Arulampalam 01), when nEff < n/2

Definition at line 1354 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::normalizeWeights ( )

protected

Normalizes the weights and transforms from log to normal scale m_minWeight gives the lower bound for weight (normal scale). No adjustment will be done for minWeight = 0 (default)

Definition at line 1098 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::pauseLocalizationCallback ( const std_msgs::BoolConstPtr & msg )

Definition at line 1376 of file HumanoidLocalization.cpp.

bool humanoid_localization::HumanoidLocalization::pauseLocalizationSrvCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

pause localization by service call

Definition at line 1398 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::pointCloudCallback ( const sensor_msgs::PointCloud2::ConstPtr & msg )

virtual

absolute, current odom pose

Definition at line 803 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::prepareGeneralPointCloud	(	const sensor_msgs::PointCloud2::ConstPtr &	msg,
		PointCloud &	pc,
		std::vector< float > &	ranges
	)		const

protected

Prepares a PointCloud msg to be integrated into the observations model. Filters near range, floor and subsamples a sparse point cloud (out of m_numSensorBeams points)

Definition at line 688 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::prepareLaserPointCloud	(	const sensor_msgs::LaserScanConstPtr &	laser,
		PointCloud &	pc,
		std::vector< float > &	ranges
	)		const

protected

Prepares a LaserScan msg to be integrated into the observations model. Filters near range measurements out and creates a sparse point cloud (out of m_numSensorBeams points)

Definition at line 496 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::publishPoseEstimate	(	const ros::Time &	time,
		bool	publish_eval
	)

protected

Definition at line 1227 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::resample ( unsigned numParticles = 0 )

Importance sampling from m_particles according to weights, resets weight to 1/numParticles. Uses low variance sampling

Parameters

numParticles how many particles to sample, 0 (default): keep size of particle distribution

Definition at line 1169 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::reset ( )

protected

General reset of the filter: sets pose around initial pose (or truepose, if requested) and resets the internal state. Calls initPoseCallback().

Definition at line 213 of file HumanoidLocalization.cpp.

bool humanoid_localization::HumanoidLocalization::resumeLocalizationSrvCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

unpause localization by service call

Definition at line 1410 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::timerCallback ( const ros::TimerEvent & e )

protected

Definition at line 206 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::toLogForm ( )

protected

Converts particles into log scale

Definition at line 1367 of file HumanoidLocalization.cpp.

void humanoid_localization::HumanoidLocalization::voxelGridSampling	(	const PointCloud &	pc,
		pcl::PointCloud< int > &	sampledIndices,
		double	searchRadius
	)		const

protected

Definition at line 793 of file HumanoidLocalization.cpp.

Member Data Documentation

std::string humanoid_localization::HumanoidLocalization::m_baseFootprintId

protected

Definition at line 233 of file HumanoidLocalization.h.

std::string humanoid_localization::HumanoidLocalization::m_baseFrameId

protected

Definition at line 232 of file HumanoidLocalization.h.

bool humanoid_localization::HumanoidLocalization::m_bestParticleAsMean

protected

Definition at line 257 of file HumanoidLocalization.h.

int humanoid_localization::HumanoidLocalization::m_bestParticleIdx

protected

Definition at line 252 of file HumanoidLocalization.h.

ros::Publisher humanoid_localization::HumanoidLocalization::m_bestPosePub

protected

Definition at line 221 of file HumanoidLocalization.h.

bool humanoid_localization::HumanoidLocalization::m_constrainMotionRP

protected

< True = do not estimate height, directly use odometry pose

Definition at line 294 of file HumanoidLocalization.h.

bool humanoid_localization::HumanoidLocalization::m_constrainMotionZ

protected

Definition at line 293 of file HumanoidLocalization.h.

ros::Publisher humanoid_localization::HumanoidLocalization::m_filteredPointCloudPub

protected

Definition at line 221 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_filterMaxRange

protected

Definition at line 247 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_filterMinRange

protected

Definition at line 248 of file HumanoidLocalization.h.

std::string humanoid_localization::HumanoidLocalization::m_globalFrameId

protected

Definition at line 234 of file HumanoidLocalization.h.

ros::ServiceServer humanoid_localization::HumanoidLocalization::m_globalLocSrv

protected

Definition at line 225 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_groundFilterAngle

protected

Definition at line 278 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_groundFilterDistance

protected

Definition at line 277 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_groundFilterPlaneDistance

protected

Definition at line 279 of file HumanoidLocalization.h.

bool humanoid_localization::HumanoidLocalization::m_groundFilterPointCloud

protected

Definition at line 276 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_headPitchRotationLastScan

protected

absolute, summed pitch angle since last measurement integraton

Definition at line 290 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_headYawRotationLastScan

protected

absolute, summed yaw angle since last measurement integraton

Definition at line 288 of file HumanoidLocalization.h.

ros::Subscriber humanoid_localization::HumanoidLocalization::m_imuSub

protected

Definition at line 224 of file HumanoidLocalization.h.

bool humanoid_localization::HumanoidLocalization::m_initFromTruepose

protected

Definition at line 237 of file HumanoidLocalization.h.

bool humanoid_localization::HumanoidLocalization::m_initGlobal

protected

Definition at line 260 of file HumanoidLocalization.h.

bool humanoid_localization::HumanoidLocalization::m_initialized

protected

Definition at line 259 of file HumanoidLocalization.h.

Vector6d humanoid_localization::HumanoidLocalization::m_initNoiseStd

protected

Definition at line 244 of file HumanoidLocalization.h.

Vector6d humanoid_localization::HumanoidLocalization::m_initPose

protected

Definition at line 243 of file HumanoidLocalization.h.

tf::MessageFilter<geometry_msgs::PoseWithCovarianceStamped>* humanoid_localization::HumanoidLocalization::m_initPoseFilter

protected

Definition at line 219 of file HumanoidLocalization.h.

bool humanoid_localization::HumanoidLocalization::m_initPoseRealZRP

protected

Definition at line 245 of file HumanoidLocalization.h.

message_filters::Subscriber<geometry_msgs::PoseWithCovarianceStamped>* humanoid_localization::HumanoidLocalization::m_initPoseSub

protected

Definition at line 218 of file HumanoidLocalization.h.

tf::MessageFilter<sensor_msgs::LaserScan>* humanoid_localization::HumanoidLocalization::m_laserFilter

protected

Definition at line 215 of file HumanoidLocalization.h.

message_filters::Subscriber<sensor_msgs::LaserScan>* humanoid_localization::HumanoidLocalization::m_laserSub

protected

Definition at line 214 of file HumanoidLocalization.h.

boost::circular_buffer<sensor_msgs::Imu> humanoid_localization::HumanoidLocalization::m_lastIMUMsgBuffer

protected

Definition at line 255 of file HumanoidLocalization.h.

ros::Time humanoid_localization::HumanoidLocalization::m_lastLaserTime

protected

Definition at line 270 of file HumanoidLocalization.h.

tf::Pose humanoid_localization::HumanoidLocalization::m_lastLocalizedPose

protected

sensor data last integrated at this odom pose, to check if moved enough since then

Definition at line 284 of file HumanoidLocalization.h.

ros::Time humanoid_localization::HumanoidLocalization::m_lastPointCloudTime

protected

Definition at line 271 of file HumanoidLocalization.h.

tf::StampedTransform humanoid_localization::HumanoidLocalization::m_latest_transform

protected

Definition at line 285 of file HumanoidLocalization.h.

boost::shared_ptr<MapModel> humanoid_localization::HumanoidLocalization::m_mapModel

protected

Definition at line 209 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_minParticleWeight

protected

Definition at line 242 of file HumanoidLocalization.h.

boost::shared_ptr<MotionModel> humanoid_localization::HumanoidLocalization::m_motionModel

protected

Definition at line 207 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_nEffFactor

protected

Definition at line 241 of file HumanoidLocalization.h.

ros::Publisher humanoid_localization::HumanoidLocalization::m_nEffPub

protected

Definition at line 221 of file HumanoidLocalization.h.

ros::NodeHandle humanoid_localization::HumanoidLocalization::m_nh

protected

Definition at line 211 of file HumanoidLocalization.h.

int humanoid_localization::HumanoidLocalization::m_numParticles

protected

Definition at line 238 of file HumanoidLocalization.h.

boost::shared_ptr<ObservationModel> humanoid_localization::HumanoidLocalization::m_observationModel

protected

Definition at line 208 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_observationThresholdHeadPitchRot

protected

Definition at line 267 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_observationThresholdHeadYawRot

protected

Definition at line 266 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_observationThresholdRot

protected

Definition at line 265 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_observationThresholdTrans

protected

Definition at line 264 of file HumanoidLocalization.h.

std::string humanoid_localization::HumanoidLocalization::m_odomFrameId

protected

Definition at line 230 of file HumanoidLocalization.h.

tf::Pose humanoid_localization::HumanoidLocalization::m_odomPose

protected

Definition at line 253 of file HumanoidLocalization.h.

Particles humanoid_localization::HumanoidLocalization::m_particles

protected

Definition at line 251 of file HumanoidLocalization.h.

bool humanoid_localization::HumanoidLocalization::m_paused

protected

Definition at line 261 of file HumanoidLocalization.h.

ros::Subscriber humanoid_localization::HumanoidLocalization::m_pauseIntegrationSub

protected

Definition at line 212 of file HumanoidLocalization.h.

ros::ServiceServer humanoid_localization::HumanoidLocalization::m_pauseLocSrv

protected

Definition at line 225 of file HumanoidLocalization.h.

tf::MessageFilter<sensor_msgs::PointCloud2>* humanoid_localization::HumanoidLocalization::m_pointCloudFilter

protected

Definition at line 217 of file HumanoidLocalization.h.

message_filters::Subscriber<sensor_msgs::PointCloud2>* humanoid_localization::HumanoidLocalization::m_pointCloudSub

protected

Definition at line 216 of file HumanoidLocalization.h.

geometry_msgs::PoseArray humanoid_localization::HumanoidLocalization::m_poseArray

protected

Definition at line 254 of file HumanoidLocalization.h.

ros::Publisher humanoid_localization::HumanoidLocalization::m_poseArrayPub

protected

Definition at line 221 of file HumanoidLocalization.h.

ros::Publisher humanoid_localization::HumanoidLocalization::m_poseEvalPub

protected

Definition at line 221 of file HumanoidLocalization.h.

ros::Publisher humanoid_localization::HumanoidLocalization::m_poseOdomPub

protected

Definition at line 221 of file HumanoidLocalization.h.

ros::Publisher humanoid_localization::HumanoidLocalization::m_posePub

protected

Definition at line 221 of file HumanoidLocalization.h.

ros::Publisher humanoid_localization::HumanoidLocalization::m_poseTruePub

protected

Definition at line 221 of file HumanoidLocalization.h.

ros::NodeHandle humanoid_localization::HumanoidLocalization::m_privateNh

protected

Definition at line 211 of file HumanoidLocalization.h.

bool humanoid_localization::HumanoidLocalization::m_receivedSensorData

protected

Definition at line 258 of file HumanoidLocalization.h.

ros::ServiceServer humanoid_localization::HumanoidLocalization::m_resumeLocSrv

protected

Definition at line 225 of file HumanoidLocalization.h.

EngineT humanoid_localization::HumanoidLocalization::m_rngEngine

protected

Definition at line 202 of file HumanoidLocalization.h.

NormalGeneratorT humanoid_localization::HumanoidLocalization::m_rngNormal

protected

standard normal distribution

Definition at line 204 of file HumanoidLocalization.h.

UniformGeneratorT humanoid_localization::HumanoidLocalization::m_rngUniform

protected

uniform distribution [0:1]

Definition at line 206 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_sensorSampleDist

protected

Definition at line 239 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_sensorSampleDistGroundFactor

protected

Definition at line 280 of file HumanoidLocalization.h.

bool humanoid_localization::HumanoidLocalization::m_syncedTruepose

protected

Definition at line 262 of file HumanoidLocalization.h.

std::string humanoid_localization::HumanoidLocalization::m_targetFrameId

protected

Definition at line 231 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_temporalSamplingRange

protected

Definition at line 268 of file HumanoidLocalization.h.

tf::TransformBroadcaster humanoid_localization::HumanoidLocalization::m_tfBroadcaster

protected

Definition at line 227 of file HumanoidLocalization.h.

tf::TransformListener humanoid_localization::HumanoidLocalization::m_tfListener

protected

Definition at line 226 of file HumanoidLocalization.h.

ros::Timer humanoid_localization::HumanoidLocalization::m_timer

protected

Definition at line 228 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_timerPeriod

protected

Definition at line 298 of file HumanoidLocalization.h.

double humanoid_localization::HumanoidLocalization::m_transformTolerance

protected

Definition at line 269 of file HumanoidLocalization.h.

bool humanoid_localization::HumanoidLocalization::m_useIMU

protected

True = use IMU for initialization and observation models, false = use orientation from odometry.

Definition at line 292 of file HumanoidLocalization.h.

bool humanoid_localization::HumanoidLocalization::m_useRaycasting

protected

Definition at line 236 of file HumanoidLocalization.h.

bool humanoid_localization::HumanoidLocalization::m_useTimer

protected

< True = do not estimate roll and pitch, directly use odometry pose

Definition at line 297 of file HumanoidLocalization.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation