#include <pointcloud_localization.h>

Inheritance diagram for jsk_pcl_ros::PointCloudLocalization:

Public Member Functions
	PointCloudLocalization ()

Public Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
	DiagnosticNodelet (const std::string &name)

Public Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
	ConnectionBasedNodelet ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Protected Member Functions
virtual void	applyDownsampling (pcl::PointCloud< pcl::PointNormal >::Ptr in_cloud, pcl::PointCloud< pcl::PointNormal > &out_cloud)

virtual void	cloudCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)
	callback function of ~input topic. More...

virtual void	cloudTimerCallback (const ros::TimerEvent &event)
	cloud periodic timer callback More...

virtual bool	isFirstTime ()
	return true if it is the first time to localize More...

virtual bool	localizationRequest (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	callback function of ~localize service. More...

virtual void	onInit ()

virtual void	subscribe ()

virtual void	tfTimerCallback (const ros::TimerEvent &event)
	tf periodic timer callback More...

virtual void	unsubscribe ()

virtual bool	updateOffsetCallback (jsk_recognition_msgs::UpdateOffset::Request &req, jsk_recognition_msgs::UpdateOffset::Response &res)
	callback function for ~update_offset service More...

Protected Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
virtual void	updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)

Protected Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, const std::string &topic, int queue_size)

virtual void	cameraConnectionBaseCallback ()

virtual void	cameraConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual void	cameraInfoConnectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	imageConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual bool	isSubscribed ()

virtual void	onInitPostProcess ()

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)

virtual void	warnOnInitPostProcessCalledCallback (const ros::WallTimerEvent &event)

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes
pcl::PointCloud< pcl::PointNormal >::Ptr	all_cloud_

bool	clip_unseen_pointcloud_

ros::Timer	cloud_timer_

bool	first_time_

std::string	global_frame_
	Publishes tf transformation of global_frame_ -> odom_frame_. More...

bool	initialize_from_tf_

std::string	initialize_tf_

sensor_msgs::PointCloud2::ConstPtr	latest_cloud_

double	leaf_size_

ros::ServiceServer	localization_srv_

bool	localize_requested_

tf::Transform	localize_transform_

boost::mutex	mutex_

std::string	odom_frame_

ros::Publisher	pub_cloud_

std::string	sensor_frame_

ros::Subscriber	sub_

tf::TransformBroadcaster	tf_broadcast_

tf::TransformListener *	tf_listener_

boost::mutex	tf_mutex_

ros::Timer	tf_timer_

ros::ServiceServer	update_offset_srv_

bool	use_normal_
	Resolution of voxel grid. More...

Protected Attributes inherited from jsk_topic_tools::DiagnosticNodelet
TimeredDiagnosticUpdater::Ptr	diagnostic_updater_

const std::string	name_

jsk_topic_tools::VitalChecker::Ptr	vital_checker_

Protected Attributes inherited from jsk_topic_tools::ConnectionBasedNodelet
bool	always_subscribe_

std::vector< image_transport::CameraPublisher >	camera_publishers_

boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

std::vector< image_transport::Publisher >	image_publishers_

boost::shared_ptr< ros::NodeHandle >	nh_

bool	on_init_post_process_called_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

bool	subscribed_

ros::WallTimer	timer_warn_never_subscribed_

ros::WallTimer	timer_warn_on_init_post_process_called_

bool	verbose_connection_

Additional Inherited Members
Public Types inherited from jsk_topic_tools::DiagnosticNodelet
typedef boost::shared_ptr< DiagnosticNodelet >	Ptr

Detailed Description

Definition at line 52 of file pointcloud_localization.h.

Constructor & Destructor Documentation

jsk_pcl_ros::PointCloudLocalization::PointCloudLocalization ( )

inline

Definition at line 55 of file pointcloud_localization.h.

Member Function Documentation

void jsk_pcl_ros::PointCloudLocalization::applyDownsampling	(	pcl::PointCloud< pcl::PointNormal >::Ptr	in_cloud,
		pcl::PointCloud< pcl::PointNormal > &	out_cloud
	)

protectedvirtual

Definition at line 99 of file pointcloud_localization_nodelet.cpp.

void jsk_pcl_ros::PointCloudLocalization::cloudCallback ( const sensor_msgs::PointCloud2::ConstPtr & cloud_msg )

protectedvirtual

callback function of ~input topic.

Definition at line 147 of file pointcloud_localization_nodelet.cpp.

void jsk_pcl_ros::PointCloudLocalization::cloudTimerCallback ( const ros::TimerEvent & event )

protectedvirtual

cloud periodic timer callback

Definition at line 109 of file pointcloud_localization_nodelet.cpp.

bool jsk_pcl_ros::PointCloudLocalization::isFirstTime ( )

protectedvirtual

return true if it is the first time to localize

Definition at line 303 of file pointcloud_localization_nodelet.cpp.

bool jsk_pcl_ros::PointCloudLocalization::localizationRequest	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

protectedvirtual

callback function of ~localize service.

Definition at line 308 of file pointcloud_localization_nodelet.cpp.

void jsk_pcl_ros::PointCloudLocalization::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 46 of file pointcloud_localization_nodelet.cpp.

void jsk_pcl_ros::PointCloudLocalization::subscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 89 of file pointcloud_localization_nodelet.cpp.

void jsk_pcl_ros::PointCloudLocalization::tfTimerCallback ( const ros::TimerEvent & event )

protectedvirtual

tf periodic timer callback

Definition at line 123 of file pointcloud_localization_nodelet.cpp.

void jsk_pcl_ros::PointCloudLocalization::unsubscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 94 of file pointcloud_localization_nodelet.cpp.

bool jsk_pcl_ros::PointCloudLocalization::updateOffsetCallback	(	jsk_recognition_msgs::UpdateOffset::Request &	req,
		jsk_recognition_msgs::UpdateOffset::Response &	res
	)

protectedvirtual

callback function for ~update_offset service

Definition at line 318 of file pointcloud_localization_nodelet.cpp.

Member Data Documentation

pcl::PointCloud<pcl::PointNormal>::Ptr jsk_pcl_ros::PointCloudLocalization::all_cloud_

protected

Definition at line 119 of file pointcloud_localization.h.

bool jsk_pcl_ros::PointCloudLocalization::clip_unseen_pointcloud_

protected

Definition at line 124 of file pointcloud_localization.h.

ros::Timer jsk_pcl_ros::PointCloudLocalization::cloud_timer_

protected

Definition at line 117 of file pointcloud_localization.h.

bool jsk_pcl_ros::PointCloudLocalization::first_time_

protected

Definition at line 141 of file pointcloud_localization.h.

std::string jsk_pcl_ros::PointCloudLocalization::global_frame_

protected

Publishes tf transformation of global_frame_ -> odom_frame_.

Definition at line 131 of file pointcloud_localization.h.

bool jsk_pcl_ros::PointCloudLocalization::initialize_from_tf_

protected

Definition at line 125 of file pointcloud_localization.h.

std::string jsk_pcl_ros::PointCloudLocalization::initialize_tf_

protected

Definition at line 126 of file pointcloud_localization.h.

sensor_msgs::PointCloud2::ConstPtr jsk_pcl_ros::PointCloudLocalization::latest_cloud_

protected

Definition at line 120 of file pointcloud_localization.h.

double jsk_pcl_ros::PointCloudLocalization::leaf_size_

protected

Definition at line 139 of file pointcloud_localization.h.

ros::ServiceServer jsk_pcl_ros::PointCloudLocalization::localization_srv_

protected

Definition at line 115 of file pointcloud_localization.h.

bool jsk_pcl_ros::PointCloudLocalization::localize_requested_

protected

Definition at line 122 of file pointcloud_localization.h.

tf::Transform jsk_pcl_ros::PointCloudLocalization::localize_transform_

protected

Definition at line 140 of file pointcloud_localization.h.

boost::mutex jsk_pcl_ros::PointCloudLocalization::mutex_

protected

Definition at line 110 of file pointcloud_localization.h.

std::string jsk_pcl_ros::PointCloudLocalization::odom_frame_

protected

Definition at line 132 of file pointcloud_localization.h.

ros::Publisher jsk_pcl_ros::PointCloudLocalization::pub_cloud_

protected

Definition at line 113 of file pointcloud_localization.h.

std::string jsk_pcl_ros::PointCloudLocalization::sensor_frame_

protected

Definition at line 123 of file pointcloud_localization.h.

ros::Subscriber jsk_pcl_ros::PointCloudLocalization::sub_

protected

Definition at line 112 of file pointcloud_localization.h.

tf::TransformBroadcaster jsk_pcl_ros::PointCloudLocalization::tf_broadcast_

protected

Definition at line 121 of file pointcloud_localization.h.

tf::TransformListener* jsk_pcl_ros::PointCloudLocalization::tf_listener_

protected

Definition at line 114 of file pointcloud_localization.h.

boost::mutex jsk_pcl_ros::PointCloudLocalization::tf_mutex_

protected

Definition at line 111 of file pointcloud_localization.h.

ros::Timer jsk_pcl_ros::PointCloudLocalization::tf_timer_

protected

Definition at line 118 of file pointcloud_localization.h.

ros::ServiceServer jsk_pcl_ros::PointCloudLocalization::update_offset_srv_

protected

Definition at line 116 of file pointcloud_localization.h.

bool jsk_pcl_ros::PointCloudLocalization::use_normal_

protected

Resolution of voxel grid.

Definition at line 138 of file pointcloud_localization.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation