#include <SelfLocalizer.h>
Public Member Functions | |
void | convertMap (const nav_msgs::OccupancyGrid &map_msg) |
tf::Transform | getBestPose () |
double | getCovariance () |
tf::StampedTransform | getMapToOdometry () |
bool | initialize () |
void | process (const sensor_msgs::LaserScan::ConstPtr &scan) |
void | publishParticleCloud () |
SelfLocalizer (bool publish=true) | |
~SelfLocalizer () | |
Static Public Member Functions | |
static double | calculateBeamModel (LaserData *data, pf_sample_set_t *set) |
static double | calculateLikelihoodFieldModel (LaserData *data, pf_sample_set_t *set) |
static double | calculateMoveModel (OdometryData *data, pf_sample_set_t *set) |
static pf_vector_t | distributeParticles (void *map) |
Private Attributes | |
pf_action_model_fn_t | mActionModelFunction |
double | mAlphaFast |
double | mAlphaSlow |
bool | mFirstScanReceived |
std::string | mLaserFrame |
int | mLaserModelType |
std::string | mMapFrame |
tf::Transform | mMapToOdometry |
int | mMaxParticles |
int | mMinParticles |
double | mMinRotation |
double | mMinTranslation |
std::string | mOdometryFrame |
pf_t * | mParticleFilter |
ros::Publisher | mParticlePublisher |
double | mPopulationErr |
double | mPopulationZ |
int | mProcessedScans |
bool | mPublishParticles |
std::string | mRobotFrame |
pf_sensor_model_fn_t | mSensorModelFunction |
tf::TransformListener | mTransformListener |
Static Private Attributes | |
static tf::StampedTransform | mLastPose |
static double | sAlpha1 |
static double | sAlpha2 |
static double | sAlpha3 |
static double | sAlpha4 |
static double | sLamdaShort |
static pf_vector_t | sLaserPose |
static double | sLikelihoodMaxDist |
static map_t * | sMap = NULL |
static int | sMaxBeams |
static double | sSigmaHit |
static double | sZHit |
static double | sZMax |
static double | sZRand |
static double | sZShort |
Definition at line 37 of file SelfLocalizer.h.
SelfLocalizer::SelfLocalizer | ( | bool | publish = true | ) |
Definition at line 80 of file SelfLocalizer.cpp.
SelfLocalizer::~SelfLocalizer | ( | ) |
Definition at line 146 of file SelfLocalizer.cpp.
|
static |
Definition at line 225 of file SelfLocalizer.cpp.
|
static |
Definition at line 282 of file SelfLocalizer.cpp.
|
static |
Definition at line 183 of file SelfLocalizer.cpp.
void SelfLocalizer::convertMap | ( | const nav_msgs::OccupancyGrid & | map_msg | ) |
Definition at line 466 of file SelfLocalizer.cpp.
|
static |
Definition at line 154 of file SelfLocalizer.cpp.
tf::Transform SelfLocalizer::getBestPose | ( | ) |
Definition at line 510 of file SelfLocalizer.cpp.
double SelfLocalizer::getCovariance | ( | ) |
Definition at line 501 of file SelfLocalizer.cpp.
|
inline |
Definition at line 56 of file SelfLocalizer.h.
bool SelfLocalizer::initialize | ( | ) |
Definition at line 357 of file SelfLocalizer.cpp.
void SelfLocalizer::process | ( | const sensor_msgs::LaserScan::ConstPtr & | scan | ) |
Definition at line 393 of file SelfLocalizer.cpp.
void SelfLocalizer::publishParticleCloud | ( | ) |
Definition at line 556 of file SelfLocalizer.cpp.
|
private |
Definition at line 132 of file SelfLocalizer.h.
|
private |
Definition at line 119 of file SelfLocalizer.h.
|
private |
Definition at line 118 of file SelfLocalizer.h.
|
private |
Definition at line 127 of file SelfLocalizer.h.
|
private |
Definition at line 98 of file SelfLocalizer.h.
|
private |
Definition at line 129 of file SelfLocalizer.h.
|
staticprivate |
Definition at line 110 of file SelfLocalizer.h.
|
private |
Definition at line 95 of file SelfLocalizer.h.
|
private |
Definition at line 113 of file SelfLocalizer.h.
|
private |
Definition at line 117 of file SelfLocalizer.h.
|
private |
Definition at line 116 of file SelfLocalizer.h.
|
private |
Definition at line 124 of file SelfLocalizer.h.
|
private |
Definition at line 123 of file SelfLocalizer.h.
|
private |
Definition at line 96 of file SelfLocalizer.h.
|
private |
Definition at line 102 of file SelfLocalizer.h.
|
private |
Definition at line 107 of file SelfLocalizer.h.
|
private |
Definition at line 120 of file SelfLocalizer.h.
|
private |
Definition at line 121 of file SelfLocalizer.h.
|
private |
Definition at line 103 of file SelfLocalizer.h.
|
private |
Definition at line 126 of file SelfLocalizer.h.
|
private |
Definition at line 97 of file SelfLocalizer.h.
|
private |
Definition at line 131 of file SelfLocalizer.h.
|
private |
Definition at line 106 of file SelfLocalizer.h.
|
staticprivate |
Definition at line 71 of file SelfLocalizer.h.
|
staticprivate |
Definition at line 71 of file SelfLocalizer.h.
|
staticprivate |
Definition at line 71 of file SelfLocalizer.h.
|
staticprivate |
Definition at line 71 of file SelfLocalizer.h.
|
staticprivate |
Definition at line 87 of file SelfLocalizer.h.
|
staticprivate |
Definition at line 72 of file SelfLocalizer.h.
|
staticprivate |
Definition at line 78 of file SelfLocalizer.h.
|
staticprivate |
Definition at line 81 of file SelfLocalizer.h.
|
staticprivate |
Definition at line 75 of file SelfLocalizer.h.
|
staticprivate |
Definition at line 84 of file SelfLocalizer.h.
|
staticprivate |
Definition at line 90 of file SelfLocalizer.h.
|
staticprivate |
Definition at line 92 of file SelfLocalizer.h.
|
staticprivate |
Definition at line 93 of file SelfLocalizer.h.
|
staticprivate |
Definition at line 91 of file SelfLocalizer.h.