BaseCalibration Class Reference

Public Member Functions
bool	align (bool verbose=false)
	Align to the wall. More...
	BaseCalibration (ros::NodeHandle &n)
std::string	print ()
std::string	printCalibrationData ()
void	reset ()
bool	spin (double velocity, int rotations, bool verbose=false)
	Spin and record imu, odom, scan. More...

Private Member Functions
void	imuCallback (const sensor_msgs::Imu::Ptr &imu)
void	laserCallback (const sensor_msgs::LaserScan::Ptr &scan)
void	odometryCallback (const nav_msgs::Odometry::Ptr &odom)
void	resetInternal ()
void	sendVelocityCommand (double vel)

Private Attributes
double	accel_limit_
ros::Publisher	cmd_pub_
boost::recursive_mutex	data_mutex_
std::vector< double >	imu_
double	imu_angle_
ros::Subscriber	imu_subscriber_
ros::Time	last_imu_stamp_
ros::Time	last_odom_stamp_
ros::Time	last_scan_stamp_
double	max_angle_
double	min_angle_
std::vector< double >	odom_
double	odom_angle_
ros::Subscriber	odom_subscriber_
bool	ready_
std::vector< double >	scan_
double	scan_angle_
double	scan_dist_
double	scan_r2_
ros::Subscriber	scan_subscriber_

Detailed Description

Definition at line 32 of file calibrate_base.cpp.

Constructor & Destructor Documentation

BaseCalibration::BaseCalibration ( ros::NodeHandle &  n )

inline

Definition at line 35 of file calibrate_base.cpp.

Member Function Documentation

bool BaseCalibration::align ( bool  verbose = false )

inline

Align to the wall.

Definition at line 103 of file calibrate_base.cpp.

void BaseCalibration::imuCallback ( const sensor_msgs::Imu::Ptr &  imu )

inlineprivate

Definition at line 175 of file calibrate_base.cpp.

void BaseCalibration::laserCallback ( const sensor_msgs::LaserScan::Ptr &  scan )

inlineprivate

Definition at line 185 of file calibrate_base.cpp.

void BaseCalibration::odometryCallback ( const nav_msgs::Odometry::Ptr &  odom )

inlineprivate

Definition at line 165 of file calibrate_base.cpp.

std::string BaseCalibration::print ( )

inline

Definition at line 68 of file calibrate_base.cpp.

std::string BaseCalibration::printCalibrationData ( )

inline

Definition at line 75 of file calibrate_base.cpp.

void BaseCalibration::reset ( )

inline

Definition at line 61 of file calibrate_base.cpp.

void BaseCalibration::resetInternal ( )

inlineprivate

Definition at line 252 of file calibrate_base.cpp.

void BaseCalibration::sendVelocityCommand ( double  vel )

inlineprivate

Definition at line 244 of file calibrate_base.cpp.

bool BaseCalibration::spin ( double  velocity, int  rotations, bool  verbose = false  )

inline

Spin and record imu, odom, scan.

Definition at line 129 of file calibrate_base.cpp.

Member Data Documentation

double BaseCalibration::accel_limit_

private

Definition at line 274 of file calibrate_base.cpp.

ros::Publisher BaseCalibration::cmd_pub_

private

Definition at line 258 of file calibrate_base.cpp.

boost::recursive_mutex BaseCalibration::data_mutex_

private

Definition at line 280 of file calibrate_base.cpp.

std::vector<double> BaseCalibration::imu_

private

Definition at line 277 of file calibrate_base.cpp.

double BaseCalibration::imu_angle_

private

Definition at line 268 of file calibrate_base.cpp.

ros::Subscriber BaseCalibration::imu_subscriber_

private

Definition at line 261 of file calibrate_base.cpp.

ros::Time BaseCalibration::last_imu_stamp_

private

Definition at line 267 of file calibrate_base.cpp.

ros::Time BaseCalibration::last_odom_stamp_

private

Definition at line 264 of file calibrate_base.cpp.

ros::Time BaseCalibration::last_scan_stamp_

private

Definition at line 270 of file calibrate_base.cpp.

double BaseCalibration::max_angle_

private

Definition at line 273 of file calibrate_base.cpp.

double BaseCalibration::min_angle_

private

Definition at line 273 of file calibrate_base.cpp.

std::vector<double> BaseCalibration::odom_

private

Definition at line 278 of file calibrate_base.cpp.

double BaseCalibration::odom_angle_

private

Definition at line 265 of file calibrate_base.cpp.

ros::Subscriber BaseCalibration::odom_subscriber_

private

Definition at line 260 of file calibrate_base.cpp.

bool BaseCalibration::ready_

private

Definition at line 281 of file calibrate_base.cpp.

std::vector<double> BaseCalibration::scan_

private

Definition at line 276 of file calibrate_base.cpp.

double BaseCalibration::scan_angle_

private

Definition at line 271 of file calibrate_base.cpp.

double BaseCalibration::scan_dist_

private

Definition at line 271 of file calibrate_base.cpp.

double BaseCalibration::scan_r2_

private

Definition at line 271 of file calibrate_base.cpp.

ros::Subscriber BaseCalibration::scan_subscriber_

private

Definition at line 262 of file calibrate_base.cpp.

---

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

• calibrate_base.cpp