stdr_robot::Sensor Class Reference

A class that provides sensor abstraction. More...

#include <sensor_base.h>

Inheritance diagram for stdr_robot::Sensor:

Public Member Functions
std::string	getFrameId (void) const
	Getter function for returning the sensor frame id. More...
geometry_msgs::Pose2D	getSensorPose (void) const
	Getter function for returning the sensor pose relatively to robot. More...
virtual void	updateSensorCallback (void)=0
	Virtual function for sensor value callback. Implement this function on derived class to publish sensor measurements. More...
virtual	~Sensor (void)
	Default destructor. More...

Protected Member Functions
void	checkAndUpdateSensor (const ros::TimerEvent &ev)
	Checks if transform is available and calls updateSensorCallback() More...
	Sensor (const nav_msgs::OccupancyGrid &map, const std::string &name, ros::NodeHandle &n, const geometry_msgs::Pose2D &sensorPose, const std::string &sensorFrameId, float updateFrequency)
	Default constructor. More...
void	updateTransform (const ros::TimerEvent &ev)
	Function for updating the sensor tf transform. More...

Protected Attributes
bool	_gotTransform
const nav_msgs::OccupancyGrid &	_map
	Sensor pose relative to robot. More...
const std::string &	_namespace
	< The base for the sensor frame_id More...
ros::Publisher	_publisher
	ROS tf listener. More...
const std::string	_sensorFrameId
	A ROS timer for updating the sensor values. More...
const geometry_msgs::Pose2D	_sensorPose
	Update frequency of _timer. More...
tf::StampedTransform	_sensorTransform
	True if sensor got the _sensorTransform. More...
tf::TransformListener	_tfListener
	ROS transform from sensor to map. More...
ros::Timer	_tfTimer
	ROS publisher for posting the sensor measurements. More...
ros::Timer	_timer
	A ROS timer for updating the sensor tf. More...
const float	_updateFrequency
	Sensor frame id. More...

Detailed Description

A class that provides sensor abstraction.

Definition at line 40 of file sensor_base.h.

Constructor & Destructor Documentation

virtual stdr_robot::Sensor::~Sensor ( void  )

inlinevirtual

Default destructor.

Returns

void

Definition at line 73 of file sensor_base.h.

stdr_robot::Sensor::Sensor ( const nav_msgs::OccupancyGrid &  map, const std::string &  name, ros::NodeHandle &  n, const geometry_msgs::Pose2D &  sensorPose, const std::string &  sensorFrameId, float  updateFrequency  )

protected

Default constructor.

Parameters

map	[const nav_msgs::OccupancyGrid&] An occupancy grid map
name	[const std::string&] The sensor frame id without the base
n	[ros::NodeHandle& n] A ROS NodeHandle to create timers
sensorPose	[const geometry_msgs::Pose2D&] The sensor's pose relative to robot
sensorFrameId	[const std::string&] The sensor's frame id
updateFrequency	[float] The sensor's update frequnecy

Returns

void

Definition at line 36 of file sensor_base.cpp.

Member Function Documentation

void stdr_robot::Sensor::checkAndUpdateSensor ( const ros::TimerEvent &  ev )

protected

Checks if transform is available and calls updateSensorCallback()

Parameters

ev	[const ros::TimerEvent&] A ROS timer event

Returns

void

< wait for transform

Definition at line 63 of file sensor_base.cpp.

std::string stdr_robot::Sensor::getFrameId ( void  ) const

inline

Getter function for returning the sensor frame id.

Returns

std::string

Definition at line 64 of file sensor_base.h.

geometry_msgs::Pose2D stdr_robot::Sensor::getSensorPose ( void  ) const

inline

Getter function for returning the sensor pose relatively to robot.

Returns

geometry_msgs::Pose2D

Definition at line 55 of file sensor_base.h.

virtual void stdr_robot::Sensor::updateSensorCallback ( void  )

pure virtual

Virtual function for sensor value callback. Implement this function on derived class to publish sensor measurements.

Returns

void

Implemented in stdr_robot::CO2Sensor, stdr_robot::SoundSensor, stdr_robot::ThermalSensor, stdr_robot::RfidReader, stdr_robot::Laser, and stdr_robot::Sonar.

void stdr_robot::Sensor::updateTransform ( const ros::TimerEvent &  ev )

protected

Function for updating the sensor tf transform.

Updates the sensor tf transform.

Parameters

ev	[const ros::TimerEvent&] A ROS timer event

Returns

void

void

Definition at line 76 of file sensor_base.cpp.

Member Data Documentation

bool stdr_robot::Sensor::_gotTransform

protected

Definition at line 138 of file sensor_base.h.

const nav_msgs::OccupancyGrid& stdr_robot::Sensor::_map

protected

Sensor pose relative to robot.

Definition at line 116 of file sensor_base.h.

const std::string& stdr_robot::Sensor::_namespace

protected

< The base for the sensor frame_id

The environment occupancy grid map

Definition at line 114 of file sensor_base.h.

ros::Publisher stdr_robot::Sensor::_publisher

protected

ROS tf listener.

Definition at line 131 of file sensor_base.h.

const std::string stdr_robot::Sensor::_sensorFrameId

protected

A ROS timer for updating the sensor values.

Definition at line 123 of file sensor_base.h.

const geometry_msgs::Pose2D stdr_robot::Sensor::_sensorPose

protected

Update frequency of _timer.

Definition at line 119 of file sensor_base.h.

tf::StampedTransform stdr_robot::Sensor::_sensorTransform

protected

True if sensor got the _sensorTransform.

Definition at line 135 of file sensor_base.h.

tf::TransformListener stdr_robot::Sensor::_tfListener

protected

ROS transform from sensor to map.

Definition at line 133 of file sensor_base.h.

ros::Timer stdr_robot::Sensor::_tfTimer

protected

ROS publisher for posting the sensor measurements.

Definition at line 128 of file sensor_base.h.

ros::Timer stdr_robot::Sensor::_timer

protected

A ROS timer for updating the sensor tf.

Definition at line 126 of file sensor_base.h.

const float stdr_robot::Sensor::_updateFrequency

protected

Sensor frame id.

Definition at line 121 of file sensor_base.h.

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

• sensor_base.h
• sensor_base.cpp