Derived class from GridScanMatcherObserver to publish the robot pose. More...

Inheritance diagram for PoseScanMatcherObserver:

Public Member Functions
virtual void	on_pose_update (const RobotState &pose, const TransformedLaserScan &scan, double score) override

virtual void	on_scan_test (const RobotState &pose, const TransformedLaserScan &scan, double score) override

Public Member Functions inherited from GridScanMatcherObserver
virtual void	on_matching_end (const RobotState &, double)

virtual void	on_matching_start (const RobotState &, const TransformedLaserScan &, const GridMap &)

Private Member Functions
void	publish_transform (const std::string &frame_id, std::string frame_odom, const RobotState &p)

Detailed Description

Derived class from GridScanMatcherObserver to publish the robot pose.

This class provides functions to publish the robot pose in a ROS topic.

Definition at line 35 of file tiny_slam.cpp.

Member Function Documentation

virtual void PoseScanMatcherObserver::on_pose_update	(	const RobotState &	pose,
		const TransformedLaserScan &	scan,
		double	score
	)

inlineoverridevirtual

Publishes the best found robot pose.

Parameters

[in] pose - the robot location in the space.

Definition at line 51 of file tiny_slam.cpp.

virtual void PoseScanMatcherObserver::on_scan_test	(	const RobotState &	pose,
		const TransformedLaserScan &	scan,
		double	score
	)

inlineoverridevirtual

Publishes the robot pose tested by the scan matcher at the moment.

Parameters

[in] pose - the robot location in the space.

Definition at line 42 of file tiny_slam.cpp.

void PoseScanMatcherObserver::publish_transform	(	const std::string &	frame_id,
		std::string	frame_odom,
		const RobotState &	p
	)

inlineprivate

Definition at line 57 of file tiny_slam.cpp.

std::string PoseScanMatcherObserver::_frame_odom

private

Definition at line 61 of file tiny_slam.cpp.

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