The ROS node implementation that provides the tinySLAM method. More...

#include <iostream>
#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>
#include <memory>
#include <nav_msgs/OccupancyGrid.h>
#include "../core/sensor_data.h"
#include "../ros/topic_with_transform.h"
#include "../ros/rviz_grid_viewer.h"
#include "../ros/utils.h"
#include "../core/maps/area_occupancy_estimator.h"
#include "../core/maps/const_occupancy_estimator.h"
#include "../core/maps/grid_cell_strategy.h"
#include "tiny_fascade.h"
#include "tiny_world.h"
#include "tiny_grid_cells.h"

Include dependency graph for tiny_slam.cpp:

Go to the source code of this file.

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

Functions
std::shared_ptr< GridCellFactory >	init_cell_factory (TinyWorldParams &params)

TinyWorldParams	init_common_world_params ()

void	init_constants_for_ros (double &ros_tf_buffer_size, double &ros_map_rate, int &ros_filter_queue, int &ros_subscr_queue)

void	init_frame_names (std::string &frame_odom, std::string &frame_robot_pose)

GridMapParams	init_grid_map_params ()

std::shared_ptr< CellOccupancyEstimator >	init_occ_estimator ()

bool	init_skip_exceeding_lsr ()

int	main (int argc, char **argv)

Detailed Description

The ROS node implementation that provides the tinySLAM method.

There are an entry point and functions which parse the initialization file.
There is also a declaration of one class (PoseScanMatcherObserver is inherited from GridScanMatcherObserver).

Definition in file tiny_slam.cpp.

Function Documentation

std::shared_ptr<GridCellFactory> init_cell_factory ( TinyWorldParams & params )

Determines the cell factory based on parameters came from a launch file.

Parameters

[in] params - values from the launch file.

Returns: The pointer (shared) to a created factory of grid cells.

Definition at line 69 of file tiny_slam.cpp.

TinyWorldParams init_common_world_params ( )

Initializes constants for scan matcher

Returns: The structure contains requied paramteres

Definition at line 125 of file tiny_slam.cpp.

void init_constants_for_ros	(	double &	ros_tf_buffer_size,
		double &	ros_map_rate,
		int &	ros_filter_queue,
		int &	ros_subscr_queue
	)

Initializes constants for ros utils

Returns: Requied parameters

Definition at line 154 of file tiny_slam.cpp.

void init_frame_names	(	std::string &	frame_odom,
		std::string &	frame_robot_pose
	)

Definition at line 164 of file tiny_slam.cpp.

GridMapParams init_grid_map_params ( )

Initializes constants for map

Returns: The structure contains requied paramteres

Definition at line 141 of file tiny_slam.cpp.

std::shared_ptr<CellOccupancyEstimator> init_occ_estimator ( )

Determines the estimator based on parameters came from a launch file.

Parameters

[in] params - values from a launch file.

Returns: The pointer (shared) to a created estimator of a map cost.

Definition at line 92 of file tiny_slam.cpp.

bool init_skip_exceeding_lsr ( )

Returns how to deal with exceeding values based on parameters came from a launch file.

Definition at line 115 of file tiny_slam.cpp.

int main	(	int	argc,
		char **	argv
	)

The entry point: creates an environment world and the main node "tiny slam".

Definition at line 172 of file tiny_slam.cpp.

Classes

Functions

Detailed Description

Function Documentation