#include <tuw_marker_slam_node.h>

Inheritance diagram for SLAMNode:

Public Member Functions
void	cycle ()
	constructor More...

void	publish ()
	triggers the SLAM cycle More...

	SLAMNode (ros::NodeHandle &n)

Public Member Functions inherited from tuw::SLAM
	SLAM ()

Private Member Functions
void	callbackCmd (const geometry_msgs::Twist &)
	frame id of base (for transformations) More...

void	callbackConfigEKFSLAM (tuw_marker_slam::EKFSLAMConfig &config, uint32_t level)
	parameter server stuff for the EKF SLAM More...

void	callbackConfigSLAM (tuw_marker_slam::SLAMConfig &config, uint32_t level)
	parameter server stuff general use More...

void	callbackMarker (const marker_msgs::MarkerDetection &)
	callback function to catch motion commands More...

Private Attributes
std::string	frame_id_base_
	frame id of odom (for transformations) More...

std::string	frame_id_map_
	measurements are in x-z-plane (gazebo) instead of x-y-plane (stage) More...

std::string	frame_id_odom_
	frame id of map (for transformations) More...

marker_msgs::MarkerWithCovarianceArray	mt_
	estimated vehicle pose and its covariance to publish More...

ros::NodeHandle	n_
	publishes the estimated landmark map and the estimated vehicle pose in it More...

ros::NodeHandle	n_param_
	node handler to the root node More...

ros::Publisher	pub_mt_
	publisher for the estimated vehicle pose and its covariance More...

ros::Publisher	pub_xt_
	subscriber to the marker detector More...

dynamic_reconfigure::Server< tuw_marker_slam::EKFSLAMConfig >::CallbackType	reconfigureFncEKFSLAM_
	parameter server stuff for the EKF SLAM More...

dynamic_reconfigure::Server< tuw_marker_slam::SLAMConfig >::CallbackType	reconfigureFncSLAM_
	parameter server stuff general use More...

std::shared_ptr< dynamic_reconfigure::Server< tuw_marker_slam::EKFSLAMConfig > >	reconfigureServerEKFSLAM_
	callback function on incoming parameter changes for general use More...

dynamic_reconfigure::Server< tuw_marker_slam::SLAMConfig >	reconfigureServerSLAM_
	callback function to catch incoming marker data More...

ros::Subscriber	sub_cmd_
	node handler to the current node More...

ros::Subscriber	sub_marker_
	subscriber to the command More...

tf::TransformBroadcaster	tf_broadcaster_
	estimated landmark poses and their covariances to publish More...

std::shared_ptr< tf::TransformListener >	tf_listener_
	broadcasts transformation messages More...

geometry_msgs::PoseWithCovarianceStamped	xt_
	publisher for the estimated landmark poses and their covariances More...

bool	xzplane_
	listener to receive transformation messages More...

Additional Inherited Members
Protected Member Functions inherited from tuw::SLAM
void	cycle ()
	global parameters More...

Protected Attributes inherited from tuw::SLAM
cv::Mat_< double >	C_Yt_
	combined state yt = (xt, mt_1, ..., mt_n) with xt = (x, y, alpha), mt_i = (x_i, y_i, alpha_i) More...

tuw_marker_slam::SLAMConfig	config_
	technique used to estimate landmark map and the vehicles pose in it More...

unsigned long	loop_count_
	measurements at time t More...

SLAMTechniquePtr	slam_technique_
	counter for the triggered cycles More...

Command	ut_
	combined covariance matrix of combined state More...

std::vector< Pose2D >	yt_
	constructor More...

MeasurementPtr	zt_
	motion commands v, w at time t More...

Detailed Description

class to cover the ros communication for the slam

Definition at line 20 of file tuw_marker_slam_node.h.

Constructor & Destructor Documentation

SLAMNode::SLAMNode ( ros::NodeHandle & n )

Constructor

subscribes to command values

defines publishers for the resulting robot pose

defines publishers for the resulting landmark poses

subscribes to transforamtions

start parameter server

subscribes to marker detector

start parameter server

Definition at line 33 of file tuw_marker_slam_node.cpp.

Member Function Documentation

void SLAMNode::callbackCmd ( const geometry_msgs::Twist & cmd )

private

frame id of base (for transformations)

copies incoming robot command message

Parameters

cmd

Definition at line 210 of file tuw_marker_slam_node.cpp.

void SLAMNode::callbackConfigEKFSLAM	(	tuw_marker_slam::EKFSLAMConfig &	config,
		uint32_t	level
	)

private

parameter server stuff for the EKF SLAM

Definition at line 290 of file tuw_marker_slam_node.cpp.

void SLAMNode::callbackConfigSLAM	(	tuw_marker_slam::SLAMConfig &	config,
		uint32_t	level
	)

private

parameter server stuff general use

Definition at line 285 of file tuw_marker_slam_node.cpp.

void SLAMNode::callbackMarker ( const marker_msgs::MarkerDetection & _marker )

private

callback function to catch motion commands

copies incoming marker messages to the base class

Parameters

marker

Definition at line 219 of file tuw_marker_slam_node.cpp.

void SLAMNode::cycle ( )

constructor

Definition at line 118 of file tuw_marker_slam_node.cpp.

void SLAMNode::publish ( )

triggers the SLAM cycle

Publishes the estimated pose

Definition at line 129 of file tuw_marker_slam_node.cpp.

Member Data Documentation

std::string SLAMNode::frame_id_base_

private

frame id of odom (for transformations)

Definition at line 42 of file tuw_marker_slam_node.h.

std::string SLAMNode::frame_id_map_

private

measurements are in x-z-plane (gazebo) instead of x-y-plane (stage)

Definition at line 40 of file tuw_marker_slam_node.h.

std::string SLAMNode::frame_id_odom_

private

frame id of map (for transformations)

Definition at line 41 of file tuw_marker_slam_node.h.

marker_msgs::MarkerWithCovarianceArray SLAMNode::mt_

private

estimated vehicle pose and its covariance to publish

Definition at line 35 of file tuw_marker_slam_node.h.

ros::NodeHandle SLAMNode::n_

private

publishes the estimated landmark map and the estimated vehicle pose in it

Definition at line 26 of file tuw_marker_slam_node.h.

ros::NodeHandle SLAMNode::n_param_

private

node handler to the root node

Definition at line 27 of file tuw_marker_slam_node.h.

ros::Publisher SLAMNode::pub_mt_

private

publisher for the estimated vehicle pose and its covariance

Definition at line 33 of file tuw_marker_slam_node.h.

ros::Publisher SLAMNode::pub_xt_

private

subscriber to the marker detector

Definition at line 32 of file tuw_marker_slam_node.h.

dynamic_reconfigure::Server<tuw_marker_slam::EKFSLAMConfig>::CallbackType SLAMNode::reconfigureFncEKFSLAM_

private

parameter server stuff for the EKF SLAM

Definition at line 52 of file tuw_marker_slam_node.h.

dynamic_reconfigure::Server<tuw_marker_slam::SLAMConfig>::CallbackType SLAMNode::reconfigureFncSLAM_

private

parameter server stuff general use

Definition at line 48 of file tuw_marker_slam_node.h.

std::shared_ptr<dynamic_reconfigure::Server<tuw_marker_slam::EKFSLAMConfig> > SLAMNode::reconfigureServerEKFSLAM_

private

callback function on incoming parameter changes for general use

Definition at line 51 of file tuw_marker_slam_node.h.

dynamic_reconfigure::Server<tuw_marker_slam::SLAMConfig> SLAMNode::reconfigureServerSLAM_

private

callback function to catch incoming marker data

Definition at line 47 of file tuw_marker_slam_node.h.

ros::Subscriber SLAMNode::sub_cmd_

private

node handler to the current node

Definition at line 29 of file tuw_marker_slam_node.h.

ros::Subscriber SLAMNode::sub_marker_

private

subscriber to the command

Definition at line 30 of file tuw_marker_slam_node.h.

tf::TransformBroadcaster SLAMNode::tf_broadcaster_

private

estimated landmark poses and their covariances to publish

Definition at line 37 of file tuw_marker_slam_node.h.

std::shared_ptr<tf::TransformListener> SLAMNode::tf_listener_

private

broadcasts transformation messages

Definition at line 38 of file tuw_marker_slam_node.h.

geometry_msgs::PoseWithCovarianceStamped SLAMNode::xt_

private

publisher for the estimated landmark poses and their covariances

Definition at line 34 of file tuw_marker_slam_node.h.

bool SLAMNode::xzplane_

private

listener to receive transformation messages

Definition at line 39 of file tuw_marker_slam_node.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation