MultiMapper Class Reference

#include <MultiMapper.h>

Public Member Functions
bool	getMap (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
	MultiMapper ()
void	onMessage (const void *sender, karto::MapperEventArguments &args)
void	publishLoop ()
void	publishTransform ()
void	receiveInitialPose (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &pose)
void	receiveLaserScan (const sensor_msgs::LaserScan::ConstPtr &scan)
void	receiveLocalizedScan (const nav2d_msgs::LocalizedScan::ConstPtr &scan)
void	sendLocalizedScan (const sensor_msgs::LaserScan::ConstPtr &scan, const karto::Pose2 &pose)
void	setScanSolver (karto::ScanSolver *scanSolver)
	~MultiMapper ()

Private Member Functions
karto::LocalizedRangeScan *	createFromRosMessage (const sensor_msgs::LaserScan &scan, const karto::Identifier &robot)
bool	sendMap ()
void	setRobotPose (double x, double y, double yaw)
bool	updateMap ()

Private Attributes
ros::Publisher	mEdgesPublisher
nav_msgs::OccupancyGrid	mGridMap
ros::Subscriber	mInitialPoseSubscriber
karto::LaserRangeFinderPtr	mLaser
std::string	mLaserFrame
ros::Subscriber	mLaserSubscriber
std::string	mLaserTopic
ros::WallTime	mLastMapUpdate
bool	mMapChanged
std::string	mMapFrame
karto::SmartPointer< karto::OpenMapper >	mMapper
ros::Publisher	mMapPublisher
double	mMapResolution
ros::ServiceServer	mMapServer
std::string	mMapService
tf::Transform	mMapToOdometry
std::string	mMapTopic
int	mMapUpdateRate
double	mMaxCovariance
int	mMinMapSize
int	mNodesAdded
std::string	mOdometryFrame
tf::Transform	mOdometryOffset
std::string	mOffsetFrame
std::map< int, karto::LaserRangeFinderPtr >	mOtherLasers
ros::Publisher	mOtherRobotsPublisher
ros::Publisher	mPosePublisher
bool	mPublishPoseGraph
double	mRangeThreshold
std::string	mRobotFrame
int	mRobotID
std::string	mScanInputTopic
std::string	mScanOutputTopic
ros::Publisher	mScanPublisher
ros::Subscriber	mScanSubscriber
SelfLocalizer *	mSelfLocalizer
int	mState
tf::TransformBroadcaster	mTransformBroadcaster
tf::TransformListener	mTransformListener
ros::Publisher	mVerticesPublisher

Detailed Description

Definition at line 23 of file MultiMapper.h.

Constructor & Destructor Documentation

MultiMapper::MultiMapper

(

)

Definition at line 9 of file MultiMapper.cpp.

MultiMapper::~MultiMapper

(

)

Definition at line 176 of file MultiMapper.cpp.

Member Function Documentation

karto::LocalizedRangeScan * MultiMapper::createFromRosMessage ( const sensor_msgs::LaserScan &  scan, const karto::Identifier &  robot  )

private

Definition at line 223 of file MultiMapper.cpp.

bool MultiMapper::getMap	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)

Definition at line 391 of file MultiMapper.cpp.

void MultiMapper::onMessage	(	const void *	sender,
		karto::MapperEventArguments &	args
	)

Definition at line 681 of file MultiMapper.cpp.

void MultiMapper::publishLoop

(

)

void MultiMapper::publishTransform

(

)

Definition at line 686 of file MultiMapper.cpp.

void MultiMapper::receiveInitialPose

(

const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &

pose

)

Definition at line 664 of file MultiMapper.cpp.

void MultiMapper::receiveLaserScan

(

const sensor_msgs::LaserScan::ConstPtr &

scan

)

Definition at line 259 of file MultiMapper.cpp.

void MultiMapper::receiveLocalizedScan

(

const nav2d_msgs::LocalizedScan::ConstPtr &

scan

)

Definition at line 544 of file MultiMapper.cpp.

void MultiMapper::sendLocalizedScan	(	const sensor_msgs::LaserScan::ConstPtr &	scan,
		const karto::Pose2 &	pose
	)

Definition at line 636 of file MultiMapper.cpp.

bool MultiMapper::sendMap ( )

private

Definition at line 410 of file MultiMapper.cpp.

void MultiMapper::setRobotPose ( double  x, double  y, double  yaw  )

private

Definition at line 186 of file MultiMapper.cpp.

void MultiMapper::setScanSolver

(

karto::ScanSolver *

scanSolver

)

Definition at line 181 of file MultiMapper.cpp.

bool MultiMapper::updateMap ( )

private

Definition at line 481 of file MultiMapper.cpp.

Member Data Documentation

ros::Publisher MultiMapper::mEdgesPublisher

private

Definition at line 63 of file MultiMapper.h.

nav_msgs::OccupancyGrid MultiMapper::mGridMap

private

Definition at line 57 of file MultiMapper.h.

ros::Subscriber MultiMapper::mInitialPoseSubscriber

private

Definition at line 68 of file MultiMapper.h.

karto::LaserRangeFinderPtr MultiMapper::mLaser

private

Definition at line 71 of file MultiMapper.h.

std::string MultiMapper::mLaserFrame

private

Definition at line 89 of file MultiMapper.h.

ros::Subscriber MultiMapper::mLaserSubscriber

private

Definition at line 66 of file MultiMapper.h.

std::string MultiMapper::mLaserTopic

private

Definition at line 94 of file MultiMapper.h.

ros::WallTime MultiMapper::mLastMapUpdate

private

Definition at line 86 of file MultiMapper.h.

bool MultiMapper::mMapChanged

private

Definition at line 74 of file MultiMapper.h.

std::string MultiMapper::mMapFrame

private

Definition at line 93 of file MultiMapper.h.

karto::SmartPointer<karto::OpenMapper> MultiMapper::mMapper

private

Definition at line 72 of file MultiMapper.h.

ros::Publisher MultiMapper::mMapPublisher

private

Definition at line 60 of file MultiMapper.h.

double MultiMapper::mMapResolution

private

Definition at line 78 of file MultiMapper.h.

ros::ServiceServer MultiMapper::mMapServer

private

Definition at line 59 of file MultiMapper.h.

std::string MultiMapper::mMapService

private

Definition at line 96 of file MultiMapper.h.

tf::Transform MultiMapper::mMapToOdometry

private

Definition at line 54 of file MultiMapper.h.

std::string MultiMapper::mMapTopic

private

Definition at line 95 of file MultiMapper.h.

int MultiMapper::mMapUpdateRate

private

Definition at line 82 of file MultiMapper.h.

double MultiMapper::mMaxCovariance

private

Definition at line 80 of file MultiMapper.h.

int MultiMapper::mMinMapSize

private

Definition at line 85 of file MultiMapper.h.

int MultiMapper::mNodesAdded

private

Definition at line 84 of file MultiMapper.h.

std::string MultiMapper::mOdometryFrame

private

Definition at line 91 of file MultiMapper.h.

tf::Transform MultiMapper::mOdometryOffset

private

Definition at line 55 of file MultiMapper.h.

std::string MultiMapper::mOffsetFrame

private

Definition at line 92 of file MultiMapper.h.

std::map<int, karto::LaserRangeFinderPtr> MultiMapper::mOtherLasers

private

Definition at line 73 of file MultiMapper.h.

ros::Publisher MultiMapper::mOtherRobotsPublisher

private

Definition at line 65 of file MultiMapper.h.

ros::Publisher MultiMapper::mPosePublisher

private

Definition at line 64 of file MultiMapper.h.

bool MultiMapper::mPublishPoseGraph

private

Definition at line 83 of file MultiMapper.h.

double MultiMapper::mRangeThreshold

private

Definition at line 79 of file MultiMapper.h.

std::string MultiMapper::mRobotFrame

private

Definition at line 90 of file MultiMapper.h.

int MultiMapper::mRobotID

private

Definition at line 77 of file MultiMapper.h.

std::string MultiMapper::mScanInputTopic

private

Definition at line 97 of file MultiMapper.h.

std::string MultiMapper::mScanOutputTopic

private

Definition at line 98 of file MultiMapper.h.

ros::Publisher MultiMapper::mScanPublisher

private

Definition at line 61 of file MultiMapper.h.

ros::Subscriber MultiMapper::mScanSubscriber

private

Definition at line 67 of file MultiMapper.h.

SelfLocalizer* MultiMapper::mSelfLocalizer

private

Definition at line 49 of file MultiMapper.h.

int MultiMapper::mState

private

Definition at line 81 of file MultiMapper.h.

tf::TransformBroadcaster MultiMapper::mTransformBroadcaster

private

Definition at line 53 of file MultiMapper.h.

tf::TransformListener MultiMapper::mTransformListener

private

Definition at line 52 of file MultiMapper.h.

ros::Publisher MultiMapper::mVerticesPublisher

private

Definition at line 62 of file MultiMapper.h.

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

• MultiMapper.h
• MultiMapper.cpp