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src
ekf_localization_nodelet.cpp
Go to the documentation of this file.
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/*
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* Copyright (c) 2017 Simon Gene Gottlieb
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "
robot_localization/ros_filter_types.h
"
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#include <
nodelet/nodelet.h
>
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#include <
pluginlib/class_list_macros.h
>
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#include <
ros/ros.h
>
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namespace
RobotLocalization
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{
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class
EkfNodelet
:
public
nodelet::Nodelet
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{
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private
:
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std::auto_ptr<RosEkf>
ekf
;
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public
:
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virtual
void
onInit
()
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{
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NODELET_DEBUG
(
"Initializing nodelet..."
);
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ros::NodeHandle
nh =
getNodeHandle
();
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ros::NodeHandle
nh_priv =
getPrivateNodeHandle
();
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ekf.reset(
new
RosEkf
(nh, nh_priv));
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ekf->initialize();
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}
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};
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}
// namespace RobotLocalization
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PLUGINLIB_EXPORT_CLASS
(
RobotLocalization::EkfNodelet
,
nodelet::Nodelet
);
ros::NodeHandle
nodelet::Nodelet::getPrivateNodeHandle
ros::NodeHandle & getPrivateNodeHandle() const
nodelet.h
nodelet::Nodelet
class_list_macros.h
RobotLocalization::RosEkf
RosFilter< Ekf > RosEkf
Definition:
ros_filter_types.h:43
RobotLocalization::EkfNodelet::ekf
std::auto_ptr< RosEkf > ekf
Definition:
ekf_localization_nodelet.cpp:45
nodelet::Nodelet::getNodeHandle
ros::NodeHandle & getNodeHandle() const
ros.h
RobotLocalization
Definition:
ekf.h:43
PLUGINLIB_EXPORT_CLASS
PLUGINLIB_EXPORT_CLASS(RobotLocalization::EkfNodelet, nodelet::Nodelet)
ros_filter_types.h
RobotLocalization::EkfNodelet
Definition:
ekf_localization_nodelet.cpp:42
NODELET_DEBUG
#define NODELET_DEBUG(...)
RobotLocalization::EkfNodelet::onInit
virtual void onInit()
Definition:
ekf_localization_nodelet.cpp:48
robot_localization
Author(s): Tom Moore
autogenerated on Sun Feb 17 2019 03:15:37