cartographer_ros::SensorBridge Class Reference

#include <sensor_bridge.h>

Public Member Functions
void	HandleImuMessage (const std::string &sensor_id, const sensor_msgs::Imu::ConstPtr &msg)
void	HandleLandmarkMessage (const std::string &sensor_id, const cartographer_ros_msgs::LandmarkList::ConstPtr &msg)
void	HandleLaserScanMessage (const std::string &sensor_id, const sensor_msgs::LaserScan::ConstPtr &msg)
void	HandleMultiEchoLaserScanMessage (const std::string &sensor_id, const sensor_msgs::MultiEchoLaserScan::ConstPtr &msg)
void	HandleNavSatFixMessage (const std::string &sensor_id, const sensor_msgs::NavSatFix::ConstPtr &msg)
void	HandleOdometryMessage (const std::string &sensor_id, const nav_msgs::Odometry::ConstPtr &msg)
void	HandlePointCloud2Message (const std::string &sensor_id, const sensor_msgs::PointCloud2::ConstPtr &msg)
SensorBridge &	operator= (const SensorBridge &)=delete
	SensorBridge (int num_subdivisions_per_laser_scan, const std::string &tracking_frame, double lookup_transform_timeout_sec, tf2_ros::Buffer *tf_buffer, ::cartographer::mapping::TrajectoryBuilderInterface *trajectory_builder)
	SensorBridge (const SensorBridge &)=delete
const TfBridge &	tf_bridge () const
std::unique_ptr<::cartographer::sensor::ImuData >	ToImuData (const sensor_msgs::Imu::ConstPtr &msg)
std::unique_ptr<::cartographer::sensor::OdometryData >	ToOdometryData (const nav_msgs::Odometry::ConstPtr &msg)

Private Member Functions
void	HandleLaserScan (const std::string &sensor_id, ::cartographer::common::Time start_time, const std::string &frame_id, const ::cartographer::sensor::PointCloudWithIntensities &points)
void	HandleRangefinder (const std::string &sensor_id, ::cartographer::common::Time time, const std::string &frame_id, const ::cartographer::sensor::TimedPointCloud &ranges)

Private Attributes
::cartographer::common::optional<::cartographer::transform::Rigid3d >	ecef_to_local_frame_
const int	num_subdivisions_per_laser_scan_
std::map< std::string, cartographer::common::Time >	sensor_to_previous_subdivision_time_
const TfBridge	tf_bridge_
::cartographer::mapping::TrajectoryBuilderInterface *const	trajectory_builder_

Detailed Description

Definition at line 43 of file sensor_bridge.h.

Constructor & Destructor Documentation

SensorBridge() [1/2]

cartographer_ros::SensorBridge::SensorBridge ( int  num_subdivisions_per_laser_scan, const std::string &  tracking_frame, double  lookup_transform_timeout_sec, tf2_ros::Buffer *  tf_buffer, ::cartographer::mapping::TrajectoryBuilderInterface *  trajectory_builder  )

explicit

SensorBridge() [2/2]

cartographer_ros::SensorBridge::SensorBridge ( const SensorBridge &  )

delete

Member Function Documentation

HandleImuMessage()

void cartographer_ros::SensorBridge::HandleImuMessage	(	const std::string &	sensor_id,
		const sensor_msgs::Imu::ConstPtr &	msg
	)

Definition at line 137 of file sensor_bridge.cc.

HandleLandmarkMessage()

void cartographer_ros::SensorBridge::HandleLandmarkMessage	(	const std::string &	sensor_id,
		const cartographer_ros_msgs::LandmarkList::ConstPtr &	msg
	)

Definition at line 101 of file sensor_bridge.cc.

HandleLaserScan()

void cartographer_ros::SensorBridge::HandleLaserScan ( const std::string &  sensor_id, ::cartographer::common::Time  start_time, const std::string &  frame_id, const ::cartographer::sensor::PointCloudWithIntensities &  points  )

private

Definition at line 180 of file sensor_bridge.cc.

HandleLaserScanMessage()

void cartographer_ros::SensorBridge::HandleLaserScanMessage	(	const std::string &	sensor_id,
		const sensor_msgs::LaserScan::ConstPtr &	msg
	)

Definition at line 148 of file sensor_bridge.cc.

HandleMultiEchoLaserScanMessage()

void cartographer_ros::SensorBridge::HandleMultiEchoLaserScanMessage	(	const std::string &	sensor_id,
		const sensor_msgs::MultiEchoLaserScan::ConstPtr &	msg
	)

Definition at line 156 of file sensor_bridge.cc.

HandleNavSatFixMessage()

void cartographer_ros::SensorBridge::HandleNavSatFixMessage	(	const std::string &	sensor_id,
		const sensor_msgs::NavSatFix::ConstPtr &	msg
	)

Definition at line 75 of file sensor_bridge.cc.

HandleOdometryMessage()

void cartographer_ros::SensorBridge::HandleOdometryMessage	(	const std::string &	sensor_id,
		const nav_msgs::Odometry::ConstPtr &	msg
	)

Definition at line 64 of file sensor_bridge.cc.

HandlePointCloud2Message()

void cartographer_ros::SensorBridge::HandlePointCloud2Message	(	const std::string &	sensor_id,
		const sensor_msgs::PointCloud2::ConstPtr &	msg
	)

Definition at line 165 of file sensor_bridge.cc.

HandleRangefinder()

void cartographer_ros::SensorBridge::HandleRangefinder ( const std::string &  sensor_id, ::cartographer::common::Time  time, const std::string &  frame_id, const ::cartographer::sensor::TimedPointCloud &  ranges  )

private

Definition at line 222 of file sensor_bridge.cc.

operator=()

SensorBridge& cartographer_ros::SensorBridge::operator= ( const SensorBridge &  )

delete

tf_bridge()

const TfBridge & cartographer_ros::SensorBridge::tf_bridge

(

)

const

Definition at line 178 of file sensor_bridge.cc.

ToImuData()

std::unique_ptr< carto::sensor::ImuData > cartographer_ros::SensorBridge::ToImuData

(

const sensor_msgs::Imu::ConstPtr &

msg

)

Definition at line 107 of file sensor_bridge.cc.

ToOdometryData()

std::unique_ptr< carto::sensor::OdometryData > cartographer_ros::SensorBridge::ToOdometryData

(

const nav_msgs::Odometry::ConstPtr &

msg

)

Definition at line 51 of file sensor_bridge.cc.

Member Data Documentation

ecef_to_local_frame_

::cartographer::common::optional<::cartographer::transform::Rigid3d> cartographer_ros::SensorBridge::ecef_to_local_frame_

private

Definition at line 95 of file sensor_bridge.h.

num_subdivisions_per_laser_scan_

const int cartographer_ros::SensorBridge::num_subdivisions_per_laser_scan_

private

Definition at line 87 of file sensor_bridge.h.

sensor_to_previous_subdivision_time_

std::map<std::string, cartographer::common::Time> cartographer_ros::SensorBridge::sensor_to_previous_subdivision_time_

private

Definition at line 89 of file sensor_bridge.h.

tf_bridge_

const TfBridge cartographer_ros::SensorBridge::tf_bridge_

private

Definition at line 90 of file sensor_bridge.h.

trajectory_builder_

::cartographer::mapping::TrajectoryBuilderInterface* const cartographer_ros::SensorBridge::trajectory_builder_

private

Definition at line 92 of file sensor_bridge.h.

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

• sensor_bridge.h
• sensor_bridge.cc