floam::odom::OdomEstimationNode Class Reference

#include <odom_estimation_node.hpp>

Inheritance diagram for floam::odom::OdomEstimationNode:

Public Member Functions
	OdomEstimationNode ()
void	onInit ()
	~OdomEstimationNode ()
Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
	Nodelet ()
virtual	~Nodelet ()

Private Types
typedef message_filters::Synchronizer< ApproximateSyncPolicy >	ApproximateSynchronizer
typedef message_filters::Synchronizer< ExactSyncPolicy >	ExactSynchronizer

Private Member Functions
void	handleClouds (const sensor_msgs::PointCloud2ConstPtr &edges, const sensor_msgs::PointCloud2ConstPtr &surfaces)

Private Attributes
std::shared_ptr< ApproximateSynchronizer >	m_approximateSync
std::shared_ptr< ExactSynchronizer >	m_exactSync
std::string	m_frameId
bool	m_isInitialized = false
double	m_mapResolution = 0.4
ros::NodeHandle	m_nodeHandle
floam::odom::OdomEstimation	m_odomEstimation
std::string	m_parentFrameId
ros::Publisher	m_pubLidarOdometry
int	m_queueSize = 5
message_filters::Subscriber< sensor_msgs::PointCloud2 >	m_subEdges
message_filters::Subscriber< sensor_msgs::PointCloud2 >	m_subSurfaces
geometry_msgs::TransformStampedPtr	m_tfGlobal
	ROS Transorm. More...
floam::lidar::Total	m_totals
bool	m_useExactSync = false

Additional Inherited Members
Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const
ros::NodeHandle &	getMTNodeHandle () const
ros::NodeHandle &	getMTPrivateNodeHandle () const
const V_string &	getMyArgv () const
const std::string &	getName () const
ros::NodeHandle &	getNodeHandle () const
ros::NodeHandle &	getPrivateNodeHandle () const
const M_string &	getRemappingArgs () const
ros::CallbackQueueInterface &	getSTCallbackQueue () const
std::string	getSuffixedName (const std::string &suffix) const

Detailed Description

Definition at line 33 of file odom_estimation_node.hpp.

Member Typedef Documentation

ApproximateSynchronizer

typedef message_filters::Synchronizer<ApproximateSyncPolicy> floam::odom::OdomEstimationNode::ApproximateSynchronizer

private

Definition at line 61 of file odom_estimation_node.hpp.

ExactSynchronizer

typedef message_filters::Synchronizer<ExactSyncPolicy> floam::odom::OdomEstimationNode::ExactSynchronizer

private

Definition at line 62 of file odom_estimation_node.hpp.

Constructor & Destructor Documentation

OdomEstimationNode()

floam::odom::OdomEstimationNode::OdomEstimationNode

(

)

OdomEstimationNode constructor

Definition at line 30 of file odom_estimation_node.cpp.

~OdomEstimationNode()

floam::odom::OdomEstimationNode::~OdomEstimationNode

(

)

OdomEstimationNode constructor

Definition at line 35 of file odom_estimation_node.cpp.

Member Function Documentation

handleClouds()

void floam::odom::OdomEstimationNode::handleClouds ( const sensor_msgs::PointCloud2ConstPtr &  edges, const sensor_msgs::PointCloud2ConstPtr &  surfaces  )

private

get current odometry estimation

broadcast odom transform

Definition at line 83 of file odom_estimation_node.cpp.

onInit()

void floam::odom::OdomEstimationNode::onInit ( )

virtual

Initialize Nodelet member variables

Returns

void

Implements nodelet::Nodelet.

Definition at line 40 of file odom_estimation_node.cpp.

Member Data Documentation

m_approximateSync

std::shared_ptr<ApproximateSynchronizer> floam::odom::OdomEstimationNode::m_approximateSync

private

Definition at line 67 of file odom_estimation_node.hpp.

m_exactSync

std::shared_ptr<ExactSynchronizer> floam::odom::OdomEstimationNode::m_exactSync

private

Definition at line 68 of file odom_estimation_node.hpp.

m_frameId

std::string floam::odom::OdomEstimationNode::m_frameId

private

Definition at line 81 of file odom_estimation_node.hpp.

m_isInitialized

bool floam::odom::OdomEstimationNode::m_isInitialized = false

private

Definition at line 74 of file odom_estimation_node.hpp.

m_mapResolution

double floam::odom::OdomEstimationNode::m_mapResolution = 0.4

private

Definition at line 79 of file odom_estimation_node.hpp.

m_nodeHandle

ros::NodeHandle floam::odom::OdomEstimationNode::m_nodeHandle

private

Definition at line 54 of file odom_estimation_node.hpp.

m_odomEstimation

floam::odom::OdomEstimation floam::odom::OdomEstimationNode::m_odomEstimation

private

Definition at line 86 of file odom_estimation_node.hpp.

m_parentFrameId

std::string floam::odom::OdomEstimationNode::m_parentFrameId

private

Definition at line 81 of file odom_estimation_node.hpp.

m_pubLidarOdometry

ros::Publisher floam::odom::OdomEstimationNode::m_pubLidarOdometry

private

Definition at line 56 of file odom_estimation_node.hpp.

m_queueSize

int floam::odom::OdomEstimationNode::m_queueSize = 5

private

Definition at line 77 of file odom_estimation_node.hpp.

m_subEdges

message_filters::Subscriber<sensor_msgs::PointCloud2> floam::odom::OdomEstimationNode::m_subEdges

private

Definition at line 64 of file odom_estimation_node.hpp.

m_subSurfaces

message_filters::Subscriber<sensor_msgs::PointCloud2> floam::odom::OdomEstimationNode::m_subSurfaces

private

Definition at line 65 of file odom_estimation_node.hpp.

m_tfGlobal

geometry_msgs::TransformStampedPtr floam::odom::OdomEstimationNode::m_tfGlobal

private

ROS Transorm.

Definition at line 59 of file odom_estimation_node.hpp.

m_totals

floam::lidar::Total floam::odom::OdomEstimationNode::m_totals

private

Definition at line 83 of file odom_estimation_node.hpp.

m_useExactSync

bool floam::odom::OdomEstimationNode::m_useExactSync = false

private

Definition at line 75 of file odom_estimation_node.hpp.

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

• odom_estimation_node.hpp
• odom_estimation_node.cpp