PSMNode Class Reference

#include <psm_node.h>

Public Member Functions
	PSMNode ()
virtual	~PSMNode ()

Private Member Functions
void	getCurrentEstimatedPose (tf::Transform &worldToBase, const sensor_msgs::LaserScan &scanMsg)
void	getParams ()
void	imuCallback (const sensor_msgs::Imu &imuMsg)
bool	initialize (const sensor_msgs::LaserScan &scan)
void	pose2DToTf (const geometry_msgs::Pose2D &pose, tf::Transform &t)
void	publishPose (const tf::Transform &transform)
void	publishTf (const tf::Transform &transform, const ros::Time &time)
void	rosToPMScan (const sensor_msgs::LaserScan &scan, const tf::Transform &change, PMScan *pmScan)
void	scanCallback (const sensor_msgs::LaserScan &scan)
void	tfToPose2D (const tf::Transform &t, geometry_msgs::Pose2D &pose)

Private Attributes
std::string	baseFrame_
tf::Transform	baseToLaser_
double	currImuAngle_
boost::mutex	imuMutex_
ros::Subscriber	imuSubscriber_
bool	initialized_
std::string	laserFrame_
tf::Transform	laserToBase_
PolarMatcher	matcher_
double	maxError_
int	maxIterations_
int	minValidPoints_
ros::Publisher	posePublisher_
double	prevImuAngle_
PMScan *	prevPMScan_
tf::Transform	prevWorldToBase_
bool	publishPose_
bool	publishTf_
int	scansCount_
ros::Subscriber	scanSubscriber_
int	searchWindow_
double	stopCondition_
tf::TransformBroadcaster	tfBroadcaster_
tf::TransformListener	tfListener_
double	totalDuration_
bool	useImuOdometry_
bool	useTfOdometry_
std::string	worldFrame_

Detailed Description

Definition at line 51 of file psm_node.h.

Constructor & Destructor Documentation

PSMNode()

PSMNode::PSMNode

(

)

Definition at line 40 of file psm_node.cpp.

~PSMNode()

PSMNode::~PSMNode ( )

virtual

Definition at line 59 of file psm_node.cpp.

Member Function Documentation

getCurrentEstimatedPose()

void PSMNode::getCurrentEstimatedPose ( tf::Transform &  worldToBase, const sensor_msgs::LaserScan &  scanMsg  )

private

Definition at line 339 of file psm_node.cpp.

getParams()

void PSMNode::getParams ( )

private

Definition at line 64 of file psm_node.cpp.

imuCallback()

void PSMNode::imuCallback ( const sensor_msgs::Imu &  imuMsg )

private

Definition at line 174 of file psm_node.cpp.

initialize()

bool PSMNode::initialize ( const sensor_msgs::LaserScan &  scan )

private

Definition at line 120 of file psm_node.cpp.

pose2DToTf()

void PSMNode::pose2DToTf ( const geometry_msgs::Pose2D &  pose, tf::Transform &  t  )

private

Definition at line 357 of file psm_node.cpp.

publishPose()

void PSMNode::publishPose ( const tf::Transform &  transform )

private

Definition at line 296 of file psm_node.cpp.

publishTf()

void PSMNode::publishTf ( const tf::Transform &  transform, const ros::Time &  time  )

private

Definition at line 289 of file psm_node.cpp.

rosToPMScan()

void PSMNode::rosToPMScan ( const sensor_msgs::LaserScan &  scan, const tf::Transform &  change, PMScan *  pmScan  )

private

Definition at line 304 of file psm_node.cpp.

scanCallback()

void PSMNode::scanCallback ( const sensor_msgs::LaserScan &  scan )

private

Definition at line 184 of file psm_node.cpp.

tfToPose2D()

void PSMNode::tfToPose2D ( const tf::Transform &  t, geometry_msgs::Pose2D &  pose  )

private

Definition at line 365 of file psm_node.cpp.

Member Data Documentation

baseFrame_

std::string PSMNode::baseFrame_

private

Definition at line 90 of file psm_node.h.

baseToLaser_

tf::Transform PSMNode::baseToLaser_

private

Definition at line 62 of file psm_node.h.

currImuAngle_

double PSMNode::currImuAngle_

private

Definition at line 74 of file psm_node.h.

imuMutex_

boost::mutex PSMNode::imuMutex_

private

Definition at line 72 of file psm_node.h.

imuSubscriber_

ros::Subscriber PSMNode::imuSubscriber_

private

Definition at line 56 of file psm_node.h.

initialized_

bool PSMNode::initialized_

private

Definition at line 65 of file psm_node.h.

laserFrame_

std::string PSMNode::laserFrame_

private

Definition at line 91 of file psm_node.h.

laserToBase_

tf::Transform PSMNode::laserToBase_

private

Definition at line 63 of file psm_node.h.

matcher_

PolarMatcher PSMNode::matcher_

private

Definition at line 69 of file psm_node.h.

maxError_

double PSMNode::maxError_

private

Definition at line 85 of file psm_node.h.

maxIterations_

int PSMNode::maxIterations_

private

Definition at line 86 of file psm_node.h.

minValidPoints_

int PSMNode::minValidPoints_

private

Definition at line 83 of file psm_node.h.

posePublisher_

ros::Publisher PSMNode::posePublisher_

private

Definition at line 57 of file psm_node.h.

prevImuAngle_

double PSMNode::prevImuAngle_

private

Definition at line 73 of file psm_node.h.

prevPMScan_

PMScan* PSMNode::prevPMScan_

private

Definition at line 70 of file psm_node.h.

prevWorldToBase_

tf::Transform PSMNode::prevWorldToBase_

private

Definition at line 61 of file psm_node.h.

publishPose_

bool PSMNode::publishPose_

private

Definition at line 79 of file psm_node.h.

publishTf_

bool PSMNode::publishTf_

private

Definition at line 78 of file psm_node.h.

scansCount_

int PSMNode::scansCount_

private

Definition at line 67 of file psm_node.h.

scanSubscriber_

ros::Subscriber PSMNode::scanSubscriber_

private

Definition at line 55 of file psm_node.h.

searchWindow_

int PSMNode::searchWindow_

private

Definition at line 84 of file psm_node.h.

stopCondition_

double PSMNode::stopCondition_

private

Definition at line 87 of file psm_node.h.

tfBroadcaster_

tf::TransformBroadcaster PSMNode::tfBroadcaster_

private

Definition at line 59 of file psm_node.h.

tfListener_

tf::TransformListener PSMNode::tfListener_

private

Definition at line 60 of file psm_node.h.

totalDuration_

double PSMNode::totalDuration_

private

Definition at line 66 of file psm_node.h.

useImuOdometry_

bool PSMNode::useImuOdometry_

private

Definition at line 81 of file psm_node.h.

useTfOdometry_

bool PSMNode::useTfOdometry_

private

Definition at line 80 of file psm_node.h.

worldFrame_

std::string PSMNode::worldFrame_

private

Definition at line 89 of file psm_node.h.

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

• psm_node.h
• psm_node.cpp