mcl_3dl::MCL3dlNode Class Reference

Classes
class	MyPointRepresentation

Public Member Functions
void	cbMapUpdateTimer (const ros::TimerEvent &event)
bool	configure ()
	MCL3dlNode ()
	~MCL3dlNode ()

Protected Types
using	PointType = mcl_3dl::PointXYZIL

Protected Member Functions
void	accumClear ()
bool	accumCloud (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	cbCloud (const sensor_msgs::PointCloud2::ConstPtr &msg)
bool	cbExpansionReset (std_srvs::TriggerRequest &request, std_srvs::TriggerResponse &response)
bool	cbGlobalLocalization (std_srvs::TriggerRequest &request, std_srvs::TriggerResponse &response)
void	cbImu (const sensor_msgs::Imu::ConstPtr &msg)
void	cbLandmark (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg)
bool	cbLoadPCD (mcl_3dl_msgs::LoadPCD::Request &req, mcl_3dl_msgs::LoadPCD::Response &resp)
void	cbMapcloud (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	cbMapcloudUpdate (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	cbOdom (const nav_msgs::Odometry::ConstPtr &msg)
void	cbPosition (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg)
bool	cbResizeParticle (mcl_3dl_msgs::ResizeParticleRequest &request, mcl_3dl_msgs::ResizeParticleResponse &response)
void	diagnoseStatus (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	loadMapCloud (const pcl::PointCloud< PointType >::Ptr &map_cloud)
void	measure ()
void	publishParticles ()

Protected Attributes
CloudAccumulationLogicBase::Ptr	accum_
size_t	cnt_measure_
diagnostic_updater::Updater	diag_updater_
std::default_random_engine	engine_
std::shared_ptr< FilterVec3 >	f_acc_
std::shared_ptr< FilterVec3 >	f_ang_
std::shared_ptr< FilterVec3 >	f_pos_
size_t	global_localization_fix_cnt_
bool	has_imu_
bool	has_map_
bool	has_odom_
ros::Time	imu_last_
ImuMeasurementModelBase::Ptr	imu_measurement_model_
Quat	imu_quat_
ChunkedKdtree< PointType >::Ptr	kdtree_
std::map< std::string, LidarMeasurementModelBase::Ptr >	lidar_measurements_
std::shared_ptr< Filter >	localize_rate_
ros::Time	localized_last_
ros::Timer	map_update_timer_
ros::Time	match_output_last_
MotionPredictionModelBase::Ptr	motion_prediction_model_
ros::NodeHandle	nh_
State6DOF	odom_
ros::Time	odom_last_
State6DOF	odom_prev_
Parameters	params_
std::vector< std_msgs::Header >	pc_accum_header_
pcl::PointCloud< PointType >::Ptr	pc_all_accum_
pcl::PointCloud< PointType >::Ptr	pc_local_accum_
pcl::PointCloud< PointType >::Ptr	pc_map2_
pcl::PointCloud< PointType >::Ptr	pc_map_
pcl::PointCloud< PointType >::Ptr	pc_update_
std::shared_ptr< pf::ParticleFilter< State6DOF, float, ParticleWeightedMeanQuat, std::default_random_engine > >	pf_
ros::NodeHandle	pnh_
MyPointRepresentation::Ptr	point_rep_
ros::Publisher	pub_debug_marker_
ros::Publisher	pub_mapcloud_
ros::Publisher	pub_matched_
ros::Publisher	pub_particle_
ros::Publisher	pub_pose_
ros::Publisher	pub_status_
ros::Publisher	pub_unmatched_
std::random_device	seed_gen_
ros::ServiceServer	srv_expansion_reset_
ros::ServiceServer	srv_global_localization_
ros::ServiceServer	srv_load_pcd_
ros::ServiceServer	srv_particle_size_
State6DOF	state_prev_
mcl_3dl_msgs::Status	status_
ros::Subscriber	sub_cloud_
ros::Subscriber	sub_imu_
ros::Subscriber	sub_landmark_
ros::Subscriber	sub_mapcloud_
ros::Subscriber	sub_mapcloud_update_
ros::Subscriber	sub_odom_
ros::Subscriber	sub_position_
ros::Duration	tf_tolerance_base_
tf2_ros::TransformBroadcaster	tfb_
tf2_ros::Buffer	tfbuf_
tf2_ros::TransformListener	tfl_

Detailed Description

Definition at line 103 of file mcl_3dl.cpp.

Member Typedef Documentation

PointType

using mcl_3dl::MCL3dlNode::PointType = mcl_3dl::PointXYZIL

protected

Definition at line 106 of file mcl_3dl.cpp.

Constructor & Destructor Documentation

MCL3dlNode()

mcl_3dl::MCL3dlNode::MCL3dlNode ( )

inline

Definition at line 1196 of file mcl_3dl.cpp.

~MCL3dlNode()

mcl_3dl::MCL3dlNode::~MCL3dlNode ( )

inline

Definition at line 1346 of file mcl_3dl.cpp.

Member Function Documentation

accumClear()

void mcl_3dl::MCL3dlNode::accumClear ( )

inlineprotected

Definition at line 267 of file mcl_3dl.cpp.

accumCloud()

bool mcl_3dl::MCL3dlNode::accumCloud ( const sensor_msgs::PointCloud2::ConstPtr &  msg )

inlineprotected

Definition at line 274 of file mcl_3dl.cpp.

cbCloud()

void mcl_3dl::MCL3dlNode::cbCloud ( const sensor_msgs::PointCloud2::ConstPtr &  msg )

inlineprotected

Definition at line 248 of file mcl_3dl.cpp.

cbExpansionReset()

bool mcl_3dl::MCL3dlNode::cbExpansionReset ( std_srvs::TriggerRequest &  request, std_srvs::TriggerResponse &  response  )

inlineprotected

Definition at line 1027 of file mcl_3dl.cpp.

cbGlobalLocalization()

bool mcl_3dl::MCL3dlNode::cbGlobalLocalization ( std_srvs::TriggerRequest &  request, std_srvs::TriggerResponse &  response  )

inlineprotected

Definition at line 1040 of file mcl_3dl.cpp.

cbImu()

void mcl_3dl::MCL3dlNode::cbImu ( const sensor_msgs::Imu::ConstPtr &  msg )

inlineprotected

Definition at line 942 of file mcl_3dl.cpp.

cbLandmark()

void mcl_3dl::MCL3dlNode::cbLandmark ( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &  msg )

inlineprotected

Definition at line 900 of file mcl_3dl.cpp.

cbLoadPCD()

bool mcl_3dl::MCL3dlNode::cbLoadPCD ( mcl_3dl_msgs::LoadPCD::Request &  req, mcl_3dl_msgs::LoadPCD::Response &  resp  )

inlineprotected

Definition at line 1173 of file mcl_3dl.cpp.

cbMapcloud()

void mcl_3dl::MCL3dlNode::cbMapcloud ( const sensor_msgs::PointCloud2::ConstPtr &  msg )

inlineprotected

Definition at line 127 of file mcl_3dl.cpp.

cbMapcloudUpdate()

void mcl_3dl::MCL3dlNode::cbMapcloudUpdate ( const sensor_msgs::PointCloud2::ConstPtr &  msg )

inlineprotected

Definition at line 141 of file mcl_3dl.cpp.

cbMapUpdateTimer()

void mcl_3dl::MCL3dlNode::cbMapUpdateTimer ( const ros::TimerEvent &  event )

inline

Definition at line 1356 of file mcl_3dl.cpp.

cbOdom()

void mcl_3dl::MCL3dlNode::cbOdom ( const nav_msgs::Odometry::ConstPtr &  msg )

inlineprotected

Definition at line 200 of file mcl_3dl.cpp.

cbPosition()

void mcl_3dl::MCL3dlNode::cbPosition ( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &  msg )

inlineprotected

Definition at line 155 of file mcl_3dl.cpp.

cbResizeParticle()

bool mcl_3dl::MCL3dlNode::cbResizeParticle ( mcl_3dl_msgs::ResizeParticleRequest &  request, mcl_3dl_msgs::ResizeParticleResponse &  response  )

inlineprotected

Definition at line 1020 of file mcl_3dl.cpp.

configure()

bool mcl_3dl::MCL3dlNode::configure ( )

inline

Definition at line 1205 of file mcl_3dl.cpp.

diagnoseStatus()

void mcl_3dl::MCL3dlNode::diagnoseStatus ( diagnostic_updater::DiagnosticStatusWrapper &  stat )

inlineprotected

Definition at line 1128 of file mcl_3dl.cpp.

loadMapCloud()

void mcl_3dl::MCL3dlNode::loadMapCloud ( const pcl::PointCloud< PointType >::Ptr &  map_cloud )

inlineprotected

Definition at line 1151 of file mcl_3dl.cpp.

measure()

void mcl_3dl::MCL3dlNode::measure ( )

inlineprotected

Definition at line 304 of file mcl_3dl.cpp.

publishParticles()

void mcl_3dl::MCL3dlNode::publishParticles ( )

inlineprotected

Definition at line 1102 of file mcl_3dl.cpp.

Member Data Documentation

accum_

CloudAccumulationLogicBase::Ptr mcl_3dl::MCL3dlNode::accum_

protected

Definition at line 1446 of file mcl_3dl.cpp.

cnt_measure_

size_t mcl_3dl::MCL3dlNode::cnt_measure_

protected

Definition at line 1432 of file mcl_3dl.cpp.

diag_updater_

diagnostic_updater::Updater mcl_3dl::MCL3dlNode::diag_updater_

protected

Definition at line 1435 of file mcl_3dl.cpp.

engine_

std::default_random_engine mcl_3dl::MCL3dlNode::engine_

protected

Definition at line 1458 of file mcl_3dl.cpp.

f_acc_

std::shared_ptr<FilterVec3> mcl_3dl::MCL3dlNode::f_acc_

protected

Definition at line 1416 of file mcl_3dl.cpp.

f_ang_

std::shared_ptr<FilterVec3> mcl_3dl::MCL3dlNode::f_ang_

protected

Definition at line 1415 of file mcl_3dl.cpp.

f_pos_

std::shared_ptr<FilterVec3> mcl_3dl::MCL3dlNode::f_pos_

protected

Definition at line 1414 of file mcl_3dl.cpp.

global_localization_fix_cnt_

size_t mcl_3dl::MCL3dlNode::global_localization_fix_cnt_

protected

Definition at line 1434 of file mcl_3dl.cpp.

has_imu_

bool mcl_3dl::MCL3dlNode::has_imu_

protected

Definition at line 1427 of file mcl_3dl.cpp.

has_map_

bool mcl_3dl::MCL3dlNode::has_map_

protected

Definition at line 1425 of file mcl_3dl.cpp.

has_odom_

bool mcl_3dl::MCL3dlNode::has_odom_

protected

Definition at line 1426 of file mcl_3dl.cpp.

imu_last_

ros::Time mcl_3dl::MCL3dlNode::imu_last_

protected

Definition at line 1431 of file mcl_3dl.cpp.

imu_measurement_model_

ImuMeasurementModelBase::Ptr mcl_3dl::MCL3dlNode::imu_measurement_model_

protected

Definition at line 1454 of file mcl_3dl.cpp.

imu_quat_

Quat mcl_3dl::MCL3dlNode::imu_quat_

protected

Definition at line 1433 of file mcl_3dl.cpp.

kdtree_

ChunkedKdtree<PointType>::Ptr mcl_3dl::MCL3dlNode::kdtree_

protected

Definition at line 1444 of file mcl_3dl.cpp.

lidar_measurements_

std::map< std::string, LidarMeasurementModelBase::Ptr> mcl_3dl::MCL3dlNode::lidar_measurements_

protected

Definition at line 1453 of file mcl_3dl.cpp.

localize_rate_

std::shared_ptr<Filter> mcl_3dl::MCL3dlNode::localize_rate_

protected

Definition at line 1417 of file mcl_3dl.cpp.

localized_last_

ros::Time mcl_3dl::MCL3dlNode::localized_last_

protected

Definition at line 1418 of file mcl_3dl.cpp.

map_update_timer_

ros::Timer mcl_3dl::MCL3dlNode::map_update_timer_

protected

Definition at line 1404 of file mcl_3dl.cpp.

match_output_last_

ros::Time mcl_3dl::MCL3dlNode::match_output_last_

protected

Definition at line 1423 of file mcl_3dl.cpp.

motion_prediction_model_

MotionPredictionModelBase::Ptr mcl_3dl::MCL3dlNode::motion_prediction_model_

protected

Definition at line 1455 of file mcl_3dl.cpp.

nh_

ros::NodeHandle mcl_3dl::MCL3dlNode::nh_

protected

Definition at line 1387 of file mcl_3dl.cpp.

odom_

State6DOF mcl_3dl::MCL3dlNode::odom_

protected

Definition at line 1428 of file mcl_3dl.cpp.

odom_last_

ros::Time mcl_3dl::MCL3dlNode::odom_last_

protected

Definition at line 1424 of file mcl_3dl.cpp.

odom_prev_

State6DOF mcl_3dl::MCL3dlNode::odom_prev_

protected

Definition at line 1429 of file mcl_3dl.cpp.

params_

Parameters mcl_3dl::MCL3dlNode::params_

protected

Definition at line 1421 of file mcl_3dl.cpp.

pc_accum_header_

std::vector<std_msgs::Header> mcl_3dl::MCL3dlNode::pc_accum_header_

protected

Definition at line 1448 of file mcl_3dl.cpp.

pc_all_accum_

pcl::PointCloud<PointType>::Ptr mcl_3dl::MCL3dlNode::pc_all_accum_

protected

Definition at line 1443 of file mcl_3dl.cpp.

pc_local_accum_

pcl::PointCloud<PointType>::Ptr mcl_3dl::MCL3dlNode::pc_local_accum_

protected

Definition at line 1447 of file mcl_3dl.cpp.

pc_map2_

pcl::PointCloud<PointType>::Ptr mcl_3dl::MCL3dlNode::pc_map2_

protected

Definition at line 1441 of file mcl_3dl.cpp.

pc_map_

pcl::PointCloud<PointType>::Ptr mcl_3dl::MCL3dlNode::pc_map_

protected

Definition at line 1440 of file mcl_3dl.cpp.

pc_update_

pcl::PointCloud<PointType>::Ptr mcl_3dl::MCL3dlNode::pc_update_

protected

Definition at line 1442 of file mcl_3dl.cpp.

pf_

std::shared_ptr<pf::ParticleFilter<State6DOF, float, ParticleWeightedMeanQuat, std::default_random_engine> > mcl_3dl::MCL3dlNode::pf_

protected

Definition at line 107 of file mcl_3dl.cpp.

pnh_

ros::NodeHandle mcl_3dl::MCL3dlNode::pnh_

protected

Definition at line 1388 of file mcl_3dl.cpp.

point_rep_

MyPointRepresentation::Ptr mcl_3dl::MCL3dlNode::point_rep_

protected

Definition at line 1438 of file mcl_3dl.cpp.

pub_debug_marker_

ros::Publisher mcl_3dl::MCL3dlNode::pub_debug_marker_

protected

Definition at line 1402 of file mcl_3dl.cpp.

pub_mapcloud_

ros::Publisher mcl_3dl::MCL3dlNode::pub_mapcloud_

protected

Definition at line 1398 of file mcl_3dl.cpp.

pub_matched_

ros::Publisher mcl_3dl::MCL3dlNode::pub_matched_

protected

Definition at line 1400 of file mcl_3dl.cpp.

pub_particle_

ros::Publisher mcl_3dl::MCL3dlNode::pub_particle_

protected

Definition at line 1397 of file mcl_3dl.cpp.

pub_pose_

ros::Publisher mcl_3dl::MCL3dlNode::pub_pose_

protected

Definition at line 1399 of file mcl_3dl.cpp.

pub_status_

ros::Publisher mcl_3dl::MCL3dlNode::pub_status_

protected

Definition at line 1403 of file mcl_3dl.cpp.

pub_unmatched_

ros::Publisher mcl_3dl::MCL3dlNode::pub_unmatched_

protected

Definition at line 1401 of file mcl_3dl.cpp.

seed_gen_

std::random_device mcl_3dl::MCL3dlNode::seed_gen_

protected

Definition at line 1457 of file mcl_3dl.cpp.

srv_expansion_reset_

ros::ServiceServer mcl_3dl::MCL3dlNode::srv_expansion_reset_

protected

Definition at line 1407 of file mcl_3dl.cpp.

srv_global_localization_

ros::ServiceServer mcl_3dl::MCL3dlNode::srv_global_localization_

protected

Definition at line 1406 of file mcl_3dl.cpp.

srv_load_pcd_

ros::ServiceServer mcl_3dl::MCL3dlNode::srv_load_pcd_

protected

Definition at line 1408 of file mcl_3dl.cpp.

srv_particle_size_

ros::ServiceServer mcl_3dl::MCL3dlNode::srv_particle_size_

protected

Definition at line 1405 of file mcl_3dl.cpp.

state_prev_

State6DOF mcl_3dl::MCL3dlNode::state_prev_

protected

Definition at line 1430 of file mcl_3dl.cpp.

status_

mcl_3dl_msgs::Status mcl_3dl::MCL3dlNode::status_

protected

Definition at line 1436 of file mcl_3dl.cpp.

sub_cloud_

ros::Subscriber mcl_3dl::MCL3dlNode::sub_cloud_

protected

Definition at line 1390 of file mcl_3dl.cpp.

sub_imu_

ros::Subscriber mcl_3dl::MCL3dlNode::sub_imu_

protected

Definition at line 1394 of file mcl_3dl.cpp.

sub_landmark_

ros::Subscriber mcl_3dl::MCL3dlNode::sub_landmark_

protected

Definition at line 1396 of file mcl_3dl.cpp.

sub_mapcloud_

ros::Subscriber mcl_3dl::MCL3dlNode::sub_mapcloud_

protected

Definition at line 1391 of file mcl_3dl.cpp.

sub_mapcloud_update_

ros::Subscriber mcl_3dl::MCL3dlNode::sub_mapcloud_update_

protected

Definition at line 1392 of file mcl_3dl.cpp.

sub_odom_

ros::Subscriber mcl_3dl::MCL3dlNode::sub_odom_

protected

Definition at line 1393 of file mcl_3dl.cpp.

sub_position_

ros::Subscriber mcl_3dl::MCL3dlNode::sub_position_

protected

Definition at line 1395 of file mcl_3dl.cpp.

tf_tolerance_base_

ros::Duration mcl_3dl::MCL3dlNode::tf_tolerance_base_

protected

Definition at line 1419 of file mcl_3dl.cpp.

tfb_

tf2_ros::TransformBroadcaster mcl_3dl::MCL3dlNode::tfb_

protected

Definition at line 1412 of file mcl_3dl.cpp.

tfbuf_

tf2_ros::Buffer mcl_3dl::MCL3dlNode::tfbuf_

protected

Definition at line 1410 of file mcl_3dl.cpp.

tfl_

tf2_ros::TransformListener mcl_3dl::MCL3dlNode::tfl_

protected

Definition at line 1411 of file mcl_3dl.cpp.

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

• mcl_3dl.cpp