Inheritance diagram for rtabmap_odom::ICPOdometry:

[legend]

Public Member Functions
	ICPOdometry ()

virtual	~ICPOdometry ()

Public Member Functions inherited from rtabmap_odom::OdometryROS
const std::string &	frameId () const

const std::string &	guessFrameId () const

bool	isPaused () const

	OdometryROS (bool stereoParams, bool visParams, bool icpParams)

const std::string &	odomFrameId () const

const rtabmap::ParametersMap &	parameters () const

bool	pause (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

void	processData (rtabmap::SensorData &data, const std_msgs::Header &header)

bool	reset (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	resetToPose (rtabmap_msgs::ResetPose::Request &, rtabmap_msgs::ResetPose::Response &)

bool	resume (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	setLogDebug (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	setLogError (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	setLogInfo (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	setLogWarn (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

virtual	~OdometryROS ()

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 ()

Public Member Functions inherited from UThread
Handle	getThreadHandle () const

unsigned long	getThreadId () const

bool	isCreating () const

bool	isIdle () const

bool	isKilled () const

bool	isRunning () const

void	join (bool killFirst=false)

void	kill ()

void	setAffinity (int cpu=0)

void	setPriority (Priority priority)

void	start ()

	UThread (Priority priority=kPNormal)

virtual	~UThread ()

Public Member Functions inherited from UThreadC< void >
int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

virtual	~UThreadC ()

virtual	~UThreadC ()

Protected Member Functions
virtual void	flushCallbacks ()

void	postProcessData (const SensorData &data, const std_msgs::Header &header) const

Protected Member Functions inherited from rtabmap_odom::OdometryROS
void	initDiagnosticMsg (const std::string &subscribedTopicsMsg, bool approxSync, const std::string &subscribedTopic="")

double	previousStamp () const

tf::TransformListener &	tfListener ()

rtabmap::Transform	velocityGuess () const

double	waitForTransformDuration () const

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

Protected Member Functions inherited from UThreadC< void >
	UThreadC ()

	UThreadC ()

Private Member Functions
void	callbackCloud (const sensor_msgs::PointCloud2ConstPtr &pointCloudMsg)

void	callbackScan (const sensor_msgs::LaserScanConstPtr &scanMsg)

virtual void	onOdomInit ()

virtual void	updateParameters (ParametersMap &parameters)

Private Attributes
ros::Subscriber	cloud_sub_

bool	cloudReceived_ = false

bool	deskewing_

bool	deskewingSlerp_

ros::Publisher	filtered_scan_pub_

pluginlib::ClassLoader< rtabmap_odom::PluginInterface >	plugin_loader_

std::vector< boost::shared_ptr< rtabmap_odom::PluginInterface > >	plugins_

ros::Subscriber	scan_sub_

bool	scanCloudIs2d_

int	scanCloudMaxPoints_

int	scanDownsamplingStep_

double	scanNormalGroundUp_

int	scanNormalK_

double	scanNormalRadius_

double	scanRangeMax_

double	scanRangeMin_

bool	scanReceived_ = false

double	scanVoxelSize_

Additional Inherited Members
Public Types inherited from UThread
enum	Priority

Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE	Handle

typedef THREAD_HANDLE	Handle

typedef void(*	Handler) ()

typedef void(*	Handler) ()

Static Public Member Functions inherited from UThread
static unsigned long	currentThreadId ()

Static Public Member Functions inherited from UThreadC< void >
static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)

static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)

static int	Detach (const Handle &H)

static int	Detach (Handle H)

static int	Join (const Handle &H)

static int	Join (Handle H)

static int	Kill (const Handle &H)

static int	Kill (Handle H)

Public Attributes inherited from UThread
	kPAboveNormal

	kPBelowNormal

	kPLow

	kPNormal

	kPRealTime

Static Protected Member Functions inherited from UThreadC< void >
static void	Exit ()

static void	Exit ()

static int	Self ()

static Handle	Self ()

static void	TestCancel ()

static void	TestCancel ()

Detailed Description

Definition at line 59 of file icp_odometry.cpp.

Constructor & Destructor Documentation

◆ ICPOdometry()

rtabmap_odom::ICPOdometry::ICPOdometry ( )

inline

Definition at line 62 of file icp_odometry.cpp.

◆ ~ICPOdometry()

virtual rtabmap_odom::ICPOdometry::~ICPOdometry ( )

inlinevirtual

Definition at line 81 of file icp_odometry.cpp.

Member Function Documentation

◆ callbackCloud()

void rtabmap_odom::ICPOdometry::callbackCloud ( const sensor_msgs::PointCloud2ConstPtr & pointCloudMsg )

inlineprivate

Definition at line 566 of file icp_odometry.cpp.

◆ callbackScan()

void rtabmap_odom::ICPOdometry::callbackScan ( const sensor_msgs::LaserScanConstPtr & scanMsg )

inlineprivate

Definition at line 326 of file icp_odometry.cpp.

◆ flushCallbacks()

virtual void rtabmap_odom::ICPOdometry::flushCallbacks ( )

inlineprotectedvirtual

Implements rtabmap_odom::OdometryROS.

Definition at line 885 of file icp_odometry.cpp.

◆ onOdomInit()

virtual void rtabmap_odom::ICPOdometry::onOdomInit ( )

inlineprivatevirtual

Implements rtabmap_odom::OdometryROS.

Definition at line 88 of file icp_odometry.cpp.

◆ postProcessData()

void rtabmap_odom::ICPOdometry::postProcessData	(	const SensorData &	data,
		const std_msgs::Header &	header
	)		const

inlineprotectedvirtual

Reimplemented from rtabmap_odom::OdometryROS.

Definition at line 890 of file icp_odometry.cpp.

◆ updateParameters()

virtual void rtabmap_odom::ICPOdometry::updateParameters ( ParametersMap & parameters )

inlineprivatevirtual

Reimplemented from rtabmap_odom::OdometryROS.

Definition at line 167 of file icp_odometry.cpp.

Member Data Documentation

◆ cloud_sub_

ros::Subscriber rtabmap_odom::ICPOdometry::cloud_sub_

private

Definition at line 903 of file icp_odometry.cpp.

◆ cloudReceived_

bool rtabmap_odom::ICPOdometry::cloudReceived_ = false

private

Definition at line 919 of file icp_odometry.cpp.

◆ deskewing_

bool rtabmap_odom::ICPOdometry::deskewing_

private

Definition at line 914 of file icp_odometry.cpp.

◆ deskewingSlerp_

bool rtabmap_odom::ICPOdometry::deskewingSlerp_

private

Definition at line 915 of file icp_odometry.cpp.

◆ filtered_scan_pub_

ros::Publisher rtabmap_odom::ICPOdometry::filtered_scan_pub_

private

Definition at line 904 of file icp_odometry.cpp.

◆ plugin_loader_

pluginlib::ClassLoader<rtabmap_odom::PluginInterface> rtabmap_odom::ICPOdometry::plugin_loader_

private

Definition at line 917 of file icp_odometry.cpp.

◆ plugins_

std::vector<boost::shared_ptr<rtabmap_odom::PluginInterface> > rtabmap_odom::ICPOdometry::plugins_

private

Definition at line 916 of file icp_odometry.cpp.

◆ scan_sub_

ros::Subscriber rtabmap_odom::ICPOdometry::scan_sub_

private

Definition at line 902 of file icp_odometry.cpp.

◆ scanCloudIs2d_

bool rtabmap_odom::ICPOdometry::scanCloudIs2d_

private

Definition at line 906 of file icp_odometry.cpp.

◆ scanCloudMaxPoints_

int rtabmap_odom::ICPOdometry::scanCloudMaxPoints_

private

Definition at line 905 of file icp_odometry.cpp.

◆ scanDownsamplingStep_

int rtabmap_odom::ICPOdometry::scanDownsamplingStep_

private

Definition at line 907 of file icp_odometry.cpp.

◆ scanNormalGroundUp_

double rtabmap_odom::ICPOdometry::scanNormalGroundUp_

private

Definition at line 913 of file icp_odometry.cpp.

◆ scanNormalK_

int rtabmap_odom::ICPOdometry::scanNormalK_

private

Definition at line 911 of file icp_odometry.cpp.

◆ scanNormalRadius_

double rtabmap_odom::ICPOdometry::scanNormalRadius_

private

Definition at line 912 of file icp_odometry.cpp.

◆ scanRangeMax_

double rtabmap_odom::ICPOdometry::scanRangeMax_

private

Definition at line 909 of file icp_odometry.cpp.

◆ scanRangeMin_

double rtabmap_odom::ICPOdometry::scanRangeMin_

private

Definition at line 908 of file icp_odometry.cpp.

◆ scanReceived_

bool rtabmap_odom::ICPOdometry::scanReceived_ = false

private

Definition at line 918 of file icp_odometry.cpp.

◆ scanVoxelSize_

double rtabmap_odom::ICPOdometry::scanVoxelSize_

private

Definition at line 910 of file icp_odometry.cpp.

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

icp_odometry.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ICPOdometry()

◆ ~ICPOdometry()

Member Function Documentation

◆ callbackCloud()

◆ callbackScan()

◆ flushCallbacks()

◆ onOdomInit()

◆ postProcessData()

◆ updateParameters()

Member Data Documentation

◆ cloud_sub_

◆ cloudReceived_

◆ deskewing_

◆ deskewingSlerp_

◆ filtered_scan_pub_

◆ plugin_loader_

◆ plugins_

◆ scan_sub_

◆ scanCloudIs2d_

◆ scanCloudMaxPoints_

◆ scanDownsamplingStep_

◆ scanNormalGroundUp_

◆ scanNormalK_

◆ scanNormalRadius_

◆ scanRangeMax_

◆ scanRangeMin_

◆ scanReceived_

◆ scanVoxelSize_