Public Member Functions | Protected Member Functions | Private Types | Private Attributes
DynamicTrails Class Reference

List of all members.

Public Member Functions

 DynamicTrails (ros::NodeHandle &n, ros::NodeHandle &pn)
 ~DynamicTrails ()

Protected Member Functions

float angleWeight (const Eigen::Vector3f &normal, const Eigen::Vector3f &velocity)
void averageWithReference (shared_ptr< DP > reference, shared_ptr< DP > reading, const float dir)
void computeVelocity (shared_ptr< DP > reference, shared_ptr< NNS > ref_tree, shared_ptr< DP > reading, shared_ptr< NNS > read_tree, const float maxRadius, const int knn, ros::Publisher debugPub)
PM::DataPoints extractDynamicPoints (const PM::DataPoints input, const float minDynamicRatio)
void gotCloud (const sensor_msgs::PointCloud2ConstPtr &cloudMsgIn)
void gotMap (const sensor_msgs::PointCloud2 &cloudMsgIn)
void processCloud (DP cloud, const TP TScannerToMap)

Private Types

typedef PM::Matches Matches
typedef
Nabo::NearestNeighbourSearch
< float > 
NNS
typedef NNS::SearchType NNSearchType
typedef
PM::TransformationParameters 
TP

Private Attributes

ros::Subscriber cloudSub
ros::Publisher dynProjectedPub
ros::Publisher dynPub
const float eps
PM::DataPoints globalMap
std::shared_ptr< NNSglobalNNS
PM::DataPointsFilters inputFilters
ros::Time lastInputTime
std::shared_ptr< NNSlastNNS
shared_ptr< DPlastPointCloud
ros::Publisher lastProjectedPub
ros::Publisher lastPub
ros::Subscriber mapSub
ros::Publisher markerPub
ros::NodeHandlen
const float p_inputRate
const string p_mapFrame
const float p_maxVelocity
const float p_minDynamicRatio
const float p_normalSpaceFactor
const string p_trailFilepName
const int p_windowSize
ros::NodeHandlepn
std::deque< shared_ptr< DP > > priors
boost::mutex publishLock
ros::Subscriber scanSub
tf::TransformListener tfListener
int trailCount
shared_ptr< DPtrailPointCloud
unique_ptr< PM::Transformationtransformation
boost::mutex usingGlobalMap

Detailed Description

Definition at line 40 of file dynamic_trails.cpp.


Member Typedef Documentation

Definition at line 43 of file dynamic_trails.cpp.

Definition at line 45 of file dynamic_trails.cpp.

Definition at line 46 of file dynamic_trails.cpp.

Definition at line 42 of file dynamic_trails.cpp.


Constructor & Destructor Documentation

Definition at line 114 of file dynamic_trails.cpp.

Definition at line 173 of file dynamic_trails.cpp.


Member Function Documentation

float DynamicTrails::angleWeight ( const Eigen::Vector3f &  normal,
const Eigen::Vector3f &  velocity 
) [protected]

Definition at line 819 of file dynamic_trails.cpp.

void DynamicTrails::averageWithReference ( shared_ptr< DP reference,
shared_ptr< DP reading,
const float  dir 
) [protected]

Definition at line 837 of file dynamic_trails.cpp.

void DynamicTrails::computeVelocity ( shared_ptr< DP reference,
shared_ptr< NNS ref_tree,
shared_ptr< DP reading,
shared_ptr< NNS read_tree,
const float  maxRadius,
const int  knn,
ros::Publisher  debugPub 
) [protected]

Definition at line 558 of file dynamic_trails.cpp.

PM::DataPoints DynamicTrails::extractDynamicPoints ( const PM::DataPoints  input,
const float  minDynamicRatio 
) [protected]

Definition at line 497 of file dynamic_trails.cpp.

void DynamicTrails::gotCloud ( const sensor_msgs::PointCloud2ConstPtr &  cloudMsgIn) [protected]

Definition at line 199 of file dynamic_trails.cpp.

void DynamicTrails::gotMap ( const sensor_msgs::PointCloud2 &  cloudMsgIn) [protected]

Definition at line 185 of file dynamic_trails.cpp.

void DynamicTrails::processCloud ( DP  cloud,
const TP  TScannerToMap 
) [protected]

Definition at line 239 of file dynamic_trails.cpp.


Member Data Documentation

Definition at line 58 of file dynamic_trails.cpp.

Definition at line 63 of file dynamic_trails.cpp.

Definition at line 61 of file dynamic_trails.cpp.

const float DynamicTrails::eps [private]

Definition at line 84 of file dynamic_trails.cpp.

Definition at line 70 of file dynamic_trails.cpp.

std::shared_ptr<NNS> DynamicTrails::globalNNS [private]

Definition at line 72 of file dynamic_trails.cpp.

Definition at line 66 of file dynamic_trails.cpp.

Definition at line 85 of file dynamic_trails.cpp.

std::shared_ptr<NNS> DynamicTrails::lastNNS [private]

Definition at line 73 of file dynamic_trails.cpp.

shared_ptr<DP> DynamicTrails::lastPointCloud [private]

Definition at line 68 of file dynamic_trails.cpp.

Definition at line 62 of file dynamic_trails.cpp.

Definition at line 60 of file dynamic_trails.cpp.

Definition at line 59 of file dynamic_trails.cpp.

Definition at line 64 of file dynamic_trails.cpp.

Definition at line 48 of file dynamic_trails.cpp.

const float DynamicTrails::p_inputRate [private]

Definition at line 92 of file dynamic_trails.cpp.

const string DynamicTrails::p_mapFrame [private]

Definition at line 88 of file dynamic_trails.cpp.

const float DynamicTrails::p_maxVelocity [private]

Definition at line 91 of file dynamic_trails.cpp.

const float DynamicTrails::p_minDynamicRatio [private]

Definition at line 89 of file dynamic_trails.cpp.

const float DynamicTrails::p_normalSpaceFactor [private]

Definition at line 90 of file dynamic_trails.cpp.

const string DynamicTrails::p_trailFilepName [private]

Definition at line 94 of file dynamic_trails.cpp.

const int DynamicTrails::p_windowSize [private]

Definition at line 93 of file dynamic_trails.cpp.

Definition at line 49 of file dynamic_trails.cpp.

std::deque<shared_ptr<DP> > DynamicTrails::priors [private]

Definition at line 77 of file dynamic_trails.cpp.

boost::mutex DynamicTrails::publishLock [private]

Definition at line 82 of file dynamic_trails.cpp.

Definition at line 57 of file dynamic_trails.cpp.

Definition at line 80 of file dynamic_trails.cpp.

Definition at line 95 of file dynamic_trails.cpp.

shared_ptr<DP> DynamicTrails::trailPointCloud [private]

Definition at line 69 of file dynamic_trails.cpp.

Definition at line 67 of file dynamic_trails.cpp.

boost::mutex DynamicTrails::usingGlobalMap [private]

Definition at line 75 of file dynamic_trails.cpp.


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


ethzasl_icp_mapper
Author(s): François Pomerleau and Stéphane Magnenat
autogenerated on Thu Jan 2 2014 11:16:21