Public Member Functions
	Mapper (ros::NodeHandle &n, ros::NodeHandle &pn)
	Mapper (ros::NodeHandle &n, ros::NodeHandle &pn)
	~Mapper ()
	~Mapper ()
Protected Member Functions
bool	correctPose (ethzasl_icp_mapper::CorrectPose::Request &req, ethzasl_icp_mapper::CorrectPose::Response &res)
bool	correctPose (ethzasl_icp_mapper::CorrectPose::Request &req, ethzasl_icp_mapper::CorrectPose::Response &res)
bool	getBoundedMap (ethzasl_icp_mapper::GetBoundedMap::Request &req, ethzasl_icp_mapper::GetBoundedMap::Response &res)
bool	getBoundedMap (ethzasl_icp_mapper::GetBoundedMap::Request &req, ethzasl_icp_mapper::GetBoundedMap::Response &res)
bool	getMode (ethzasl_icp_mapper::GetMode::Request &req, ethzasl_icp_mapper::GetMode::Response &res)
bool	getMode (ethzasl_icp_mapper::GetMode::Request &req, ethzasl_icp_mapper::GetMode::Response &res)
bool	getPointMap (map_msgs::GetPointMap::Request &req, map_msgs::GetPointMap::Response &res)
bool	getPointMap (map_msgs::GetPointMap::Request &req, map_msgs::GetPointMap::Response &res)
void	gotCloud (const sensor_msgs::PointCloud2 &cloudMsgIn)
void	gotCloud (const sensor_msgs::PointCloud2 &cloudMsgIn)
void	gotScan (const sensor_msgs::LaserScan &scanMsgIn)
void	gotScan (const sensor_msgs::LaserScan &scanMsgIn)
bool	loadMap (ethzasl_icp_mapper::LoadMap::Request &req, ethzasl_icp_mapper::LoadMap::Response &res)
bool	loadMap (ethzasl_icp_mapper::LoadMap::Request &req, ethzasl_icp_mapper::LoadMap::Response &res)
void	processCloud (unique_ptr< DP > cloud, const std::string &scannerFrame, const ros::Time &stamp, uint32_t seq)
void	processCloud (unique_ptr< DP > cloud, const std::string &scannerFrame, const ros::Time &stamp, uint32_t seq)
void	processNewMapIfAvailable ()
void	processNewMapIfAvailable ()
void	publishLoop (double publishPeriod)
void	publishLoop (double publishPeriod)
void	publishTransform ()
void	publishTransform ()
bool	reset (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	reset (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	saveMap (map_msgs::SaveMap::Request &req, map_msgs::SaveMap::Response &res)
bool	saveMap (map_msgs::SaveMap::Request &req, map_msgs::SaveMap::Response &res)
void	setMap (DP *newPointCloud)
void	setMap (DP *newPointCloud)
bool	setMode (ethzasl_icp_mapper::SetMode::Request &req, ethzasl_icp_mapper::SetMode::Response &res)
bool	setMode (ethzasl_icp_mapper::SetMode::Request &req, ethzasl_icp_mapper::SetMode::Response &res)
DP *	updateMap (DP *newPointCloud, const PM::TransformationParameters Ticp, bool updateExisting)
DP *	updateMap (DP *newPointCloud, const PM::TransformationParameters Ticp, bool updateExisting)
void	waitForMapBuildingCompleted ()
void	waitForMapBuildingCompleted ()
Private Types
typedef PM::DataPoints	DP
typedef PM::DataPoints	DP
typedef PM::Matches	Matches
typedef Nabo::NearestNeighbourSearch < float >	NNS
typedef NNS::SearchType	NNSearchType
typedef PointMatcher< float >	PM
typedef PointMatcher< float >	PM
Private Attributes
ros::Subscriber	cloudSub
ros::ServiceServer	correctPoseSrv
const float	eps
ros::ServiceServer	getBoundedMapSrv
ros::ServiceServer	getModeSrv
ros::ServiceServer	getPointMapSrv
PM::ICPSequence	icp
PM::DataPointsFilters	inputFilters
int	inputQueueSize
ros::Time	lastPoinCloudTime
ros::ServiceServer	loadMapSrv
bool	localizing
ros::Time	mapCreationTime
string	mapFrame
bool	mapping
PM::DataPoints *	mapPointCloud
PM::DataPointsFilters	mapPostFilters
PM::DataPointsFilters	mapPreFilters
ros::Publisher	mapPub
double	maxOverlapToMerge
int	minMapPointCount
double	minOverlap
int	minReadingPointCount
ros::NodeHandle &	n
ros::Publisher	odomErrorPub
string	odomFrame
ros::Publisher	odomPub
ros::Publisher	outlierPub
ros::NodeHandle &	pn
bool	processingNewCloud
boost::mutex	publishLock
ros::Time	publishStamp
boost::thread	publishThread
ros::ServiceServer	resetSrv
ros::ServiceServer	saveMapSrv
ros::Subscriber	scanSub
ros::ServiceServer	setModeSrv
tf::TransformBroadcaster	tfBroadcaster
tf::TransformListener	tfListener
double	tfRefreshPeriod
	if set to zero, tf will be publish at the rate of the incoming point cloud messages
PM::TransformationParameters	TOdomToMap
unique_ptr< PM::Transformation >	transformation
bool	useConstMotionModel
string	vtkFinalMapName
	name of the final vtk map