IRI ROS Specific Algorithm Class. More...

#include <laser_icp_alg_node.h>

Inheritance diagram for LaserIcpAlgNode:

Public Member Functions
	LaserIcpAlgNode (void)
	Constructor.
	~LaserIcpAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
bool	get_relative_poseCallback (iri_laser_icp::GetRelativePose::Request &req, iri_laser_icp::GetRelativePose::Response &res)
void	initParams ()
void	laserScanToLDP (const sensor_msgs::LaserScan &scan_msg, LDP &ldp)
void	processScans ()
void	ROS_INFO_XYT (const std::string &str, const float &x, const float &y, const float &th)
Private Attributes
double	alpha_
double	beta_
CMutex	get_relative_pose_mutex_
ros::ServiceServer	get_relative_pose_server_
sm_params	input_
double	max_laser_range_
double	min_laser_range_
sm_result	output_
LDP	ref_ldp_scan_
LDP	sens_ldp_scan_
bool	use_alpha_beta_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 47 of file laser_icp_alg_node.h.

Constructor & Destructor Documentation

LaserIcpAlgNode::LaserIcpAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 3 of file laser_icp_alg_node.cpp.

LaserIcpAlgNode::~LaserIcpAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 35 of file laser_icp_alg_node.cpp.

Member Function Documentation

void LaserIcpAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< LaserIcpAlgorithm >.

Definition at line 191 of file laser_icp_alg_node.cpp.

bool LaserIcpAlgNode::get_relative_poseCallback	(	iri_laser_icp::GetRelativePose::Request &	req,
		iri_laser_icp::GetRelativePose::Response &	res
	)		`[private]`

1 if the result is valid

Scan matching result (x,y,theta)

Number of iterations done

Total correspondence error

Fields used for covariance computation

Definition at line 54 of file laser_icp_alg_node.cpp.

void LaserIcpAlgNode::initParams ( ) [private]

Definition at line 202 of file laser_icp_alg_node.cpp.

void LaserIcpAlgNode::laserScanToLDP	(	const sensor_msgs::LaserScan &	scan_msg,
		LDP &	ldp
	)		`[private]`

Definition at line 401 of file laser_icp_alg_node.cpp.

void LaserIcpAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< LaserIcpAlgorithm >.

Definition at line 40 of file laser_icp_alg_node.cpp.

void LaserIcpAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< LaserIcpAlgorithm >.

Definition at line 184 of file laser_icp_alg_node.cpp.

void LaserIcpAlgNode::processScans ( ) [private]

Definition at line 340 of file laser_icp_alg_node.cpp.