mav::LaserHeightEstimation Class Reference

#include <laser_height_estimation.h>

List of all members.

Public Member Functions
	LaserHeightEstimation (ros::NodeHandle nh, ros::NodeHandle nh_private)
virtual	~LaserHeightEstimation ()
Private Member Functions
void	getStats (const std::vector< double > values, double &ave, double &stdev)
void	histogramSegmentation (const std::vector< double > &input, std::vector< double > &output)
void	imuCallback (const sensor_msgs::ImuPtr &imu_msg)
void	kMeansSegmentation (const std::vector< double > &input, std::vector< double > &output)
bool	kMeansSegmentation (const std::vector< double > &input, std::vector< bool > &mask, double &mean_a, double &mean_b, int &count_a, int &count_b)
void	scanCallback (const sensor_msgs::LaserScanPtr &scan_msg)
bool	setBaseToLaserTf (const sensor_msgs::LaserScanPtr &scan_msg)
Private Attributes
std::string	base_frame_
tf::Transform	base_to_footprint_
tf::Transform	base_to_laser_
double	bin_size_
bool	first_time_
double	floor_height_
ros::Publisher	floor_publisher_
std::string	footprint_frame_
ros::Publisher	height_to_base_publisher_
ros::Publisher	height_to_footprint_publisher_
ros::Subscriber	imu_subscriber_
bool	initialized_
ros::Time	last_update_time_
sensor_msgs::Imu	latest_imu_msg_
double	max_height_jump_
double	max_stdev_
int	min_values_
boost::mutex	mutex_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
double	prev_height_
ros::Subscriber	scan_subscriber_
tf::TransformListener	tf_listener_
bool	use_imu_
bool	use_segmentation_
std::string	world_frame_
tf::Transform	world_to_base_

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Detailed Description

Definition at line 53 of file laser_height_estimation.h.

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Constructor & Destructor Documentation

mav::LaserHeightEstimation::LaserHeightEstimation	(	ros::NodeHandle	nh,
		ros::NodeHandle	nh_private
	)

Definition at line 42 of file laser_height_estimation.cpp.

mav::LaserHeightEstimation::~LaserHeightEstimation

(

)

[virtual]

Definition at line 98 of file laser_height_estimation.cpp.

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Member Function Documentation

void mav::LaserHeightEstimation::getStats	(	const std::vector< double >	values,
		double &	ave,
		double &	stdev
	)		[private]

Definition at line 307 of file laser_height_estimation.cpp.

void mav::LaserHeightEstimation::histogramSegmentation	(	const std::vector< double > &	input,
		std::vector< double > &	output
	)		[private]

Definition at line 323 of file laser_height_estimation.cpp.

void mav::LaserHeightEstimation::imuCallback

(

const sensor_msgs::ImuPtr &

imu_msg

)

[private]

Definition at line 103 of file laser_height_estimation.cpp.

void mav::LaserHeightEstimation::kMeansSegmentation	(	const std::vector< double > &	input,
		std::vector< double > &	output
	)		[private]

Definition at line 376 of file laser_height_estimation.cpp.

bool mav::LaserHeightEstimation::kMeansSegmentation	(	const std::vector< double > &	input,
		std::vector< bool > &	mask,
		double &	mean_a,
		double &	mean_b,
		int &	count_a,
		int &	count_b
	)		[private]

Definition at line 418 of file laser_height_estimation.cpp.

void mav::LaserHeightEstimation::scanCallback

(

const sensor_msgs::LaserScanPtr &

scan_msg

)

[private]

Definition at line 114 of file laser_height_estimation.cpp.

bool mav::LaserHeightEstimation::setBaseToLaserTf

(

const sensor_msgs::LaserScanPtr &

scan_msg

)

[private]

Definition at line 260 of file laser_height_estimation.cpp.

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Member Data Documentation

std::string mav::LaserHeightEstimation::base_frame_ [private]

Definition at line 93 of file laser_height_estimation.h.

tf::Transform mav::LaserHeightEstimation::base_to_footprint_ [private]

Definition at line 83 of file laser_height_estimation.h.

tf::Transform mav::LaserHeightEstimation::base_to_laser_ [private]

Definition at line 82 of file laser_height_estimation.h.

double mav::LaserHeightEstimation::bin_size_ [private]

Definition at line 100 of file laser_height_estimation.h.

bool mav::LaserHeightEstimation::first_time_ [private]

Definition at line 78 of file laser_height_estimation.h.

double mav::LaserHeightEstimation::floor_height_ [private]

Definition at line 79 of file laser_height_estimation.h.

ros::Publisher mav::LaserHeightEstimation::floor_publisher_ [private]

Definition at line 68 of file laser_height_estimation.h.

std::string mav::LaserHeightEstimation::footprint_frame_ [private]

Definition at line 94 of file laser_height_estimation.h.

ros::Publisher mav::LaserHeightEstimation::height_to_base_publisher_ [private]

Definition at line 69 of file laser_height_estimation.h.

ros::Publisher mav::LaserHeightEstimation::height_to_footprint_publisher_ [private]

Definition at line 70 of file laser_height_estimation.h.

ros::Subscriber mav::LaserHeightEstimation::imu_subscriber_ [private]

Definition at line 66 of file laser_height_estimation.h.

bool mav::LaserHeightEstimation::initialized_ [private]

Definition at line 77 of file laser_height_estimation.h.

ros::Time mav::LaserHeightEstimation::last_update_time_ [private]

Definition at line 88 of file laser_height_estimation.h.

sensor_msgs::Imu mav::LaserHeightEstimation::latest_imu_msg_ [private]

Definition at line 86 of file laser_height_estimation.h.

double mav::LaserHeightEstimation::max_height_jump_ [private]

Definition at line 97 of file laser_height_estimation.h.

double mav::LaserHeightEstimation::max_stdev_ [private]

Definition at line 96 of file laser_height_estimation.h.

int mav::LaserHeightEstimation::min_values_ [private]

Definition at line 95 of file laser_height_estimation.h.

boost::mutex mav::LaserHeightEstimation::mutex_ [private]

Definition at line 75 of file laser_height_estimation.h.

ros::NodeHandle mav::LaserHeightEstimation::nh_ [private]

Definition at line 64 of file laser_height_estimation.h.

ros::NodeHandle mav::LaserHeightEstimation::nh_private_ [private]

Definition at line 65 of file laser_height_estimation.h.

double mav::LaserHeightEstimation::prev_height_ [private]

Definition at line 80 of file laser_height_estimation.h.

ros::Subscriber mav::LaserHeightEstimation::scan_subscriber_ [private]

Definition at line 67 of file laser_height_estimation.h.

tf::TransformListener mav::LaserHeightEstimation::tf_listener_ [private]

Definition at line 71 of file laser_height_estimation.h.

bool mav::LaserHeightEstimation::use_imu_ [private]

Definition at line 98 of file laser_height_estimation.h.

bool mav::LaserHeightEstimation::use_segmentation_ [private]

Definition at line 99 of file laser_height_estimation.h.

std::string mav::LaserHeightEstimation::world_frame_ [private]

Definition at line 92 of file laser_height_estimation.h.

tf::Transform mav::LaserHeightEstimation::world_to_base_ [private]

Definition at line 84 of file laser_height_estimation.h.

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

• laser_height_estimation.h
• laser_height_estimation.cpp