Public Member Functions | Private Types | Private Member Functions | Private Attributes
scan_tools::LaserScanMatcher Class Reference

#include <laser_scan_matcher.h>

List of all members.

Public Member Functions

 LaserScanMatcher (ros::NodeHandle nh, ros::NodeHandle nh_private)
 ~LaserScanMatcher ()

Private Types

typedef pcl::PointCloud< PointT > PointCloudT
typedef pcl::PointXYZ PointT

Private Member Functions

void cloudCallback (const PointCloudT::ConstPtr &cloud)
void createCache (const sensor_msgs::LaserScan::ConstPtr &scan_msg)
void createTfFromXYTheta (double x, double y, double theta, tf::Transform &t)
bool getBaseToLaserTf (const std::string &frame_id)
void getPrediction (double &pr_ch_x, double &pr_ch_y, double &pr_ch_a, double dt)
void imuCallback (const sensor_msgs::Imu::ConstPtr &imu_msg)
void initParams ()
void laserScanToLDP (const sensor_msgs::LaserScan::ConstPtr &scan_msg, LDP &ldp)
bool newKeyframeNeeded (const tf::Transform &d)
void odomCallback (const nav_msgs::Odometry::ConstPtr &odom_msg)
void PointCloudToLDP (const PointCloudT::ConstPtr &cloud, LDP &ldp)
void processScan (LDP &curr_ldp_scan, const ros::Time &time)
void scanCallback (const sensor_msgs::LaserScan::ConstPtr &scan_msg)
void velCallback (const geometry_msgs::TwistStamped::ConstPtr &twist_msg)

Private Attributes

std::vector< double > a_cos_
std::vector< double > a_sin_
std::string base_frame_
tf::Transform base_to_laser_
double cloud_range_max_
double cloud_range_min_
double cloud_res_
ros::Subscriber cloud_subscriber_
tf::Transform f2b_
tf::Transform f2b_kf_
std::string fixed_frame_
ros::Subscriber imu_subscriber_
bool initialized_
sm_params input_
double kf_dist_angular_
double kf_dist_linear_
double kf_dist_linear_sq_
tf::Transform laser_to_base_
ros::Time last_icp_time_
sensor_msgs::Imu last_used_imu_msg_
nav_msgs::Odometry last_used_odom_msg_
sensor_msgs::Imu latest_imu_msg_
nav_msgs::Odometry latest_odom_msg_
geometry_msgs::TwistStamped latest_vel_msg_
boost::mutex mutex_
ros::NodeHandle nh_
ros::NodeHandle nh_private_
ros::Subscriber odom_subscriber_
sm_result output_
ros::Publisher pose_publisher_
ros::Publisher pose_stamped_publisher_
LDP prev_ldp_scan_
bool publish_pose_
bool publish_pose_stamped_
bool publish_tf_
bool received_imu_
bool received_odom_
bool received_vel_
ros::Subscriber scan_subscriber_
tf::TransformBroadcaster tf_broadcaster_
tf::TransformListener tf_listener_
bool use_cloud_input_
bool use_imu_
bool use_odom_
bool use_vel_
ros::Subscriber vel_subscriber_

Detailed Description

Definition at line 63 of file laser_scan_matcher.h.

Member Typedef Documentation

typedef pcl::PointCloud<PointT> scan_tools::LaserScanMatcher::PointCloudT [private]

Definition at line 73 of file laser_scan_matcher.h.

typedef pcl::PointXYZ scan_tools::LaserScanMatcher::PointT [private]

Definition at line 72 of file laser_scan_matcher.h.

Constructor & Destructor Documentation

scan_tools::LaserScanMatcher::LaserScanMatcher ( ros::NodeHandle  nh,
ros::NodeHandle  nh_private 
)

Definition at line 43 of file laser_scan_matcher.cpp.

scan_tools::LaserScanMatcher::~LaserScanMatcher ( )

Definition at line 109 of file laser_scan_matcher.cpp.

Member Function Documentation

void scan_tools::LaserScanMatcher::cloudCallback ( const PointCloudT::ConstPtr &  cloud) [private]

Definition at line 324 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::createCache ( const sensor_msgs::LaserScan::ConstPtr &  scan_msg) [private]

Definition at line 620 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::createTfFromXYTheta ( double  x,
double  y,
double  theta,
tf::Transform &  t 
) [private]

Definition at line 713 of file laser_scan_matcher.cpp.

bool scan_tools::LaserScanMatcher::getBaseToLaserTf ( const std::string &  frame_id) [private]

Definition at line 636 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::getPrediction ( double &  pr_ch_x,
double &  pr_ch_y,
double &  pr_ch_a,
double  dt 
) [private]

Definition at line 661 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::imuCallback ( const sensor_msgs::Imu::ConstPtr &  imu_msg) [private]

Definition at line 294 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::initParams ( ) [private]

Definition at line 114 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::laserScanToLDP ( const sensor_msgs::LaserScan::ConstPtr &  scan_msg,
LDP &  ldp 
) [private]

Definition at line 578 of file laser_scan_matcher.cpp.

bool scan_tools::LaserScanMatcher::newKeyframeNeeded ( const tf::Transform &  d) [private]

Definition at line 498 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::odomCallback ( const nav_msgs::Odometry::ConstPtr &  odom_msg) [private]

Definition at line 305 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::PointCloudToLDP ( const PointCloudT::ConstPtr &  cloud,
LDP &  ldp 
) [private]

Definition at line 509 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::processScan ( LDP &  curr_ldp_scan,
const ros::Time &  time 
) [private]

Definition at line 372 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::scanCallback ( const sensor_msgs::LaserScan::ConstPtr &  scan_msg) [private]

Definition at line 347 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::velCallback ( const geometry_msgs::TwistStamped::ConstPtr &  twist_msg) [private]

Definition at line 316 of file laser_scan_matcher.cpp.

Member Data Documentation

std::vector<double> scan_tools::LaserScanMatcher::a_cos_ [private]

Definition at line 143 of file laser_scan_matcher.h.

std::vector<double> scan_tools::LaserScanMatcher::a_sin_ [private]

Definition at line 144 of file laser_scan_matcher.h.

std::string scan_tools::LaserScanMatcher::base_frame_ [private]

Definition at line 97 of file laser_scan_matcher.h.

tf::Transform scan_tools::LaserScanMatcher::base_to_laser_ [private]

Definition at line 89 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::cloud_range_max_ [private]

Definition at line 100 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::cloud_range_min_ [private]

Definition at line 99 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::cloud_res_ [private]

Definition at line 101 of file laser_scan_matcher.h.

ros::Subscriber scan_tools::LaserScanMatcher::cloud_subscriber_ [private]

Definition at line 81 of file laser_scan_matcher.h.

tf::Transform scan_tools::LaserScanMatcher::f2b_ [private]

Definition at line 131 of file laser_scan_matcher.h.

tf::Transform scan_tools::LaserScanMatcher::f2b_kf_ [private]

Definition at line 132 of file laser_scan_matcher.h.

std::string scan_tools::LaserScanMatcher::fixed_frame_ [private]

Definition at line 98 of file laser_scan_matcher.h.

ros::Subscriber scan_tools::LaserScanMatcher::imu_subscriber_ [private]

Definition at line 83 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::initialized_ [private]

Definition at line 126 of file laser_scan_matcher.h.

sm_params scan_tools::LaserScanMatcher::input_ [private]

Definition at line 146 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::kf_dist_angular_ [private]

Definition at line 110 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::kf_dist_linear_ [private]

Definition at line 108 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::kf_dist_linear_sq_ [private]

Definition at line 109 of file laser_scan_matcher.h.

tf::Transform scan_tools::LaserScanMatcher::laser_to_base_ [private]

Definition at line 90 of file laser_scan_matcher.h.

ros::Time scan_tools::LaserScanMatcher::last_icp_time_ [private]

Definition at line 134 of file laser_scan_matcher.h.

sensor_msgs::Imu scan_tools::LaserScanMatcher::last_used_imu_msg_ [private]

Definition at line 137 of file laser_scan_matcher.h.

nav_msgs::Odometry scan_tools::LaserScanMatcher::last_used_odom_msg_ [private]

Definition at line 139 of file laser_scan_matcher.h.

sensor_msgs::Imu scan_tools::LaserScanMatcher::latest_imu_msg_ [private]

Definition at line 136 of file laser_scan_matcher.h.

nav_msgs::Odometry scan_tools::LaserScanMatcher::latest_odom_msg_ [private]

Definition at line 138 of file laser_scan_matcher.h.

geometry_msgs::TwistStamped scan_tools::LaserScanMatcher::latest_vel_msg_ [private]

Definition at line 141 of file laser_scan_matcher.h.

boost::mutex scan_tools::LaserScanMatcher::mutex_ [private]

Definition at line 124 of file laser_scan_matcher.h.

ros::NodeHandle scan_tools::LaserScanMatcher::nh_ [private]

Definition at line 77 of file laser_scan_matcher.h.

ros::NodeHandle scan_tools::LaserScanMatcher::nh_private_ [private]

Definition at line 78 of file laser_scan_matcher.h.

ros::Subscriber scan_tools::LaserScanMatcher::odom_subscriber_ [private]

Definition at line 82 of file laser_scan_matcher.h.

sm_result scan_tools::LaserScanMatcher::output_ [private]

Definition at line 147 of file laser_scan_matcher.h.

ros::Publisher scan_tools::LaserScanMatcher::pose_publisher_ [private]

Definition at line 92 of file laser_scan_matcher.h.

ros::Publisher scan_tools::LaserScanMatcher::pose_stamped_publisher_ [private]

Definition at line 93 of file laser_scan_matcher.h.

LDP scan_tools::LaserScanMatcher::prev_ldp_scan_ [private]

Definition at line 148 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::publish_pose_ [private]

Definition at line 103 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::publish_pose_stamped_ [private]

Definition at line 104 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::publish_tf_ [private]

Definition at line 102 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::received_imu_ [private]

Definition at line 127 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::received_odom_ [private]

Definition at line 128 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::received_vel_ [private]

Definition at line 129 of file laser_scan_matcher.h.

ros::Subscriber scan_tools::LaserScanMatcher::scan_subscriber_ [private]

Definition at line 80 of file laser_scan_matcher.h.

tf::TransformBroadcaster scan_tools::LaserScanMatcher::tf_broadcaster_ [private]

Definition at line 87 of file laser_scan_matcher.h.

tf::TransformListener scan_tools::LaserScanMatcher::tf_listener_ [private]

Definition at line 86 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::use_cloud_input_ [private]

Definition at line 106 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::use_imu_ [private]

Definition at line 118 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::use_odom_ [private]

Definition at line 119 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::use_vel_ [private]

Definition at line 120 of file laser_scan_matcher.h.

ros::Subscriber scan_tools::LaserScanMatcher::vel_subscriber_ [private]

Definition at line 84 of file laser_scan_matcher.h.

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

laser_scan_matcher
Author(s): Ivan Dryanovski, William Morris
autogenerated on Fri Jan 3 2014 11:55:11