laser_scan_matcher_nodelet.cpp
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00001 /*
00002  * Copyright (c) 2011, Ivan Dryanovski, William Morris
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the CCNY Robotics Lab nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /*  This package uses Canonical Scan Matcher [1], written by 
00031  *  Andrea Censi
00032  *
00033  *  [1] A. Censi, "An ICP variant using a point-to-line metric" 
00034  *  Proceedings of the IEEE International Conference 
00035  *  on Robotics and Automation (ICRA), 2008
00036  */
00037 
00038 #include "laser_scan_matcher/laser_scan_matcher_nodelet.h"
00039 
00040 typedef scan_tools::LaserScanMatcherNodelet LaserScanMatcherNodelet;
00041 
00042 PLUGINLIB_DECLARE_CLASS(laser_scan_matcher, LaserScanMatcherNodelet, 
00043   LaserScanMatcherNodelet, nodelet::Nodelet);
00044 
00045 void LaserScanMatcherNodelet::onInit()
00046 {
00047   NODELET_INFO("Initializing LaserScanMatcher Nodelet");
00048   
00049   // TODO: Do we want the single threaded or multithreaded NH?
00050   ros::NodeHandle nh         = getMTNodeHandle();
00051   ros::NodeHandle nh_private = getMTPrivateNodeHandle();
00052 
00053   scan_matcher_ = boost::shared_ptr<LaserScanMatcher>(
00054     new LaserScanMatcher(nh, nh_private));
00055 }
00056 


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