localizer Class Reference

handles localization for the robot base More...

#include <localizer.h>

List of all members.

Public Member Functions
void	baseOdometryCallback (const nav_msgs::Odometry &odometry)
float	convertAngle (float theta)
	localizer ()
void	positionFromCameraCallback (const youbot_overhead_vision::PositionFromCamera &newPos)
Public Attributes
ros::Publisher	baseLocalizationPublisher
ros::Subscriber	baseOdometrySubscriber
ros::ServiceClient	coordConversionClient
nav_msgs::Odometry	lastReceivedOdometry
ros::NodeHandle	n
bool	odometryInitialized
float	P [3]
youbot_overhead_localization::Pose2d	pose
ros::Subscriber	positionFromCameraSubscriber
float	Q [3]
float	R [3]

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Detailed Description

handles localization for the robot base

This class keeps track of the localization of the robot base, represented by a 2d pose consisting of x, y, and heading. This is updated periodically with the base localization, and with the position determined by the overhead cameras when that information is available.

Definition at line 36 of file localizer.h.

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Constructor & Destructor Documentation

localizer::localizer

(

)

Constructor to initialize localization

This file contains the definition of the localizer class, which localizes the robot base using a Kalman filter with odometry and the overhead camera information as inputs.

Author:

David Kent

Definition at line 11 of file localizer.cpp.

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Member Function Documentation

void localizer::baseOdometryCallback

(

const nav_msgs::Odometry &

odometry

)

Update localization based on base odometry

Parameters:

odometry

updated odometry information

Definition at line 42 of file localizer.cpp.

float localizer::convertAngle

(

float

theta

)

Converts an angle (in radians) so that it is within the range of -pi to pi

Parameters:

theta

the angle to be converted

Returns:

the converted angle

Definition at line 126 of file localizer.cpp.

void localizer::positionFromCameraCallback

(

const youbot_overhead_vision::PositionFromCamera &

newPos

)

Update robot pose based on the position determined by the overhead cameras

Parameters:

newPos

the new position calculated from the camera image

Definition at line 89 of file localizer.cpp.

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Member Data Documentation

ros::Publisher localizer::baseLocalizationPublisher

Definition at line 41 of file localizer.h.

ros::Subscriber localizer::baseOdometrySubscriber

Definition at line 43 of file localizer.h.

ros::ServiceClient localizer::coordConversionClient

Definition at line 42 of file localizer.h.

nav_msgs::Odometry localizer::lastReceivedOdometry

Definition at line 56 of file localizer.h.

ros::NodeHandle localizer::n

Definition at line 40 of file localizer.h.

bool localizer::odometryInitialized

Definition at line 55 of file localizer.h.

float localizer::P[3]

Definition at line 50 of file localizer.h.

youbot_overhead_localization::Pose2d localizer::pose

Definition at line 47 of file localizer.h.

ros::Subscriber localizer::positionFromCameraSubscriber

Definition at line 44 of file localizer.h.

float localizer::Q[3]

Definition at line 51 of file localizer.h.

float localizer::R[3]

Definition at line 52 of file localizer.h.

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

• localizer.h
• localizer.cpp