crsm_slam::CrsmSlamParameters Class Reference

Contains the parameters needed to execute CRSM slam. These parameters are dynamically loaded from the file crsm_slamParameters.yaml. More...

#include <crsm_slamParameters.h>

List of all members.

Public Attributes
std::string	base_footprint_frame
	Holds the base footprint frame - (x,y,yaw)
std::string	base_frame
	Holds the base frame.
double	density
	Map update density (0-127)
int	desired_number_of_picked_rays
	The desired number of picked rays [algorithm specific].
int	disparity
	Disparity of mutation in pixels at hill climbing.
double	dx_laser_robotCenter
	Translation in x axis of laser in comparison to robot center.
std::string	laser_frame
	Holds the laser frame.
std::string	laser_subscriber_topic
	The laser subscriber topic.
std::string	map_frame
	Holds the map frame.
int	map_size
	Map size of initial allocated map.
int	max_hill_climbing_iterations
	Maximum RRHC iterations.
double	obstacle_density
	Coefficient for obstacle update density (0+)
double	occupancy_grid_map_freq
	The occupancy grid map publishing frequency.
std::string	occupancy_grid_publish_topic
	The occupancy grid publishing topic.
double	ocgd
	[OC]cupancy [G]rid [D]imentionality - the width and height in meters of a pixel
double	robot_length
	The robot length.
double	robot_pose_tf_freq
	The robot pose publishing frequency.
std::string	robot_trajectory_publish_topic
	The trajectory publishing topic.
double	robot_width
	The robot width.
double	scan_selection_meters
	Scan density lower boundary for a scan-part identification.
double	trajectory_freq
	The trajectory publishing frequency.
std::string	trajectory_publisher_frame_id
	The trajectory frame ID.
std::string	world_frame
	Holds the world frame.

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Detailed Description

Contains the parameters needed to execute CRSM slam. These parameters are dynamically loaded from the file crsm_slamParameters.yaml.

Definition at line 34 of file crsm_slamParameters.h.

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Member Data Documentation

std::string crsm_slam::CrsmSlamParameters::base_footprint_frame

Holds the base footprint frame - (x,y,yaw)

Definition at line 58 of file crsm_slamParameters.h.

std::string crsm_slam::CrsmSlamParameters::base_frame

Holds the base frame.

Definition at line 59 of file crsm_slamParameters.h.

double crsm_slam::CrsmSlamParameters::density

Map update density (0-127)

Definition at line 38 of file crsm_slamParameters.h.

int crsm_slam::CrsmSlamParameters::desired_number_of_picked_rays

The desired number of picked rays [algorithm specific].

Definition at line 48 of file crsm_slamParameters.h.

int crsm_slam::CrsmSlamParameters::disparity

Disparity of mutation in pixels at hill climbing.

Definition at line 35 of file crsm_slamParameters.h.

double crsm_slam::CrsmSlamParameters::dx_laser_robotCenter

Translation in x axis of laser in comparison to robot center.

Definition at line 42 of file crsm_slamParameters.h.

std::string crsm_slam::CrsmSlamParameters::laser_frame

Holds the laser frame.

Definition at line 61 of file crsm_slamParameters.h.

std::string crsm_slam::CrsmSlamParameters::laser_subscriber_topic

The laser subscriber topic.

Definition at line 55 of file crsm_slamParameters.h.

std::string crsm_slam::CrsmSlamParameters::map_frame

Holds the map frame.

Definition at line 60 of file crsm_slamParameters.h.

int crsm_slam::CrsmSlamParameters::map_size

Map size of initial allocated map.

Definition at line 36 of file crsm_slamParameters.h.

int crsm_slam::CrsmSlamParameters::max_hill_climbing_iterations

Maximum RRHC iterations.

Definition at line 41 of file crsm_slamParameters.h.

double crsm_slam::CrsmSlamParameters::obstacle_density

Coefficient for obstacle update density (0+)

Definition at line 39 of file crsm_slamParameters.h.

double crsm_slam::CrsmSlamParameters::occupancy_grid_map_freq

The occupancy grid map publishing frequency.

Definition at line 44 of file crsm_slamParameters.h.

std::string crsm_slam::CrsmSlamParameters::occupancy_grid_publish_topic

The occupancy grid publishing topic.

Definition at line 52 of file crsm_slamParameters.h.

double crsm_slam::CrsmSlamParameters::ocgd

[OC]cupancy [G]rid [D]imentionality - the width and height in meters of a pixel

Definition at line 37 of file crsm_slamParameters.h.

double crsm_slam::CrsmSlamParameters::robot_length

The robot length.

Definition at line 50 of file crsm_slamParameters.h.

double crsm_slam::CrsmSlamParameters::robot_pose_tf_freq

The robot pose publishing frequency.

Definition at line 45 of file crsm_slamParameters.h.

std::string crsm_slam::CrsmSlamParameters::robot_trajectory_publish_topic

The trajectory publishing topic.

Definition at line 53 of file crsm_slamParameters.h.

double crsm_slam::CrsmSlamParameters::robot_width

The robot width.

Definition at line 49 of file crsm_slamParameters.h.

double crsm_slam::CrsmSlamParameters::scan_selection_meters

Scan density lower boundary for a scan-part identification.

Definition at line 40 of file crsm_slamParameters.h.

double crsm_slam::CrsmSlamParameters::trajectory_freq

The trajectory publishing frequency.

Definition at line 46 of file crsm_slamParameters.h.

std::string crsm_slam::CrsmSlamParameters::trajectory_publisher_frame_id

The trajectory frame ID.

Definition at line 54 of file crsm_slamParameters.h.

std::string crsm_slam::CrsmSlamParameters::world_frame

Holds the world frame.

Definition at line 57 of file crsm_slamParameters.h.

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

• crsm_slamParameters.h