Public Member Functions | Static Public Member Functions | Private Attributes | Static Private Attributes
SelfLocalizer Class Reference

#include <SelfLocalizer.h>

List of all members.

Public Member Functions

void convertMap (const nav_msgs::OccupancyGrid &map_msg)
tf::Transform getBestPose ()
double getCovariance ()
tf::StampedTransform getMapToOdometry ()
bool initialize ()
void process (const sensor_msgs::LaserScan::ConstPtr &scan)
void publishParticleCloud ()
 SelfLocalizer (bool publish=true)
 ~SelfLocalizer ()

Static Public Member Functions

static double calculateBeamModel (LaserData *data, pf_sample_set_t *set)
static double calculateLikelihoodFieldModel (LaserData *data, pf_sample_set_t *set)
static double calculateMoveModel (OdometryData *data, pf_sample_set_t *set)
static pf_vector_t distributeParticles (void *map)

Private Attributes

pf_action_model_fn_t mActionModelFunction
double mAlphaFast
double mAlphaSlow
bool mFirstScanReceived
std::string mLaserFrame
int mLaserModelType
std::string mMapFrame
tf::Transform mMapToOdometry
int mMaxParticles
int mMinParticles
double mMinRotation
double mMinTranslation
std::string mOdometryFrame
pf_tmParticleFilter
ros::Publisher mParticlePublisher
double mPopulationErr
double mPopulationZ
int mProcessedScans
bool mPublishParticles
std::string mRobotFrame
pf_sensor_model_fn_t mSensorModelFunction
tf::TransformListener mTransformListener

Static Private Attributes

static tf::StampedTransform mLastPose
static double sAlpha1
static double sAlpha2
static double sAlpha3
static double sAlpha4
static double sLamdaShort
static pf_vector_t sLaserPose
static double sLikelihoodMaxDist
static map_tsMap = NULL
static int sMaxBeams
static double sSigmaHit
static double sZHit
static double sZMax
static double sZRand
static double sZShort

Detailed Description

Definition at line 37 of file SelfLocalizer.h.


Constructor & Destructor Documentation

SelfLocalizer::SelfLocalizer ( bool  publish = true)

Definition at line 80 of file SelfLocalizer.cpp.

Definition at line 146 of file SelfLocalizer.cpp.


Member Function Documentation

double SelfLocalizer::calculateBeamModel ( LaserData data,
pf_sample_set_t set 
) [static]

Definition at line 225 of file SelfLocalizer.cpp.

Definition at line 282 of file SelfLocalizer.cpp.

double SelfLocalizer::calculateMoveModel ( OdometryData data,
pf_sample_set_t set 
) [static]

Definition at line 183 of file SelfLocalizer.cpp.

void SelfLocalizer::convertMap ( const nav_msgs::OccupancyGrid &  map_msg)

Definition at line 466 of file SelfLocalizer.cpp.

Definition at line 154 of file SelfLocalizer.cpp.

Definition at line 510 of file SelfLocalizer.cpp.

Definition at line 501 of file SelfLocalizer.cpp.

Definition at line 56 of file SelfLocalizer.h.

Definition at line 357 of file SelfLocalizer.cpp.

void SelfLocalizer::process ( const sensor_msgs::LaserScan::ConstPtr &  scan)

Definition at line 393 of file SelfLocalizer.cpp.

Definition at line 556 of file SelfLocalizer.cpp.


Member Data Documentation

Definition at line 132 of file SelfLocalizer.h.

double SelfLocalizer::mAlphaFast [private]

Definition at line 119 of file SelfLocalizer.h.

double SelfLocalizer::mAlphaSlow [private]

Definition at line 118 of file SelfLocalizer.h.

Definition at line 127 of file SelfLocalizer.h.

std::string SelfLocalizer::mLaserFrame [private]

Definition at line 98 of file SelfLocalizer.h.

Definition at line 129 of file SelfLocalizer.h.

Definition at line 110 of file SelfLocalizer.h.

std::string SelfLocalizer::mMapFrame [private]

Definition at line 95 of file SelfLocalizer.h.

Definition at line 113 of file SelfLocalizer.h.

Definition at line 117 of file SelfLocalizer.h.

Definition at line 116 of file SelfLocalizer.h.

double SelfLocalizer::mMinRotation [private]

Definition at line 124 of file SelfLocalizer.h.

Definition at line 123 of file SelfLocalizer.h.

std::string SelfLocalizer::mOdometryFrame [private]

Definition at line 96 of file SelfLocalizer.h.

Definition at line 102 of file SelfLocalizer.h.

Definition at line 107 of file SelfLocalizer.h.

Definition at line 120 of file SelfLocalizer.h.

double SelfLocalizer::mPopulationZ [private]

Definition at line 121 of file SelfLocalizer.h.

Definition at line 103 of file SelfLocalizer.h.

Definition at line 126 of file SelfLocalizer.h.

std::string SelfLocalizer::mRobotFrame [private]

Definition at line 97 of file SelfLocalizer.h.

Definition at line 131 of file SelfLocalizer.h.

Definition at line 106 of file SelfLocalizer.h.

double SelfLocalizer::sAlpha1 [static, private]

Definition at line 71 of file SelfLocalizer.h.

double SelfLocalizer::sAlpha2 [static, private]

Definition at line 71 of file SelfLocalizer.h.

double SelfLocalizer::sAlpha3 [static, private]

Definition at line 71 of file SelfLocalizer.h.

double SelfLocalizer::sAlpha4 [static, private]

Definition at line 71 of file SelfLocalizer.h.

double SelfLocalizer::sLamdaShort [static, private]

Definition at line 87 of file SelfLocalizer.h.

Definition at line 72 of file SelfLocalizer.h.

double SelfLocalizer::sLikelihoodMaxDist [static, private]

Definition at line 78 of file SelfLocalizer.h.

map_t * SelfLocalizer::sMap = NULL [static, private]

Definition at line 81 of file SelfLocalizer.h.

int SelfLocalizer::sMaxBeams [static, private]

Definition at line 75 of file SelfLocalizer.h.

double SelfLocalizer::sSigmaHit [static, private]

Definition at line 84 of file SelfLocalizer.h.

double SelfLocalizer::sZHit [static, private]

Definition at line 90 of file SelfLocalizer.h.

double SelfLocalizer::sZMax [static, private]

Definition at line 92 of file SelfLocalizer.h.

double SelfLocalizer::sZRand [static, private]

Definition at line 93 of file SelfLocalizer.h.

double SelfLocalizer::sZShort [static, private]

Definition at line 91 of file SelfLocalizer.h.


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


nav2d_localizer
Author(s): Sebastian Kasperski
autogenerated on Thu Aug 27 2015 14:07:21