cartographer_ros::SensorBridge Class Reference

#include <sensor_bridge.h>

List of all members.

Public Member Functions
void	HandleImuMessage (const std::string &sensor_id, const sensor_msgs::Imu::ConstPtr &msg)
void	HandleLandmarkMessage (const std::string &sensor_id, const cartographer_ros_msgs::LandmarkList::ConstPtr &msg)
void	HandleLaserScanMessage (const std::string &sensor_id, const sensor_msgs::LaserScan::ConstPtr &msg)
void	HandleMultiEchoLaserScanMessage (const std::string &sensor_id, const sensor_msgs::MultiEchoLaserScan::ConstPtr &msg)
void	HandleNavSatFixMessage (const std::string &sensor_id, const sensor_msgs::NavSatFix::ConstPtr &msg)
void	HandleOdometryMessage (const std::string &sensor_id, const nav_msgs::Odometry::ConstPtr &msg)
void	HandlePointCloud2Message (const std::string &sensor_id, const sensor_msgs::PointCloud2::ConstPtr &msg)
SensorBridge &	operator= (const SensorBridge &)
	SensorBridge (int num_subdivisions_per_laser_scan, const std::string &tracking_frame, double lookup_transform_timeout_sec, tf2_ros::Buffer *tf_buffer,::cartographer::mapping::TrajectoryBuilderInterface *trajectory_builder)
	SensorBridge (const SensorBridge &)
const TfBridge &	tf_bridge () const
std::unique_ptr <::cartographer::sensor::ImuData >	ToImuData (const sensor_msgs::Imu::ConstPtr &msg)
std::unique_ptr <::cartographer::sensor::OdometryData >	ToOdometryData (const nav_msgs::Odometry::ConstPtr &msg)
Private Member Functions
void	HandleLaserScan (const std::string &sensor_id,::cartographer::common::Time start_time, const std::string &frame_id, const ::cartographer::sensor::PointCloudWithIntensities &points)
void	HandleRangefinder (const std::string &sensor_id,::cartographer::common::Time time, const std::string &frame_id, const ::cartographer::sensor::TimedPointCloud &ranges)
Private Attributes
absl::optional <::cartographer::transform::Rigid3d >	ecef_to_local_frame_
const int	num_subdivisions_per_laser_scan_
std::map< std::string, cartographer::common::Time >	sensor_to_previous_subdivision_time_
const TfBridge	tf_bridge_
::cartographer::mapping::TrajectoryBuilderInterface *const	trajectory_builder_

---

Detailed Description

Definition at line 43 of file sensor_bridge.h.

---

Constructor & Destructor Documentation

cartographer_ros::SensorBridge::SensorBridge	(	int	num_subdivisions_per_laser_scan,
		const std::string &	tracking_frame,
		double	lookup_transform_timeout_sec,
		tf2_ros::Buffer *	tf_buffer,
		::cartographer::mapping::TrajectoryBuilderInterface *	trajectory_builder
	)		[explicit]

cartographer_ros::SensorBridge::SensorBridge

(

const SensorBridge &

)

---

Member Function Documentation

void cartographer_ros::SensorBridge::HandleImuMessage	(	const std::string &	sensor_id,
		const sensor_msgs::Imu::ConstPtr &	msg
	)

Definition at line 145 of file sensor_bridge.cc.

void cartographer_ros::SensorBridge::HandleLandmarkMessage	(	const std::string &	sensor_id,
		const cartographer_ros_msgs::LandmarkList::ConstPtr &	msg
	)

Definition at line 100 of file sensor_bridge.cc.

void cartographer_ros::SensorBridge::HandleLaserScan	(	const std::string &	sensor_id,
		::cartographer::common::Time	start_time,
		const std::string &	frame_id,
		const ::cartographer::sensor::PointCloudWithIntensities &	points
	)		[private]

Definition at line 184 of file sensor_bridge.cc.

void cartographer_ros::SensorBridge::HandleLaserScanMessage	(	const std::string &	sensor_id,
		const sensor_msgs::LaserScan::ConstPtr &	msg
	)

Definition at line 156 of file sensor_bridge.cc.

void cartographer_ros::SensorBridge::HandleMultiEchoLaserScanMessage	(	const std::string &	sensor_id,
		const sensor_msgs::MultiEchoLaserScan::ConstPtr &	msg
	)

Definition at line 164 of file sensor_bridge.cc.

void cartographer_ros::SensorBridge::HandleNavSatFixMessage	(	const std::string &	sensor_id,
		const sensor_msgs::NavSatFix::ConstPtr &	msg
	)

Definition at line 75 of file sensor_bridge.cc.

void cartographer_ros::SensorBridge::HandleOdometryMessage	(	const std::string &	sensor_id,
		const nav_msgs::Odometry::ConstPtr &	msg
	)

Definition at line 64 of file sensor_bridge.cc.

void cartographer_ros::SensorBridge::HandlePointCloud2Message	(	const std::string &	sensor_id,
		const sensor_msgs::PointCloud2::ConstPtr &	msg
	)

Definition at line 173 of file sensor_bridge.cc.

void cartographer_ros::SensorBridge::HandleRangefinder	(	const std::string &	sensor_id,
		::cartographer::common::Time	time,
		const std::string &	frame_id,
		const ::cartographer::sensor::TimedPointCloud &	ranges
	)		[private]

Definition at line 226 of file sensor_bridge.cc.

SensorBridge& cartographer_ros::SensorBridge::operator=

(

const SensorBridge &

)

const TfBridge & cartographer_ros::SensorBridge::tf_bridge

(

)

const

Definition at line 182 of file sensor_bridge.cc.

std::unique_ptr< carto::sensor::ImuData > cartographer_ros::SensorBridge::ToImuData

(

const sensor_msgs::Imu::ConstPtr &

msg

)

Definition at line 117 of file sensor_bridge.cc.

std::unique_ptr< carto::sensor::OdometryData > cartographer_ros::SensorBridge::ToOdometryData

(

const nav_msgs::Odometry::ConstPtr &

msg

)

Definition at line 51 of file sensor_bridge.cc.

---

Member Data Documentation

absl::optional<::cartographer::transform::Rigid3d> cartographer_ros::SensorBridge::ecef_to_local_frame_ [private]

Definition at line 94 of file sensor_bridge.h.

const int cartographer_ros::SensorBridge::num_subdivisions_per_laser_scan_ [private]

Definition at line 87 of file sensor_bridge.h.

std::map<std::string, cartographer::common::Time> cartographer_ros::SensorBridge::sensor_to_previous_subdivision_time_ [private]

Definition at line 89 of file sensor_bridge.h.

const TfBridge cartographer_ros::SensorBridge::tf_bridge_ [private]

Definition at line 90 of file sensor_bridge.h.

::cartographer::mapping::TrajectoryBuilderInterface* const cartographer_ros::SensorBridge::trajectory_builder_ [private]

Definition at line 92 of file sensor_bridge.h.

---

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

• sensor_bridge.h
• sensor_bridge.cc