#include <pointcloud_localization.h>

Public Member Functions
	PointCloudLocalization ()
Protected Member Functions
virtual void	applyDownsampling (pcl::PointCloud< pcl::PointNormal >::Ptr in_cloud, pcl::PointCloud< pcl::PointNormal > &out_cloud)
virtual void	cloudCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)
	callback function of ~input topic.
virtual void	cloudTimerCallback (const ros::TimerEvent &event)
	cloud periodic timer callback
virtual bool	isFirstTime ()
	return true if it is the first time to localize
virtual bool	localizationRequest (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	callback function of ~localize service.
virtual void	onInit ()
virtual void	subscribe ()
virtual void	tfTimerCallback (const ros::TimerEvent &event)
	tf periodic timer callback
virtual void	unsubscribe ()
virtual bool	updateOffsetCallback (jsk_recognition_msgs::UpdateOffset::Request &req, jsk_recognition_msgs::UpdateOffset::Response &res)
	callback function for ~update_offset service
Protected Attributes
pcl::PointCloud < pcl::PointNormal >::Ptr	all_cloud_
bool	clip_unseen_pointcloud_
ros::Timer	cloud_timer_
bool	first_time_
std::string	global_frame_
	Publishes tf transformation of global_frame_ -> odom_frame_.
bool	initialize_from_tf_
std::string	initialize_tf_
sensor_msgs::PointCloud2::ConstPtr	latest_cloud_
double	leaf_size_
ros::ServiceServer	localization_srv_
bool	localize_requested_
tf::Transform	localize_transform_
boost::mutex	mutex_
std::string	odom_frame_
ros::Publisher	pub_cloud_
std::string	sensor_frame_
ros::Subscriber	sub_
tf::TransformBroadcaster	tf_broadcast_
tf::TransformListener *	tf_listener_
boost::mutex	tf_mutex_
ros::Timer	tf_timer_
ros::ServiceServer	update_offset_srv_
bool	use_normal_
	Resolution of voxel grid.

Detailed Description

Definition at line 52 of file pointcloud_localization.h.

Constructor & Destructor Documentation

jsk_pcl_ros::PointCloudLocalization::PointCloudLocalization ( ) [inline]

Definition at line 55 of file pointcloud_localization.h.

Member Function Documentation

void jsk_pcl_ros::PointCloudLocalization::applyDownsampling	(	pcl::PointCloud< pcl::PointNormal >::Ptr	in_cloud,
		pcl::PointCloud< pcl::PointNormal > &	out_cloud
	)		`[protected, virtual]`

Definition at line 99 of file pointcloud_localization_nodelet.cpp.

void jsk_pcl_ros::PointCloudLocalization::cloudCallback ( const sensor_msgs::PointCloud2::ConstPtr & cloud_msg ) [protected, virtual]

callback function of ~input topic.

Definition at line 147 of file pointcloud_localization_nodelet.cpp.

void jsk_pcl_ros::PointCloudLocalization::cloudTimerCallback ( const ros::TimerEvent & event ) [protected, virtual]

cloud periodic timer callback

Definition at line 109 of file pointcloud_localization_nodelet.cpp.

bool jsk_pcl_ros::PointCloudLocalization::isFirstTime ( ) [protected, virtual]

return true if it is the first time to localize

Definition at line 303 of file pointcloud_localization_nodelet.cpp.

bool jsk_pcl_ros::PointCloudLocalization::localizationRequest	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[protected, virtual]`

callback function of ~localize service.

Definition at line 308 of file pointcloud_localization_nodelet.cpp.

void jsk_pcl_ros::PointCloudLocalization::onInit ( void ) [protected, virtual]

Definition at line 46 of file pointcloud_localization_nodelet.cpp.

void jsk_pcl_ros::PointCloudLocalization::subscribe ( ) [protected, virtual]

Definition at line 89 of file pointcloud_localization_nodelet.cpp.

void jsk_pcl_ros::PointCloudLocalization::tfTimerCallback ( const ros::TimerEvent & event ) [protected, virtual]

tf periodic timer callback

Definition at line 123 of file pointcloud_localization_nodelet.cpp.

void jsk_pcl_ros::PointCloudLocalization::unsubscribe ( ) [protected, virtual]

Definition at line 94 of file pointcloud_localization_nodelet.cpp.

bool jsk_pcl_ros::PointCloudLocalization::updateOffsetCallback	(	jsk_recognition_msgs::UpdateOffset::Request &	req,
		jsk_recognition_msgs::UpdateOffset::Response &	res
	)		`[protected, virtual]`