scan_tools::LaserScanMatcher Class Reference

#include <laser_scan_matcher.h>

List of all members.

Public Member Functions
	LaserScanMatcher (ros::NodeHandle nh, ros::NodeHandle nh_private)
	~LaserScanMatcher ()
Private Types
typedef pcl::PointCloud< PointT >	PointCloudT
typedef pcl::PointXYZ	PointT
Private Member Functions
void	cloudCallback (const PointCloudT::ConstPtr &cloud)
void	createCache (const sensor_msgs::LaserScan::ConstPtr &scan_msg)
void	createTfFromXYTheta (double x, double y, double theta, tf::Transform &t)
bool	getBaseToLaserTf (const std::string &frame_id)
void	getPrediction (double &pr_ch_x, double &pr_ch_y, double &pr_ch_a, double dt)
void	imuCallback (const sensor_msgs::Imu::ConstPtr &imu_msg)
void	initParams ()
void	laserScanToLDP (const sensor_msgs::LaserScan::ConstPtr &scan_msg, LDP &ldp)
bool	newKeyframeNeeded (const tf::Transform &d)
void	odomCallback (const nav_msgs::Odometry::ConstPtr &odom_msg)
void	PointCloudToLDP (const PointCloudT::ConstPtr &cloud, LDP &ldp)
void	processScan (LDP &curr_ldp_scan, const ros::Time &time)
void	scanCallback (const sensor_msgs::LaserScan::ConstPtr &scan_msg)
void	velCallback (const geometry_msgs::Twist::ConstPtr &twist_msg)
void	velStmpCallback (const geometry_msgs::TwistStamped::ConstPtr &twist_msg)
Private Attributes
std::vector< double >	a_cos_
std::vector< double >	a_sin_
std::string	base_frame_
tf::Transform	base_to_laser_
double	cloud_range_max_
double	cloud_range_min_
double	cloud_res_
ros::Subscriber	cloud_subscriber_
tf::Transform	f2b_
tf::Transform	f2b_kf_
std::string	fixed_frame_
ros::Subscriber	imu_subscriber_
bool	initialized_
sm_params	input_
double	kf_dist_angular_
double	kf_dist_linear_
double	kf_dist_linear_sq_
tf::Transform	laser_to_base_
ros::Time	last_icp_time_
sensor_msgs::Imu	last_used_imu_msg_
nav_msgs::Odometry	last_used_odom_msg_
sensor_msgs::Imu	latest_imu_msg_
nav_msgs::Odometry	latest_odom_msg_
geometry_msgs::Twist	latest_vel_msg_
boost::mutex	mutex_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
ros::Subscriber	odom_subscriber_
std::vector< double >	orientation_covariance_
sm_result	output_
ros::Publisher	pose_publisher_
ros::Publisher	pose_stamped_publisher_
ros::Publisher	pose_with_covariance_publisher_
ros::Publisher	pose_with_covariance_stamped_publisher_
std::vector< double >	position_covariance_
LDP	prev_ldp_scan_
bool	publish_pose_
bool	publish_pose_stamped_
bool	publish_pose_with_covariance_
bool	publish_pose_with_covariance_stamped_
bool	publish_tf_
bool	received_imu_
bool	received_odom_
bool	received_vel_
ros::Subscriber	scan_subscriber_
bool	stamped_vel_
tf::TransformBroadcaster	tf_broadcaster_
tf::TransformListener	tf_listener_
bool	use_cloud_input_
bool	use_imu_
bool	use_odom_
bool	use_vel_
ros::Subscriber	vel_subscriber_

---

Detailed Description

Definition at line 65 of file laser_scan_matcher.h.

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Member Typedef Documentation

typedef pcl::PointCloud<PointT> scan_tools::LaserScanMatcher::PointCloudT [private]

Definition at line 75 of file laser_scan_matcher.h.

typedef pcl::PointXYZ scan_tools::LaserScanMatcher::PointT [private]

Definition at line 74 of file laser_scan_matcher.h.

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Constructor & Destructor Documentation

scan_tools::LaserScanMatcher::LaserScanMatcher	(	ros::NodeHandle	nh,
		ros::NodeHandle	nh_private
	)

Definition at line 45 of file laser_scan_matcher.cpp.

scan_tools::LaserScanMatcher::~LaserScanMatcher

(

)

Definition at line 132 of file laser_scan_matcher.cpp.

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Member Function Documentation

void scan_tools::LaserScanMatcher::cloudCallback

(

const PointCloudT::ConstPtr &

cloud

)

[private]

Definition at line 376 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::createCache

(

const sensor_msgs::LaserScan::ConstPtr &

scan_msg

)

[private]

Definition at line 757 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::createTfFromXYTheta	(	double	x,
		double	y,
		double	theta,
		tf::Transform &	t
	)		[private]

Definition at line 850 of file laser_scan_matcher.cpp.

bool scan_tools::LaserScanMatcher::getBaseToLaserTf

(

const std::string &

frame_id

)

[private]

Definition at line 773 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::getPrediction	(	double &	pr_ch_x,
		double &	pr_ch_y,
		double &	pr_ch_a,
		double	dt
	)		[private]

Definition at line 798 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::imuCallback

(

const sensor_msgs::Imu::ConstPtr &

imu_msg

)

[private]

Definition at line 338 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::initParams

(

)

[private]

Definition at line 137 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::laserScanToLDP	(	const sensor_msgs::LaserScan::ConstPtr &	scan_msg,
		LDP &	ldp
	)		[private]

Definition at line 715 of file laser_scan_matcher.cpp.

bool scan_tools::LaserScanMatcher::newKeyframeNeeded

(

const tf::Transform &

d

)

[private]

Definition at line 635 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::odomCallback

(

const nav_msgs::Odometry::ConstPtr &

odom_msg

)

[private]

Definition at line 349 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::PointCloudToLDP	(	const PointCloudT::ConstPtr &	cloud,
		LDP &	ldp
	)		[private]

Definition at line 646 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::processScan	(	LDP &	curr_ldp_scan,
		const ros::Time &	time
	)		[private]

Definition at line 426 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::scanCallback

(

const sensor_msgs::LaserScan::ConstPtr &

scan_msg

)

[private]

Definition at line 401 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::velCallback

(

const geometry_msgs::Twist::ConstPtr &

twist_msg

)

[private]

Definition at line 360 of file laser_scan_matcher.cpp.

void scan_tools::LaserScanMatcher::velStmpCallback

(

const geometry_msgs::TwistStamped::ConstPtr &

twist_msg

)

[private]

Definition at line 368 of file laser_scan_matcher.cpp.

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Member Data Documentation

std::vector<double> scan_tools::LaserScanMatcher::a_cos_ [private]

Definition at line 152 of file laser_scan_matcher.h.

std::vector<double> scan_tools::LaserScanMatcher::a_sin_ [private]

Definition at line 153 of file laser_scan_matcher.h.

std::string scan_tools::LaserScanMatcher::base_frame_ [private]

Definition at line 101 of file laser_scan_matcher.h.

tf::Transform scan_tools::LaserScanMatcher::base_to_laser_ [private]

Definition at line 91 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::cloud_range_max_ [private]

Definition at line 104 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::cloud_range_min_ [private]

Definition at line 103 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::cloud_res_ [private]

Definition at line 105 of file laser_scan_matcher.h.

ros::Subscriber scan_tools::LaserScanMatcher::cloud_subscriber_ [private]

Definition at line 83 of file laser_scan_matcher.h.

tf::Transform scan_tools::LaserScanMatcher::f2b_ [private]

Definition at line 140 of file laser_scan_matcher.h.

tf::Transform scan_tools::LaserScanMatcher::f2b_kf_ [private]

Definition at line 141 of file laser_scan_matcher.h.

std::string scan_tools::LaserScanMatcher::fixed_frame_ [private]

Definition at line 102 of file laser_scan_matcher.h.

ros::Subscriber scan_tools::LaserScanMatcher::imu_subscriber_ [private]

Definition at line 85 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::initialized_ [private]

Definition at line 135 of file laser_scan_matcher.h.

sm_params scan_tools::LaserScanMatcher::input_ [private]

Definition at line 155 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::kf_dist_angular_ [private]

Definition at line 118 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::kf_dist_linear_ [private]

Definition at line 116 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::kf_dist_linear_sq_ [private]

Definition at line 117 of file laser_scan_matcher.h.

tf::Transform scan_tools::LaserScanMatcher::laser_to_base_ [private]

Definition at line 92 of file laser_scan_matcher.h.

ros::Time scan_tools::LaserScanMatcher::last_icp_time_ [private]

Definition at line 143 of file laser_scan_matcher.h.

sensor_msgs::Imu scan_tools::LaserScanMatcher::last_used_imu_msg_ [private]

Definition at line 146 of file laser_scan_matcher.h.

nav_msgs::Odometry scan_tools::LaserScanMatcher::last_used_odom_msg_ [private]

Definition at line 148 of file laser_scan_matcher.h.

sensor_msgs::Imu scan_tools::LaserScanMatcher::latest_imu_msg_ [private]

Definition at line 145 of file laser_scan_matcher.h.

nav_msgs::Odometry scan_tools::LaserScanMatcher::latest_odom_msg_ [private]

Definition at line 147 of file laser_scan_matcher.h.

geometry_msgs::Twist scan_tools::LaserScanMatcher::latest_vel_msg_ [private]

Definition at line 150 of file laser_scan_matcher.h.

boost::mutex scan_tools::LaserScanMatcher::mutex_ [private]

Definition at line 133 of file laser_scan_matcher.h.

ros::NodeHandle scan_tools::LaserScanMatcher::nh_ [private]

Definition at line 79 of file laser_scan_matcher.h.

ros::NodeHandle scan_tools::LaserScanMatcher::nh_private_ [private]

Definition at line 80 of file laser_scan_matcher.h.

ros::Subscriber scan_tools::LaserScanMatcher::odom_subscriber_ [private]

Definition at line 84 of file laser_scan_matcher.h.

std::vector<double> scan_tools::LaserScanMatcher::orientation_covariance_ [private]

Definition at line 112 of file laser_scan_matcher.h.

sm_result scan_tools::LaserScanMatcher::output_ [private]

Definition at line 156 of file laser_scan_matcher.h.

ros::Publisher scan_tools::LaserScanMatcher::pose_publisher_ [private]

Definition at line 94 of file laser_scan_matcher.h.

ros::Publisher scan_tools::LaserScanMatcher::pose_stamped_publisher_ [private]

Definition at line 95 of file laser_scan_matcher.h.

ros::Publisher scan_tools::LaserScanMatcher::pose_with_covariance_publisher_ [private]

Definition at line 96 of file laser_scan_matcher.h.

ros::Publisher scan_tools::LaserScanMatcher::pose_with_covariance_stamped_publisher_ [private]

Definition at line 97 of file laser_scan_matcher.h.

std::vector<double> scan_tools::LaserScanMatcher::position_covariance_ [private]

Definition at line 111 of file laser_scan_matcher.h.

LDP scan_tools::LaserScanMatcher::prev_ldp_scan_ [private]

Definition at line 157 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::publish_pose_ [private]

Definition at line 107 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::publish_pose_stamped_ [private]

Definition at line 109 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::publish_pose_with_covariance_ [private]

Definition at line 108 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::publish_pose_with_covariance_stamped_ [private]

Definition at line 110 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::publish_tf_ [private]

Definition at line 106 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::received_imu_ [private]

Definition at line 136 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::received_odom_ [private]

Definition at line 137 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::received_vel_ [private]

Definition at line 138 of file laser_scan_matcher.h.

ros::Subscriber scan_tools::LaserScanMatcher::scan_subscriber_ [private]

Definition at line 82 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::stamped_vel_ [private]

Definition at line 129 of file laser_scan_matcher.h.

tf::TransformBroadcaster scan_tools::LaserScanMatcher::tf_broadcaster_ [private]

Definition at line 89 of file laser_scan_matcher.h.

tf::TransformListener scan_tools::LaserScanMatcher::tf_listener_ [private]

Definition at line 88 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::use_cloud_input_ [private]

Definition at line 114 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::use_imu_ [private]

Definition at line 126 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::use_odom_ [private]

Definition at line 127 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::use_vel_ [private]

Definition at line 128 of file laser_scan_matcher.h.

ros::Subscriber scan_tools::LaserScanMatcher::vel_subscriber_ [private]

Definition at line 86 of file laser_scan_matcher.h.

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

• laser_scan_matcher.h
• laser_scan_matcher.cpp