lj_costmap::Jockey Class Reference

#include <jockey.h>

Inheritance diagram for lj_costmap::Jockey:

List of all members.

Public Member Functions
	Jockey (std::string name, double frontier_width, double max_frontier_angle=0.785)
virtual void	onGetDissimilarity ()
virtual void	onGetVertexDescriptor ()
virtual void	onLocalizeInVertex ()
void	setDissimilarityServerName (std::string name)
Private Member Functions
lama_msgs::DescriptorLink	crossingDescriptorLink (int32_t id)
void	getLiveData ()
void	handleMap (const nav_msgs::OccupancyGridConstPtr &msg)
void	initMapCrossingInterface ()
void	initMapPlaceProfileInterface ()
lama_msgs::DescriptorLink	placeProfileDescriptorLink (int32_t id)
Private Attributes
crossing_detector::CostmapCrossingDetector	crossing_detector_
std::string	crossing_interface_name_
ros::ServiceClient	crossing_setter_
bool	data_received_
std::string	dissimilarity_server_name_
std::string	localize_service_
nav_msgs::OccupancyGrid	map_
ros::ServiceClient	place_profile_getter_
std::string	place_profile_interface_name_
ros::ServiceClient	place_profile_setter_
lama_msgs::PlaceProfile	profile_
double	range_cutoff_
	A range longer that this is considered to be free (m).
bool	range_cutoff_set_

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Detailed Description

Definition at line 64 of file jockey.h.

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Constructor & Destructor Documentation

lj_costmap::Jockey::Jockey	(	std::string	name,
		double	frontier_width,
		double	max_frontier_angle = 0.785
	)

Definition at line 6 of file jockey.cpp.

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Member Function Documentation

lama_msgs::DescriptorLink lj_costmap::Jockey::crossingDescriptorLink

(

int32_t

id

)

[private]

Return a DescriptorLink for the Crossing interface

Definition at line 326 of file jockey.cpp.

void lj_costmap::Jockey::getLiveData

(

)

[private]

Start the subscriber, wait for an OccupancyGrid and exit upon reception.

Definition at line 74 of file jockey.cpp.

void lj_costmap::Jockey::handleMap

(

const nav_msgs::OccupancyGridConstPtr &

msg

)

[private]

Callback for OccupancyGrid subscriber, receive a message and store it.

Definition at line 99 of file jockey.cpp.

void lj_costmap::Jockey::initMapCrossingInterface

(

)

[private]

Create the setter services for Crossing descriptors.

Definition at line 52 of file jockey.cpp.

void lj_costmap::Jockey::initMapPlaceProfileInterface

(

)

[private]

Create the getter and setter services for PlaceProfile descriptors.

Definition at line 28 of file jockey.cpp.

void lj_costmap::Jockey::onGetDissimilarity

(

)

[virtual]

Reimplemented from lama_jockeys::LocalizingJockey.

Definition at line 223 of file jockey.cpp.

void lj_costmap::Jockey::onGetVertexDescriptor

(

)

[virtual]

Return the vertex descriptors associated with the current robot position through result_.

The descriptors are a LaserScan and a Crossing.

Reimplemented from lama_jockeys::LocalizingJockey.

Definition at line 113 of file jockey.cpp.

void lj_costmap::Jockey::onLocalizeInVertex

(

)

[virtual]

Return the transformation between the current and requested PlaceProfiles.

Reimplemented from lama_jockeys::LocalizingJockey.

Definition at line 165 of file jockey.cpp.

lama_msgs::DescriptorLink lj_costmap::Jockey::placeProfileDescriptorLink

(

int32_t

id

)

[private]

Return a DescriptorLink for the PlaceProfile interface

Definition at line 316 of file jockey.cpp.

void lj_costmap::Jockey::setDissimilarityServerName

(

std::string

name

)

[inline]

Definition at line 74 of file jockey.h.

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Member Data Documentation

crossing_detector::CostmapCrossingDetector lj_costmap::Jockey::crossing_detector_ [private]

Definition at line 109 of file jockey.h.

std::string lj_costmap::Jockey::crossing_interface_name_ [private]

Definition at line 101 of file jockey.h.

ros::ServiceClient lj_costmap::Jockey::crossing_setter_ [private]

Definition at line 102 of file jockey.h.

bool lj_costmap::Jockey::data_received_ [private]

Definition at line 90 of file jockey.h.

std::string lj_costmap::Jockey::dissimilarity_server_name_ [private]

Definition at line 107 of file jockey.h.

std::string lj_costmap::Jockey::localize_service_ [private]

Definition at line 105 of file jockey.h.

nav_msgs::OccupancyGrid lj_costmap::Jockey::map_ [private]

Definition at line 94 of file jockey.h.

ros::ServiceClient lj_costmap::Jockey::place_profile_getter_ [private]

Definition at line 99 of file jockey.h.

std::string lj_costmap::Jockey::place_profile_interface_name_ [private]

Definition at line 98 of file jockey.h.

ros::ServiceClient lj_costmap::Jockey::place_profile_setter_ [private]

Definition at line 100 of file jockey.h.

lama_msgs::PlaceProfile lj_costmap::Jockey::profile_ [private]

Definition at line 95 of file jockey.h.

double lj_costmap::Jockey::range_cutoff_ [private]

A range longer that this is considered to be free (m).

Definition at line 87 of file jockey.h.

bool lj_costmap::Jockey::range_cutoff_set_ [private]

Definition at line 91 of file jockey.h.

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

• jockey.h
• jockey.cpp