Classes
class	MyPointRepresentation
Public Member Functions
void	cbMapUpdateTimer (const ros::TimerEvent &event)
	MCL3dlNode (int argc, char *argv[])
	~MCL3dlNode ()
Protected Member Functions
void	cbCloud (const sensor_msgs::PointCloud2::ConstPtr &msg)
bool	cbExpansionReset (std_srvs::TriggerRequest &request, std_srvs::TriggerResponse &response)
bool	cbGlobalLocalization (std_srvs::TriggerRequest &request, std_srvs::TriggerResponse &response)
void	cbImu (const sensor_msgs::Imu::ConstPtr &msg)
void	cbLandmark (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg)
void	cbMapcloud (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	cbMapcloudUpdate (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	cbOdom (const nav_msgs::Odometry::ConstPtr &msg)
void	cbPosition (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg)
bool	cbResizeParticle (mcl_3dl_msgs::ResizeParticleRequest &request, mcl_3dl_msgs::ResizeParticleResponse &response)
Protected Attributes
int	cnt_accum_
int	cnt_measure_
std::default_random_engine	engine_
std::shared_ptr< Filter >	f_acc_ [3]
std::shared_ptr< Filter >	f_ang_ [3]
std::shared_ptr< Filter >	f_pos_ [3]
std::map< std::string, std::string >	frame_ids_
size_t	frame_num_
std::map< std::string, bool >	frames_
std::vector< std::string >	frames_v_
size_t	global_localization_fix_cnt_
bool	has_imu_
bool	has_map_
bool	has_odom_
ros::Time	imu_last_
ImuMeasurementModelBase::Ptr	imu_measurement_model_
Quat	imu_quat_
ChunkedKdtree< PointType >::Ptr	kdtree_
std::map< std::string, LidarMeasurementModelBase::Ptr >	lidar_measurements_
std::shared_ptr< Filter >	localize_rate_
ros::Time	localized_last_
ros::Timer	map_update_timer_
ros::Time	match_output_last_
MotionPredictionModelBase::Ptr	motion_prediction_model_
ros::NodeHandle	nh_
State6DOF	odom_
ros::Time	odom_last_
State6DOF	odom_prev_
bool	output_pcd_
Parameters	params_
std::vector< std_msgs::Header >	pc_accum_header_
pcl::PointCloud< PointType >::Ptr	pc_all_accum_
pcl::PointCloud< PointType >::Ptr	pc_local_accum_
pcl::PointCloud< PointType >::Ptr	pc_map2_
pcl::PointCloud< PointType >::Ptr	pc_map_
pcl::PointCloud< PointType >::Ptr	pc_update_
std::shared_ptr < pf::ParticleFilter < State6DOF, float, ParticleWeightedMeanQuat > >	pf_
ros::NodeHandle	pnh_
MyPointRepresentation	point_rep_
ros::Publisher	pub_debug_marker_
ros::Publisher	pub_mapcloud_
ros::Publisher	pub_matched_
ros::Publisher	pub_particle_
ros::Publisher	pub_pose_
ros::Publisher	pub_status_
ros::Publisher	pub_unmatched_
bool	publish_tf_
std::random_device	seed_gen_
ros::ServiceServer	srv_expansion_reset_
ros::ServiceServer	srv_global_localization_
ros::ServiceServer	srv_particle_size_
State6DOF	state_prev_
ros::Subscriber	sub_cloud_
ros::Subscriber	sub_imu_
ros::Subscriber	sub_landmark_
ros::Subscriber	sub_mapcloud_
ros::Subscriber	sub_mapcloud_update_
ros::Subscriber	sub_odom_
ros::Subscriber	sub_position_
ros::Duration	tf_tolerance_base_
tf2_ros::TransformBroadcaster	tfb_
tf2_ros::Buffer	tfbuf_
tf2_ros::TransformListener	tfl_

Detailed Description

Definition at line 95 of file mcl_3dl.cpp.

Constructor & Destructor Documentation

mcl_3dl::MCL3dlNode::MCL3dlNode	(	int	argc,
		char *	argv[]
	)		`[inline]`

Definition at line 1037 of file mcl_3dl.cpp.

mcl_3dl::MCL3dlNode::~MCL3dlNode ( ) [inline]

Definition at line 1269 of file mcl_3dl.cpp.

Member Function Documentation

void mcl_3dl::MCL3dlNode::cbCloud ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [inline, protected]

Definition at line 234 of file mcl_3dl.cpp.

bool mcl_3dl::MCL3dlNode::cbExpansionReset	(	std_srvs::TriggerRequest &	request,
		std_srvs::TriggerResponse &	response
	)		`[inline, protected]`

Definition at line 957 of file mcl_3dl.cpp.

bool mcl_3dl::MCL3dlNode::cbGlobalLocalization	(	std_srvs::TriggerRequest &	request,
		std_srvs::TriggerResponse &	response
	)		`[inline, protected]`

Definition at line 969 of file mcl_3dl.cpp.

void mcl_3dl::MCL3dlNode::cbImu ( const sensor_msgs::Imu::ConstPtr & msg ) [inline, protected]

Definition at line 883 of file mcl_3dl.cpp.

void mcl_3dl::MCL3dlNode::cbLandmark ( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr & msg ) [inline, protected]

Definition at line 852 of file mcl_3dl.cpp.

void mcl_3dl::MCL3dlNode::cbMapcloud ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [inline, protected]

Definition at line 118 of file mcl_3dl.cpp.

void mcl_3dl::MCL3dlNode::cbMapcloudUpdate ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [inline, protected]

Definition at line 145 of file mcl_3dl.cpp.

void mcl_3dl::MCL3dlNode::cbMapUpdateTimer ( const ros::TimerEvent & event ) [inline]

Definition at line 1279 of file mcl_3dl.cpp.

void mcl_3dl::MCL3dlNode::cbOdom ( const nav_msgs::Odometry::ConstPtr & msg ) [inline, protected]

Definition at line 197 of file mcl_3dl.cpp.

void mcl_3dl::MCL3dlNode::cbPosition ( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr & msg ) [inline, protected]

Definition at line 159 of file mcl_3dl.cpp.

bool mcl_3dl::MCL3dlNode::cbResizeParticle	(	mcl_3dl_msgs::ResizeParticleRequest &	request,
		mcl_3dl_msgs::ResizeParticleResponse &	response
	)		`[inline, protected]`