CLaserOdometry2D Class Reference

#include <CLaserOdometry2D.h>

List of all members.

Public Member Functions
	CLaserOdometry2D ()
void	Init ()
bool	is_initialized ()
void	odometryCalculation ()
bool	scan_available ()
	~CLaserOdometry2D ()
Public Attributes
std::string	base_frame_id
double	freq
std::string	laser_scan_topic
std::string	odom_frame_id
Protected Member Functions
void	calculateCoord ()
void	calculaterangeDerivativesSurface ()
void	computeNormals ()
void	computeWeights ()
void	createImagePyramid ()
void	filterLevelSolution ()
void	findNullPoints ()
void	LaserCallBack (const sensor_msgs::LaserScan::ConstPtr &new_scan)
void	performWarping ()
void	PoseUpdate ()
void	Reset (mrpt::poses::CPose3D ini_pose, CObservation2DRangeScan scan)
void	solveSystemNonLinear ()
void	solveSystemOneLevel ()
Protected Attributes
Eigen::MatrixXf	A
Eigen::MatrixXf	Aw
Eigen::MatrixXf	B
Eigen::MatrixXf	Bw
unsigned int	cols
unsigned int	cols_i
Eigen::Matrix< float, 3, 3 >	cov_odo
unsigned int	ctf_levels
Eigen::MatrixXf	dt
Eigen::MatrixXf	dtita
bool	first_laser_scan
float	fovh
float	fps
float	g_mask [5]
unsigned int	image_level
unsigned int	iter_irls
mrpt::math::CMatrixFloat31	kai_abs
mrpt::math::CMatrixFloat31	kai_loc
mrpt::math::CMatrixFloat31	kai_loc_level
mrpt::math::CMatrixFloat31	kai_loc_old
mrpt::poses::CPose3D	laser_oldpose
mrpt::poses::CPose3D	laser_pose
ros::Subscriber	laser_sub
std::vector< double >	last_m_ang_speeds
std::vector< double >	last_m_lin_speeds
ros::Time	last_odom_time
sensor_msgs::LaserScan	last_scan
unsigned int	level
mrpt::utils::CTicTac	m_clock
float	m_runtime
bool	module_initialized
ros::NodeHandle	n
bool	new_scan_available
Eigen::MatrixXf	norm_ang
Eigen::MatrixXf	normx
Eigen::MatrixXf	normy
Eigen::MatrixXi	null
unsigned int	num_valid_range
tf::TransformBroadcaster	odom_broadcaster
ros::Publisher	odom_pub
std::vector< Eigen::MatrixXf >	range
std::vector< Eigen::MatrixXf >	range_inter
std::vector< Eigen::MatrixXf >	range_old
std::vector< Eigen::MatrixXf >	range_warped
Eigen::MatrixXf	range_wf
mrpt::poses::CPose3D	robot_oldpose
mrpt::poses::CPose3D	robot_pose
Eigen::MatrixXf	rtita
bool	test
tf::TransformListener	tf_listener
std::vector< Eigen::MatrixXf >	transformations
Eigen::Matrix< float, 3, 1 >	Var
Eigen::MatrixXf	weights
unsigned int	width
std::vector< Eigen::MatrixXf >	xx
std::vector< Eigen::MatrixXf >	xx_inter
std::vector< Eigen::MatrixXf >	xx_old
std::vector< Eigen::MatrixXf >	xx_warped
std::vector< Eigen::MatrixXf >	yy
std::vector< Eigen::MatrixXf >	yy_inter
std::vector< Eigen::MatrixXf >	yy_old
std::vector< Eigen::MatrixXf >	yy_warped

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Detailed Description

Definition at line 54 of file CLaserOdometry2D.h.

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Constructor & Destructor Documentation

CLaserOdometry2D::CLaserOdometry2D

(

)

Definition at line 29 of file CLaserOdometry2D.cpp.

CLaserOdometry2D::~CLaserOdometry2D

(

)

Definition at line 52 of file CLaserOdometry2D.cpp.

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Member Function Documentation

void CLaserOdometry2D::calculateCoord

(

)

[protected]

Definition at line 424 of file CLaserOdometry2D.cpp.

void CLaserOdometry2D::calculaterangeDerivativesSurface

(

)

[protected]

Definition at line 444 of file CLaserOdometry2D.cpp.

void CLaserOdometry2D::computeNormals

(

)

[protected]

Definition at line 496 of file CLaserOdometry2D.cpp.

void CLaserOdometry2D::computeWeights

(

)

[protected]

Definition at line 524 of file CLaserOdometry2D.cpp.

void CLaserOdometry2D::createImagePyramid

(

)

[protected]

Definition at line 252 of file CLaserOdometry2D.cpp.

void CLaserOdometry2D::filterLevelSolution

(

)

[protected]

Definition at line 801 of file CLaserOdometry2D.cpp.

void CLaserOdometry2D::findNullPoints

(

)

[protected]

Definition at line 555 of file CLaserOdometry2D.cpp.

void CLaserOdometry2D::Init

(

)

Definition at line 67 of file CLaserOdometry2D.cpp.

bool CLaserOdometry2D::is_initialized

(

)

Definition at line 57 of file CLaserOdometry2D.cpp.

void CLaserOdometry2D::LaserCallBack

(

const sensor_msgs::LaserScan::ConstPtr &

new_scan

)

[protected]

Definition at line 1015 of file CLaserOdometry2D.cpp.

void CLaserOdometry2D::odometryCalculation

(

)

Definition at line 187 of file CLaserOdometry2D.cpp.

void CLaserOdometry2D::performWarping

(

)

[protected]

Definition at line 723 of file CLaserOdometry2D.cpp.

void CLaserOdometry2D::PoseUpdate

(

)

[protected]

Definition at line 867 of file CLaserOdometry2D.cpp.

void CLaserOdometry2D::Reset	(	mrpt::poses::CPose3D	ini_pose,
		CObservation2DRangeScan	scan
	)		[protected]

Definition at line 710 of file CLaserOdometry2D.cpp.

bool CLaserOdometry2D::scan_available

(

)

Definition at line 62 of file CLaserOdometry2D.cpp.

void CLaserOdometry2D::solveSystemNonLinear

(

)

[protected]

Definition at line 616 of file CLaserOdometry2D.cpp.

void CLaserOdometry2D::solveSystemOneLevel

(

)

[protected]

Definition at line 574 of file CLaserOdometry2D.cpp.

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Member Data Documentation

Eigen::MatrixXf CLaserOdometry2D::A [protected]

Definition at line 106 of file CLaserOdometry2D.h.

Eigen::MatrixXf CLaserOdometry2D::Aw [protected]

Definition at line 106 of file CLaserOdometry2D.h.

Eigen::MatrixXf CLaserOdometry2D::B [protected]

Definition at line 107 of file CLaserOdometry2D.h.

std::string CLaserOdometry2D::base_frame_id

Definition at line 65 of file CLaserOdometry2D.h.

Eigen::MatrixXf CLaserOdometry2D::Bw [protected]

Definition at line 107 of file CLaserOdometry2D.h.

unsigned int CLaserOdometry2D::cols [protected]

Definition at line 116 of file CLaserOdometry2D.h.

unsigned int CLaserOdometry2D::cols_i [protected]

Definition at line 117 of file CLaserOdometry2D.h.

Eigen::Matrix<float, 3, 3> CLaserOdometry2D::cov_odo [protected]

Definition at line 109 of file CLaserOdometry2D.h.

unsigned int CLaserOdometry2D::ctf_levels [protected]

Definition at line 119 of file CLaserOdometry2D.h.

Eigen::MatrixXf CLaserOdometry2D::dt [protected]

Definition at line 100 of file CLaserOdometry2D.h.

Eigen::MatrixXf CLaserOdometry2D::dtita [protected]

Definition at line 99 of file CLaserOdometry2D.h.

bool CLaserOdometry2D::first_laser_scan [protected]

Definition at line 72 of file CLaserOdometry2D.h.

float CLaserOdometry2D::fovh [protected]

Definition at line 115 of file CLaserOdometry2D.h.

float CLaserOdometry2D::fps [protected]

Definition at line 114 of file CLaserOdometry2D.h.

double CLaserOdometry2D::freq

Definition at line 67 of file CLaserOdometry2D.h.

float CLaserOdometry2D::g_mask[5] [protected]

Definition at line 123 of file CLaserOdometry2D.h.

unsigned int CLaserOdometry2D::image_level [protected]

Definition at line 120 of file CLaserOdometry2D.h.

unsigned int CLaserOdometry2D::iter_irls [protected]

Definition at line 122 of file CLaserOdometry2D.h.

mrpt::math::CMatrixFloat31 CLaserOdometry2D::kai_abs [protected]

Definition at line 130 of file CLaserOdometry2D.h.

mrpt::math::CMatrixFloat31 CLaserOdometry2D::kai_loc [protected]

Definition at line 131 of file CLaserOdometry2D.h.

mrpt::math::CMatrixFloat31 CLaserOdometry2D::kai_loc_level [protected]

Definition at line 133 of file CLaserOdometry2D.h.

mrpt::math::CMatrixFloat31 CLaserOdometry2D::kai_loc_old [protected]

Definition at line 132 of file CLaserOdometry2D.h.

mrpt::poses::CPose3D CLaserOdometry2D::laser_oldpose [protected]

Definition at line 136 of file CLaserOdometry2D.h.

mrpt::poses::CPose3D CLaserOdometry2D::laser_pose [protected]

Definition at line 135 of file CLaserOdometry2D.h.

std::string CLaserOdometry2D::laser_scan_topic

Definition at line 64 of file CLaserOdometry2D.h.

ros::Subscriber CLaserOdometry2D::laser_sub [protected]

Definition at line 77 of file CLaserOdometry2D.h.

std::vector<double> CLaserOdometry2D::last_m_ang_speeds [protected]

Definition at line 141 of file CLaserOdometry2D.h.

std::vector<double> CLaserOdometry2D::last_m_lin_speeds [protected]

Definition at line 140 of file CLaserOdometry2D.h.

ros::Time CLaserOdometry2D::last_odom_time [protected]

Definition at line 128 of file CLaserOdometry2D.h.

sensor_msgs::LaserScan CLaserOdometry2D::last_scan [protected]

Definition at line 71 of file CLaserOdometry2D.h.

unsigned int CLaserOdometry2D::level [protected]

Definition at line 120 of file CLaserOdometry2D.h.

mrpt::utils::CTicTac CLaserOdometry2D::m_clock [protected]

Definition at line 126 of file CLaserOdometry2D.h.

float CLaserOdometry2D::m_runtime [protected]

Definition at line 127 of file CLaserOdometry2D.h.

bool CLaserOdometry2D::module_initialized [protected]

Definition at line 72 of file CLaserOdometry2D.h.

ros::NodeHandle CLaserOdometry2D::n [protected]

Definition at line 70 of file CLaserOdometry2D.h.

bool CLaserOdometry2D::new_scan_available [protected]

Definition at line 72 of file CLaserOdometry2D.h.

Eigen::MatrixXf CLaserOdometry2D::norm_ang [protected]

Definition at line 102 of file CLaserOdometry2D.h.

Eigen::MatrixXf CLaserOdometry2D::normx [protected]

Definition at line 102 of file CLaserOdometry2D.h.

Eigen::MatrixXf CLaserOdometry2D::normy [protected]

Definition at line 102 of file CLaserOdometry2D.h.

Eigen::MatrixXi CLaserOdometry2D::null [protected]

Definition at line 104 of file CLaserOdometry2D.h.

unsigned int CLaserOdometry2D::num_valid_range [protected]

Definition at line 121 of file CLaserOdometry2D.h.

tf::TransformBroadcaster CLaserOdometry2D::odom_broadcaster [protected]

Definition at line 74 of file CLaserOdometry2D.h.

std::string CLaserOdometry2D::odom_frame_id

Definition at line 66 of file CLaserOdometry2D.h.

ros::Publisher CLaserOdometry2D::odom_pub [protected]

Definition at line 78 of file CLaserOdometry2D.h.

std::vector<Eigen::MatrixXf> CLaserOdometry2D::range [protected]

Definition at line 84 of file CLaserOdometry2D.h.

std::vector<Eigen::MatrixXf> CLaserOdometry2D::range_inter [protected]

Definition at line 86 of file CLaserOdometry2D.h.

std::vector<Eigen::MatrixXf> CLaserOdometry2D::range_old [protected]

Definition at line 85 of file CLaserOdometry2D.h.

std::vector<Eigen::MatrixXf> CLaserOdometry2D::range_warped [protected]

Definition at line 87 of file CLaserOdometry2D.h.

Eigen::MatrixXf CLaserOdometry2D::range_wf [protected]

Definition at line 98 of file CLaserOdometry2D.h.

mrpt::poses::CPose3D CLaserOdometry2D::robot_oldpose [protected]

Definition at line 138 of file CLaserOdometry2D.h.

mrpt::poses::CPose3D CLaserOdometry2D::robot_pose [protected]

Definition at line 137 of file CLaserOdometry2D.h.

Eigen::MatrixXf CLaserOdometry2D::rtita [protected]

Definition at line 101 of file CLaserOdometry2D.h.

bool CLaserOdometry2D::test [protected]

Definition at line 139 of file CLaserOdometry2D.h.

tf::TransformListener CLaserOdometry2D::tf_listener [protected]

Definition at line 73 of file CLaserOdometry2D.h.

std::vector<Eigen::MatrixXf> CLaserOdometry2D::transformations [protected]

Definition at line 96 of file CLaserOdometry2D.h.

Eigen::Matrix<float, 3, 1> CLaserOdometry2D::Var [protected]

Definition at line 108 of file CLaserOdometry2D.h.

Eigen::MatrixXf CLaserOdometry2D::weights [protected]

Definition at line 103 of file CLaserOdometry2D.h.

unsigned int CLaserOdometry2D::width [protected]

Definition at line 118 of file CLaserOdometry2D.h.

std::vector<Eigen::MatrixXf> CLaserOdometry2D::xx [protected]

Definition at line 88 of file CLaserOdometry2D.h.

std::vector<Eigen::MatrixXf> CLaserOdometry2D::xx_inter [protected]

Definition at line 89 of file CLaserOdometry2D.h.

std::vector<Eigen::MatrixXf> CLaserOdometry2D::xx_old [protected]

Definition at line 90 of file CLaserOdometry2D.h.

std::vector<Eigen::MatrixXf> CLaserOdometry2D::xx_warped [protected]

Definition at line 91 of file CLaserOdometry2D.h.

std::vector<Eigen::MatrixXf> CLaserOdometry2D::yy [protected]

Definition at line 92 of file CLaserOdometry2D.h.

std::vector<Eigen::MatrixXf> CLaserOdometry2D::yy_inter [protected]

Definition at line 93 of file CLaserOdometry2D.h.

std::vector<Eigen::MatrixXf> CLaserOdometry2D::yy_old [protected]

Definition at line 94 of file CLaserOdometry2D.h.

std::vector<Eigen::MatrixXf> CLaserOdometry2D::yy_warped [protected]

Definition at line 95 of file CLaserOdometry2D.h.

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

• CLaserOdometry2D.h
• CLaserOdometry2D.cpp