mbicp Class Reference

List of all members.

Public Member Functions
	mbicp (ConfigFile *cf, int section)
virtual int	ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data)
virtual int	Setup ()
virtual int	Shutdown ()
virtual	~mbicp ()
Private Member Functions
void	compute ()
virtual void	Main ()
void	playerLaser2Tpfp (player_laser_data_t laserData, Tpfp *laserDataTpfp)
Tsc	playerPose2Tsc (player_pose2d_t posicion)
void	ProcessCommand (player_msghdr_t *hdr, player_position2d_cmd_pos_t &)
void	ProcessOdom (player_msghdr_t *hdr, player_position2d_data_t &data)
void	ProcessSubtypeLaser (player_msghdr_t *hdr, player_laser_data_scanpose_t &data)
int	SetupDevice ()
void	setupScanMatching ()
int	ShutdownDevice ()
player_pose2d_t	Tsc2playerPose (Tsc posicion)
Private Attributes
float	AsocError
float	Br
float	Bw
player_pose2d_t	currentPose
player_laser_data_t	currentScan
float	errorRatio
float	errt_out
float	errx_out
float	erry_out
float	filter
bool	havePrevious
int	IterSmoothConv
float	L
Device *	laser
player_devaddr_t	laser_addr
Tsc	laserPoseTsc
int	laserStep
player_pose2d_t	lastPoseOdom
float	max_laser_range
float	MaxDistInter
int	MaxIter
Device *	odom
player_devaddr_t	odom_addr
player_devaddr_t	posicion_addr
player_pose2d_t	previousPose
player_laser_data_t	previousScan
int	ProjectionFilter
player_pose2d_t	scanmatchingPose

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Detailed Description

Definition at line 184 of file mbicp_driver.cc.

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Constructor & Destructor Documentation

mbicp::mbicp	(	ConfigFile *	cf,
		int	section
	)

Definition at line 334 of file mbicp_driver.cc.

mbicp::~mbicp

(

)

[virtual]

Definition at line 383 of file mbicp_driver.cc.

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Member Function Documentation

void mbicp::compute

(

)

[private]

Definition at line 586 of file mbicp_driver.cc.

void mbicp::Main

(

)

[private, virtual]

Definition at line 435 of file mbicp_driver.cc.

void mbicp::playerLaser2Tpfp	(	player_laser_data_t	laserData,
		Tpfp *	laserDataTpfp
	)		[private]

Definition at line 687 of file mbicp_driver.cc.

Tsc mbicp::playerPose2Tsc

(

player_pose2d_t

posicion

)

[private]

Definition at line 663 of file mbicp_driver.cc.

void mbicp::ProcessCommand	(	player_msghdr_t *	hdr,
		player_position2d_cmd_pos_t &
	)		[private]

int mbicp::ProcessMessage	(	QueuePointer &	resp_queue,
		player_msghdr *	hdr,
		void *	data
	)		[virtual]

Definition at line 450 of file mbicp_driver.cc.

void mbicp::ProcessOdom	(	player_msghdr_t *	hdr,
		player_position2d_data_t &	data
	)		[private]

Definition at line 505 of file mbicp_driver.cc.

void mbicp::ProcessSubtypeLaser	(	player_msghdr_t *	hdr,
		player_laser_data_scanpose_t &	data
	)		[private]

Definition at line 547 of file mbicp_driver.cc.

int mbicp::Setup

(

)

[virtual]

Definition at line 282 of file mbicp_driver.cc.

int mbicp::SetupDevice

(

)

[private]

Definition at line 389 of file mbicp_driver.cc.

void mbicp::setupScanMatching

(

)

[private]

Definition at line 301 of file mbicp_driver.cc.

int mbicp::Shutdown

(

)

[virtual]

Definition at line 323 of file mbicp_driver.cc.

int mbicp::ShutdownDevice

(

)

[private]

Definition at line 414 of file mbicp_driver.cc.

player_pose2d_t mbicp::Tsc2playerPose

(

Tsc

posicion

)

[private]

Definition at line 675 of file mbicp_driver.cc.

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Member Data Documentation

float mbicp::AsocError [private]

Definition at line 208 of file mbicp_driver.cc.

float mbicp::Br [private]

Definition at line 202 of file mbicp_driver.cc.

float mbicp::Bw [private]

Definition at line 201 of file mbicp_driver.cc.

player_pose2d_t mbicp::currentPose [private]

Definition at line 217 of file mbicp_driver.cc.

player_laser_data_t mbicp::currentScan [private]

Definition at line 222 of file mbicp_driver.cc.

float mbicp::errorRatio [private]

Definition at line 210 of file mbicp_driver.cc.

float mbicp::errt_out [private]

Definition at line 213 of file mbicp_driver.cc.

float mbicp::errx_out [private]

Definition at line 211 of file mbicp_driver.cc.

float mbicp::erry_out [private]

Definition at line 212 of file mbicp_driver.cc.

float mbicp::filter [private]

Definition at line 206 of file mbicp_driver.cc.

bool mbicp::havePrevious [private]

Definition at line 225 of file mbicp_driver.cc.

int mbicp::IterSmoothConv [private]

Definition at line 214 of file mbicp_driver.cc.

float mbicp::L [private]

Definition at line 203 of file mbicp_driver.cc.

Device* mbicp::laser [private]

Definition at line 260 of file mbicp_driver.cc.

player_devaddr_t mbicp::laser_addr [private]

Definition at line 261 of file mbicp_driver.cc.

Tsc mbicp::laserPoseTsc [private]

Definition at line 215 of file mbicp_driver.cc.

int mbicp::laserStep [private]

Definition at line 204 of file mbicp_driver.cc.

player_pose2d_t mbicp::lastPoseOdom [private]

Definition at line 217 of file mbicp_driver.cc.

float mbicp::max_laser_range [private]

Definition at line 200 of file mbicp_driver.cc.

float mbicp::MaxDistInter [private]

Definition at line 205 of file mbicp_driver.cc.

int mbicp::MaxIter [private]

Definition at line 209 of file mbicp_driver.cc.

Device* mbicp::odom [private]

Definition at line 257 of file mbicp_driver.cc.

player_devaddr_t mbicp::odom_addr [private]

Definition at line 258 of file mbicp_driver.cc.

player_devaddr_t mbicp::posicion_addr [private]

Definition at line 254 of file mbicp_driver.cc.

player_pose2d_t mbicp::previousPose [private]

Definition at line 217 of file mbicp_driver.cc.

player_laser_data_t mbicp::previousScan [private]

Definition at line 222 of file mbicp_driver.cc.

int mbicp::ProjectionFilter [private]

Definition at line 207 of file mbicp_driver.cc.

player_pose2d_t mbicp::scanmatchingPose [private]

Definition at line 217 of file mbicp_driver.cc.

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

• mbicp_driver.cc