Public Member Functions | Private Types | Private Member Functions | Private Attributes
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< PointTPointCloudT
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.


Member Typedef Documentation

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.


Constructor & Destructor Documentation

Definition at line 45 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.

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.

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.


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]

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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.

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


laser_scan_matcher
Author(s): Ivan Dryanovski, William Morris, Andrea Censi
autogenerated on Thu Mar 23 2017 03:34:32