Class template that provides a wrapper around the MRPT CGraphSlamEngine class template and implements methods for interacting with ROS. More...

#include <CGraphSlamEngine_ROS.h>

Inheritance diagram for mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >:

[legend]

List of all members.

Public Types
typedef CGraphSlamEngine< GRAPH_t >	parent
Public Member Functions
	CGraphSlamEngine_ROS (ros::NodeHandle nh, const std::string &config_file, const std::string &rawlog_fname="", const std::string &fname_GT="", mrpt::graphslam::CWindowManager win_manager=NULL, mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t > node_reg=NULL, mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t > edge_reg=NULL, mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > *optimizer=NULL)
void	initClass ()
	Initialize object instance.
void	setupComm ()
	Wrapper method around the protected setup* class methods.
virtual	~CGraphSlamEngine_ROS ()
Public Attributes
ros::NodeHandle *	m_nh
Protected Member Functions
virtual bool	_execGraphSlamStep (mrpt::obs::CActionCollectionPtr &action, mrpt::obs::CSensoryFramePtr &observations, mrpt::obs::CObservationPtr &observation, size_t &rawlog_entry)
void	readParams ()
	Read the problem configuration parameters.
void	readROSParameters ()
	Read configuration parameters from the ROS parameter server.
virtual void	usePublishersBroadcasters ()
	Provide feedback about the SLAM operation.
setup* ROS-related methods
Methods for setting up topic subscribers, publishers, and corresponding services See also: setupComm
virtual void	setupSubs ()
virtual void	setupPubs ()
virtual void	setupSrvs ()
Protected Attributes
ros::CallbackQueue	custom_service_queue
	Custom Callback queue for processing requests for the services outside the standard CallbackQueue.
int	m_queue_size

Detailed Description

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >

Class template that provides a wrapper around the MRPT CGraphSlamEngine class template and implements methods for interacting with ROS.

Definition at line 26 of file CGraphSlamEngine_ROS.h.

Member Typedef Documentation

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>

typedef CGraphSlamEngine<GRAPH_t> mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::parent

Definition at line 29 of file CGraphSlamEngine_ROS.h.

Constructor & Destructor Documentation

template<class GRAPH_t>

mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::CGraphSlamEngine_ROS	(	ros::NodeHandle *	nh,
		const std::string &	config_file,
		const std::string &	rawlog_fname = `""`,
		const std::string &	fname_GT = `""`,
		mrpt::graphslam::CWindowManager *	win_manager = `NULL`,
		mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t > *	node_reg = `NULL`,
		mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t > *	edge_reg = `NULL`,
		mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > *	optimizer = `NULL`
	)

Definition at line 15 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::~CGraphSlamEngine_ROS ( ) [virtual]

Definition at line 38 of file CGraphSlamEngine_ROS_impl.h.

Member Function Documentation

template<class GRAPH_t >

bool mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::_execGraphSlamStep	(	mrpt::obs::CActionCollectionPtr &	action,
		mrpt::obs::CSensoryFramePtr &	observations,
		mrpt::obs::CObservationPtr &	observation,
		size_t &	rawlog_entry
	)		`[protected, virtual]`

Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.

Definition at line 95 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::initClass ( )

Initialize object instance.

Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.

Definition at line 44 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::readParams ( ) [protected]

Read the problem configuration parameters.

See also:: readROSParameters, CGraphSlamEngine::loadParams

Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.

Definition at line 86 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::readROSParameters ( ) [protected]

Read configuration parameters from the ROS parameter server.

Note:: Method is automatically called on object construction.

See also:: readParams, initClass

Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.

Definition at line 92 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::setupComm ( )

Wrapper method around the protected setup* class methods.

Handy for setting up publishers, subscribers, services all at once.

Definition at line 112 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::setupPubs ( ) [protected, virtual]

Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.

Definition at line 130 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::setupSrvs ( ) [protected, virtual]

Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.

Definition at line 136 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::setupSubs ( ) [protected, virtual]

Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.

Definition at line 124 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::usePublishersBroadcasters ( ) [protected, virtual]

Provide feedback about the SLAM operation.

Method makes the necessary calls to all the publishers of the class and broadcaster instances

Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.

Definition at line 109 of file CGraphSlamEngine_ROS_impl.h.

Member Data Documentation

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>

ros::CallbackQueue mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::custom_service_queue [protected]

Custom Callback queue for processing requests for the services outside the standard CallbackQueue.

Note:: Logical thing would be to define it in CGraphSlamEngine_MR, but that results in an segfault with the following error message: ``` pure virtual method called terminate called without an active exception ```

Definition at line 98 of file CGraphSlamEngine_ROS.h.

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>

ros::NodeHandle* mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::m_nh

Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.

Definition at line 52 of file CGraphSlamEngine_ROS.h.

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>

int mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::m_queue_size [protected]

Definition at line 101 of file CGraphSlamEngine_ROS.h.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf> class mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >