DockPerception Class Reference

#include <perception.h>

Public Member Functions
	DockPerception (ros::NodeHandle &nh)
bool	getPose (geometry_msgs::PoseStamped &pose, std::string frame="")
	Get the pose of the dock. More...
bool	start (const geometry_msgs::PoseStamped &pose)
	Start dock detection. More...
bool	stop ()
	Stop tracking the dock. More...

Private Member Functions
void	callback (const sensor_msgs::LaserScanConstPtr &scan)
	Callback to process laser scans. More...
DockCandidatePtr	extract (laser_processor::SampleSet *cluster)
	Extract a DockCandidate from a cluster, filling in the lengths and slopes of each line found using ransac. More...
double	fit (const DockCandidatePtr &candidate, geometry_msgs::Pose &pose)
	Try to fit a dock to candidate. More...

Static Private Member Functions
static bool	isValid (const tf::Quaternion &q)
	Method to check if the quaternion is valid. More...

Private Attributes
bool	debug_
ros::Publisher	debug_points_
geometry_msgs::PoseStamped	dock_
boost::mutex	dock_mutex_
LinearPoseFilter2DPtr	dock_pose_filter_
ros::Time	dock_stamp_
bool	found_dock_
std::vector< geometry_msgs::Point >	front_cloud_
std::vector< geometry_msgs::Point >	ideal_cloud_
tf::TransformListener	listener_
double	max_alignment_error_
bool	running_
ros::Subscriber	scan_sub_
std::string	tracking_frame_
	Low pass filter object for filtering dock poses. More...

Detailed Description

Definition at line 38 of file perception.h.

Constructor & Destructor Documentation

DockPerception::DockPerception ( ros::NodeHandle &  nh )

explicit

Definition at line 40 of file perception.cpp.

Member Function Documentation

void DockPerception::callback ( const sensor_msgs::LaserScanConstPtr &  scan )

private

Callback to process laser scans.

Definition at line 174 of file perception.cpp.

DockCandidatePtr DockPerception::extract ( laser_processor::SampleSet *  cluster )

private

Extract a DockCandidate from a cluster, filling in the lengths and slopes of each line found using ransac.

Parameters

cluster

The pointer to the cluster to extract from.

Definition at line 369 of file perception.cpp.

double DockPerception::fit ( const DockCandidatePtr &  candidate, geometry_msgs::Pose &  pose  )

private

Try to fit a dock to candidate.

Parameters

candidate	The candidate to fit to.
pose	The fitted pose, if successful.

Returns

Fitness score (>0 if successful)

Definition at line 417 of file perception.cpp.

bool DockPerception::getPose	(	geometry_msgs::PoseStamped &	pose,
		std::string	frame = ""
	)

Get the pose of the dock.

Definition at line 120 of file perception.cpp.

bool DockPerception::isValid ( const tf::Quaternion &  q )

staticprivate

Method to check if the quaternion is valid.

Parameters

q	Quaternion to check.

Returns

True if quaternion is valid.

Definition at line 553 of file perception.cpp.

bool DockPerception::start

(

const geometry_msgs::PoseStamped &

pose

)

Start dock detection.

Parameters

pose	The initial estimate of dock pose

Definition at line 105 of file perception.cpp.

bool DockPerception::stop

(

)

Stop tracking the dock.

Definition at line 114 of file perception.cpp.

Member Data Documentation

bool DockPerception::debug_

private

Definition at line 85 of file perception.h.

ros::Publisher DockPerception::debug_points_

private

Definition at line 103 of file perception.h.

geometry_msgs::PoseStamped DockPerception::dock_

private

Definition at line 92 of file perception.h.

boost::mutex DockPerception::dock_mutex_

private

Definition at line 94 of file perception.h.

LinearPoseFilter2DPtr DockPerception::dock_pose_filter_

private

Definition at line 87 of file perception.h.

ros::Time DockPerception::dock_stamp_

private

Definition at line 98 of file perception.h.

bool DockPerception::found_dock_

private

Definition at line 96 of file perception.h.

std::vector<geometry_msgs::Point> DockPerception::front_cloud_

private

Definition at line 108 of file perception.h.

std::vector<geometry_msgs::Point> DockPerception::ideal_cloud_

private

Definition at line 106 of file perception.h.

tf::TransformListener DockPerception::listener_

private

Definition at line 82 of file perception.h.

double DockPerception::max_alignment_error_

private

Definition at line 100 of file perception.h.

bool DockPerception::running_

private

Definition at line 84 of file perception.h.

ros::Subscriber DockPerception::scan_sub_

private

Definition at line 81 of file perception.h.

std::string DockPerception::tracking_frame_

private

Low pass filter object for filtering dock poses.

Definition at line 90 of file perception.h.

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

• perception.h
• perception.cpp