#include <laser_scan_matcher.h>

Public Member Functions
	LaserScanMatcher (ros::NodeHandle nh, ros::NodeHandle nh_private)

	~LaserScanMatcher ()

Private Types
typedef pcl::PointCloud< PointT >	PointCloudT

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

typedef pcl::PointCloud<PointT> scan_tools::LaserScanMatcher::PointCloudT

private

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

scan_tools::LaserScanMatcher::LaserScanMatcher	(	ros::NodeHandle	nh,
		ros::NodeHandle	nh_private
	)

Definition at line 45 of file laser_scan_matcher.cpp.

scan_tools::LaserScanMatcher::~LaserScanMatcher ( )

Definition at line 132 of file laser_scan_matcher.cpp.

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.

void scan_tools::LaserScanMatcher::initParams ( )

private

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.

bool scan_tools::LaserScanMatcher::newKeyframeNeeded ( const tf::Transform & d )

private

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

Definition at line 153 of file laser_scan_matcher.h.

std::string scan_tools::LaserScanMatcher::base_frame_

private

Definition at line 101 of file laser_scan_matcher.h.

tf::Transform scan_tools::LaserScanMatcher::base_to_laser_

private

Definition at line 91 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::cloud_range_max_

private

Definition at line 104 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::cloud_range_min_

private

Definition at line 103 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::cloud_res_

private

Definition at line 105 of file laser_scan_matcher.h.

ros::Subscriber scan_tools::LaserScanMatcher::cloud_subscriber_

private

Definition at line 83 of file laser_scan_matcher.h.

tf::Transform scan_tools::LaserScanMatcher::f2b_

private

Definition at line 140 of file laser_scan_matcher.h.

tf::Transform scan_tools::LaserScanMatcher::f2b_kf_

private

Definition at line 141 of file laser_scan_matcher.h.

std::string scan_tools::LaserScanMatcher::fixed_frame_

private

Definition at line 102 of file laser_scan_matcher.h.

ros::Subscriber scan_tools::LaserScanMatcher::imu_subscriber_

private

Definition at line 85 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::initialized_

private

Definition at line 135 of file laser_scan_matcher.h.

sm_params scan_tools::LaserScanMatcher::input_

private

Definition at line 155 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::kf_dist_angular_

private

Definition at line 118 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::kf_dist_linear_

private

Definition at line 116 of file laser_scan_matcher.h.

double scan_tools::LaserScanMatcher::kf_dist_linear_sq_

private

Definition at line 117 of file laser_scan_matcher.h.

tf::Transform scan_tools::LaserScanMatcher::laser_to_base_

private

Definition at line 92 of file laser_scan_matcher.h.

ros::Time scan_tools::LaserScanMatcher::last_icp_time_

private

Definition at line 143 of file laser_scan_matcher.h.

sensor_msgs::Imu scan_tools::LaserScanMatcher::last_used_imu_msg_

private

Definition at line 146 of file laser_scan_matcher.h.

nav_msgs::Odometry scan_tools::LaserScanMatcher::last_used_odom_msg_

private

Definition at line 148 of file laser_scan_matcher.h.

sensor_msgs::Imu scan_tools::LaserScanMatcher::latest_imu_msg_

private

Definition at line 145 of file laser_scan_matcher.h.

nav_msgs::Odometry scan_tools::LaserScanMatcher::latest_odom_msg_

private

Definition at line 147 of file laser_scan_matcher.h.

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.

ros::NodeHandle scan_tools::LaserScanMatcher::nh_

private

Definition at line 79 of file laser_scan_matcher.h.

ros::NodeHandle scan_tools::LaserScanMatcher::nh_private_

private

Definition at line 80 of file laser_scan_matcher.h.

ros::Subscriber scan_tools::LaserScanMatcher::odom_subscriber_

private

Definition at line 84 of file laser_scan_matcher.h.

std::vector<double> scan_tools::LaserScanMatcher::orientation_covariance_

private

Definition at line 112 of file laser_scan_matcher.h.

sm_result scan_tools::LaserScanMatcher::output_

private

Definition at line 156 of file laser_scan_matcher.h.

ros::Publisher scan_tools::LaserScanMatcher::pose_publisher_

private

Definition at line 94 of file laser_scan_matcher.h.

ros::Publisher scan_tools::LaserScanMatcher::pose_stamped_publisher_

private

Definition at line 95 of file laser_scan_matcher.h.

ros::Publisher scan_tools::LaserScanMatcher::pose_with_covariance_publisher_

private

Definition at line 96 of file laser_scan_matcher.h.

ros::Publisher scan_tools::LaserScanMatcher::pose_with_covariance_stamped_publisher_

private

Definition at line 97 of file laser_scan_matcher.h.

std::vector<double> scan_tools::LaserScanMatcher::position_covariance_

private

Definition at line 111 of file laser_scan_matcher.h.

LDP scan_tools::LaserScanMatcher::prev_ldp_scan_

private

Definition at line 157 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::publish_pose_

private

Definition at line 107 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::publish_pose_stamped_

private

Definition at line 109 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::publish_pose_with_covariance_

private

Definition at line 108 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::publish_pose_with_covariance_stamped_

private

Definition at line 110 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::publish_tf_

private

Definition at line 106 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::received_imu_

private

Definition at line 136 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::received_odom_

private

Definition at line 137 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::received_vel_

private

Definition at line 138 of file laser_scan_matcher.h.

ros::Subscriber scan_tools::LaserScanMatcher::scan_subscriber_

private

Definition at line 82 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::stamped_vel_

private

Definition at line 129 of file laser_scan_matcher.h.

tf::TransformBroadcaster scan_tools::LaserScanMatcher::tf_broadcaster_

private

Definition at line 89 of file laser_scan_matcher.h.

tf::TransformListener scan_tools::LaserScanMatcher::tf_listener_

private

Definition at line 88 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::use_cloud_input_

private

Definition at line 114 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::use_imu_

private

Definition at line 126 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::use_odom_

private

Definition at line 127 of file laser_scan_matcher.h.

bool scan_tools::LaserScanMatcher::use_vel_

private

Definition at line 128 of file laser_scan_matcher.h.

ros::Subscriber scan_tools::LaserScanMatcher::vel_subscriber_

private

Definition at line 86 of file laser_scan_matcher.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation