SelfLocalizer Class Reference

#include <SelfLocalizer.h>

Public Member Functions
void	convertMap (const nav_msgs::OccupancyGrid &map_msg)
tf::Transform	getBestPose ()
double	getCovariance ()
tf::StampedTransform	getMapToOdometry ()
bool	initialize ()
void	process (const sensor_msgs::LaserScan::ConstPtr &scan)
void	publishParticleCloud ()
	SelfLocalizer (bool publish=true)
	~SelfLocalizer ()

Static Public Member Functions
static double	calculateBeamModel (LaserData *data, pf_sample_set_t *set)
static double	calculateLikelihoodFieldModel (LaserData *data, pf_sample_set_t *set)
static double	calculateMoveModel (OdometryData *data, pf_sample_set_t *set)
static pf_vector_t	distributeParticles (void *map)

Private Attributes
pf_action_model_fn_t	mActionModelFunction
double	mAlphaFast
double	mAlphaSlow
bool	mFirstScanReceived
std::string	mLaserFrame
int	mLaserModelType
std::string	mMapFrame
tf::Transform	mMapToOdometry
int	mMaxParticles
int	mMinParticles
double	mMinRotation
double	mMinTranslation
std::string	mOdometryFrame
pf_t *	mParticleFilter
ros::Publisher	mParticlePublisher
double	mPopulationErr
double	mPopulationZ
int	mProcessedScans
bool	mPublishParticles
std::string	mRobotFrame
pf_sensor_model_fn_t	mSensorModelFunction
tf::TransformListener	mTransformListener

Static Private Attributes
static tf::StampedTransform	mLastPose
static double	sAlpha1
static double	sAlpha2
static double	sAlpha3
static double	sAlpha4
static double	sLamdaShort
static pf_vector_t	sLaserPose
static double	sLikelihoodMaxDist
static map_t *	sMap = NULL
static int	sMaxBeams
static double	sSigmaHit
static double	sZHit
static double	sZMax
static double	sZRand
static double	sZShort

Detailed Description

Definition at line 37 of file SelfLocalizer.h.

Constructor & Destructor Documentation

SelfLocalizer::SelfLocalizer

(

bool

publish = true

)

Definition at line 80 of file SelfLocalizer.cpp.

SelfLocalizer::~SelfLocalizer

(

)

Definition at line 146 of file SelfLocalizer.cpp.

Member Function Documentation

double SelfLocalizer::calculateBeamModel ( LaserData *  data, pf_sample_set_t *  set  )

static

Definition at line 225 of file SelfLocalizer.cpp.

double SelfLocalizer::calculateLikelihoodFieldModel ( LaserData *  data, pf_sample_set_t *  set  )

static

Definition at line 282 of file SelfLocalizer.cpp.

double SelfLocalizer::calculateMoveModel ( OdometryData *  data, pf_sample_set_t *  set  )

static

Definition at line 183 of file SelfLocalizer.cpp.

void SelfLocalizer::convertMap

(

const nav_msgs::OccupancyGrid &

map_msg

)

Definition at line 466 of file SelfLocalizer.cpp.

pf_vector_t SelfLocalizer::distributeParticles ( void *  map )

static

Definition at line 154 of file SelfLocalizer.cpp.

tf::Transform SelfLocalizer::getBestPose

(

)

Definition at line 510 of file SelfLocalizer.cpp.

double SelfLocalizer::getCovariance

(

)

Definition at line 501 of file SelfLocalizer.cpp.

tf::StampedTransform SelfLocalizer::getMapToOdometry ( )

inline

Definition at line 56 of file SelfLocalizer.h.

bool SelfLocalizer::initialize

(

)

Definition at line 357 of file SelfLocalizer.cpp.

void SelfLocalizer::process

(

const sensor_msgs::LaserScan::ConstPtr &

scan

)

Definition at line 393 of file SelfLocalizer.cpp.

void SelfLocalizer::publishParticleCloud

(

)

Definition at line 556 of file SelfLocalizer.cpp.

Member Data Documentation

pf_action_model_fn_t SelfLocalizer::mActionModelFunction

private

Definition at line 132 of file SelfLocalizer.h.

double SelfLocalizer::mAlphaFast

private

Definition at line 119 of file SelfLocalizer.h.

double SelfLocalizer::mAlphaSlow

private

Definition at line 118 of file SelfLocalizer.h.

bool SelfLocalizer::mFirstScanReceived

private

Definition at line 127 of file SelfLocalizer.h.

std::string SelfLocalizer::mLaserFrame

private

Definition at line 98 of file SelfLocalizer.h.

int SelfLocalizer::mLaserModelType

private

Definition at line 129 of file SelfLocalizer.h.

tf::StampedTransform SelfLocalizer::mLastPose

staticprivate

Definition at line 110 of file SelfLocalizer.h.

std::string SelfLocalizer::mMapFrame

private

Definition at line 95 of file SelfLocalizer.h.

tf::Transform SelfLocalizer::mMapToOdometry

private

Definition at line 113 of file SelfLocalizer.h.

int SelfLocalizer::mMaxParticles

private

Definition at line 117 of file SelfLocalizer.h.

int SelfLocalizer::mMinParticles

private

Definition at line 116 of file SelfLocalizer.h.

double SelfLocalizer::mMinRotation

private

Definition at line 124 of file SelfLocalizer.h.

double SelfLocalizer::mMinTranslation

private

Definition at line 123 of file SelfLocalizer.h.

std::string SelfLocalizer::mOdometryFrame

private

Definition at line 96 of file SelfLocalizer.h.

pf_t* SelfLocalizer::mParticleFilter

private

Definition at line 102 of file SelfLocalizer.h.

ros::Publisher SelfLocalizer::mParticlePublisher

private

Definition at line 107 of file SelfLocalizer.h.

double SelfLocalizer::mPopulationErr

private

Definition at line 120 of file SelfLocalizer.h.

double SelfLocalizer::mPopulationZ

private

Definition at line 121 of file SelfLocalizer.h.

int SelfLocalizer::mProcessedScans

private

Definition at line 103 of file SelfLocalizer.h.

bool SelfLocalizer::mPublishParticles

private

Definition at line 126 of file SelfLocalizer.h.

std::string SelfLocalizer::mRobotFrame

private

Definition at line 97 of file SelfLocalizer.h.

pf_sensor_model_fn_t SelfLocalizer::mSensorModelFunction

private

Definition at line 131 of file SelfLocalizer.h.

tf::TransformListener SelfLocalizer::mTransformListener

private

Definition at line 106 of file SelfLocalizer.h.

double SelfLocalizer::sAlpha1

staticprivate

Definition at line 71 of file SelfLocalizer.h.

double SelfLocalizer::sAlpha2

staticprivate

Definition at line 71 of file SelfLocalizer.h.

double SelfLocalizer::sAlpha3

staticprivate

Definition at line 71 of file SelfLocalizer.h.

double SelfLocalizer::sAlpha4

staticprivate

Definition at line 71 of file SelfLocalizer.h.

double SelfLocalizer::sLamdaShort

staticprivate

Definition at line 87 of file SelfLocalizer.h.

pf_vector_t SelfLocalizer::sLaserPose

staticprivate

Definition at line 72 of file SelfLocalizer.h.

double SelfLocalizer::sLikelihoodMaxDist

staticprivate

Definition at line 78 of file SelfLocalizer.h.

map_t * SelfLocalizer::sMap = NULL

staticprivate

Definition at line 81 of file SelfLocalizer.h.

int SelfLocalizer::sMaxBeams

staticprivate

Definition at line 75 of file SelfLocalizer.h.

double SelfLocalizer::sSigmaHit

staticprivate

Definition at line 84 of file SelfLocalizer.h.

double SelfLocalizer::sZHit

staticprivate

Definition at line 90 of file SelfLocalizer.h.

double SelfLocalizer::sZMax

staticprivate

Definition at line 92 of file SelfLocalizer.h.

double SelfLocalizer::sZRand

staticprivate

Definition at line 93 of file SelfLocalizer.h.

double SelfLocalizer::sZShort

staticprivate

Definition at line 91 of file SelfLocalizer.h.

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

• SelfLocalizer.h
• SelfLocalizer.cpp