#include <psm_node.h>

Public Member Functions
	PSMNode ()

virtual	~PSMNode ()

Private Member Functions
void	getCurrentEstimatedPose (tf::Transform &worldToBase, const sensor_msgs::LaserScan &scanMsg)

void	getParams ()

void	imuCallback (const sensor_msgs::Imu &imuMsg)

bool	initialize (const sensor_msgs::LaserScan &scan)

void	pose2DToTf (const geometry_msgs::Pose2D &pose, tf::Transform &t)

void	publishPose (const tf::Transform &transform)

void	publishTf (const tf::Transform &transform, const ros::Time &time)

void	rosToPMScan (const sensor_msgs::LaserScan &scan, const tf::Transform &change, PMScan *pmScan)

void	scanCallback (const sensor_msgs::LaserScan &scan)

void	tfToPose2D (const tf::Transform &t, geometry_msgs::Pose2D &pose)

Private Attributes
std::string	baseFrame_

tf::Transform	baseToLaser_

double	currImuAngle_

boost::mutex	imuMutex_

ros::Subscriber	imuSubscriber_

bool	initialized_

std::string	laserFrame_

tf::Transform	laserToBase_

PolarMatcher	matcher_

double	maxError_

int	maxIterations_

int	minValidPoints_

ros::Publisher	posePublisher_

double	prevImuAngle_

PMScan *	prevPMScan_

tf::Transform	prevWorldToBase_

bool	publishPose_

bool	publishTf_

int	scansCount_

ros::Subscriber	scanSubscriber_

int	searchWindow_

double	stopCondition_

tf::TransformBroadcaster	tfBroadcaster_

tf::TransformListener	tfListener_

double	totalDuration_

bool	useImuOdometry_

bool	useTfOdometry_

std::string	worldFrame_

Detailed Description

Definition at line 51 of file psm_node.h.

Constructor & Destructor Documentation

PSMNode::PSMNode ( )

Definition at line 40 of file psm_node.cpp.

PSMNode::~PSMNode ( )

virtual

Definition at line 59 of file psm_node.cpp.

Member Function Documentation

void PSMNode::getCurrentEstimatedPose	(	tf::Transform &	worldToBase,
		const sensor_msgs::LaserScan &	scanMsg
	)

private

Definition at line 339 of file psm_node.cpp.

void PSMNode::getParams ( )

private

Definition at line 64 of file psm_node.cpp.

void PSMNode::imuCallback ( const sensor_msgs::Imu & imuMsg )

private

Definition at line 174 of file psm_node.cpp.

bool PSMNode::initialize ( const sensor_msgs::LaserScan & scan )

private

Definition at line 120 of file psm_node.cpp.

void PSMNode::pose2DToTf	(	const geometry_msgs::Pose2D &	pose,
		tf::Transform &	t
	)

private

Definition at line 357 of file psm_node.cpp.

void PSMNode::publishPose ( const tf::Transform & transform )

private

Definition at line 296 of file psm_node.cpp.

void PSMNode::publishTf	(	const tf::Transform &	transform,
		const ros::Time &	time
	)

private

Definition at line 289 of file psm_node.cpp.

void PSMNode::rosToPMScan	(	const sensor_msgs::LaserScan &	scan,
		const tf::Transform &	change,
		PMScan *	pmScan
	)

private

Definition at line 304 of file psm_node.cpp.

void PSMNode::scanCallback ( const sensor_msgs::LaserScan & scan )

private

Definition at line 184 of file psm_node.cpp.

void PSMNode::tfToPose2D	(	const tf::Transform &	t,
		geometry_msgs::Pose2D &	pose
	)

private

Definition at line 365 of file psm_node.cpp.

Member Data Documentation

std::string PSMNode::baseFrame_

private

Definition at line 90 of file psm_node.h.

tf::Transform PSMNode::baseToLaser_

private

Definition at line 62 of file psm_node.h.

double PSMNode::currImuAngle_

private

Definition at line 74 of file psm_node.h.

boost::mutex PSMNode::imuMutex_

private

Definition at line 72 of file psm_node.h.

ros::Subscriber PSMNode::imuSubscriber_

private

Definition at line 56 of file psm_node.h.

bool PSMNode::initialized_

private

Definition at line 65 of file psm_node.h.

std::string PSMNode::laserFrame_

private

Definition at line 91 of file psm_node.h.

tf::Transform PSMNode::laserToBase_

private

Definition at line 63 of file psm_node.h.

PolarMatcher PSMNode::matcher_

private

Definition at line 69 of file psm_node.h.

double PSMNode::maxError_

private

Definition at line 85 of file psm_node.h.

int PSMNode::maxIterations_

private

Definition at line 86 of file psm_node.h.

int PSMNode::minValidPoints_

private

Definition at line 83 of file psm_node.h.

ros::Publisher PSMNode::posePublisher_

private

Definition at line 57 of file psm_node.h.

double PSMNode::prevImuAngle_

private

Definition at line 73 of file psm_node.h.

PMScan* PSMNode::prevPMScan_

private

Definition at line 70 of file psm_node.h.

tf::Transform PSMNode::prevWorldToBase_

private

Definition at line 61 of file psm_node.h.

bool PSMNode::publishPose_

private

Definition at line 79 of file psm_node.h.

bool PSMNode::publishTf_

private

Definition at line 78 of file psm_node.h.

int PSMNode::scansCount_

private

Definition at line 67 of file psm_node.h.

ros::Subscriber PSMNode::scanSubscriber_

private

Definition at line 55 of file psm_node.h.

int PSMNode::searchWindow_

private

Definition at line 84 of file psm_node.h.

double PSMNode::stopCondition_

private

Definition at line 87 of file psm_node.h.

tf::TransformBroadcaster PSMNode::tfBroadcaster_

private

Definition at line 59 of file psm_node.h.

tf::TransformListener PSMNode::tfListener_

private

Definition at line 60 of file psm_node.h.

double PSMNode::totalDuration_

private

Definition at line 66 of file psm_node.h.

bool PSMNode::useImuOdometry_

private

Definition at line 81 of file psm_node.h.

bool PSMNode::useTfOdometry_

private

Definition at line 80 of file psm_node.h.

std::string PSMNode::worldFrame_

private

Definition at line 89 of file psm_node.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation