rtabmap_ros::ICPOdometry Class Reference

Inheritance diagram for rtabmap_ros::ICPOdometry:

Public Member Functions
	ICPOdometry ()
virtual	~ICPOdometry ()
Public Member Functions inherited from rtabmap_ros::OdometryROS
const std::string &	frameId () const
rtabmap::Transform	getTransform (const std::string &fromFrameId, const std::string &toFrameId, const ros::Time &stamp) const
bool	isPaused () const
	OdometryROS (bool stereoParams, bool visParams, bool icpParams)
const std::string &	odomFrameId () const
const rtabmap::ParametersMap &	parameters () const
bool	pause (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	processData (const rtabmap::SensorData &data, const ros::Time &stamp, const std::string &sensorFrameId)
bool	reset (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	resetToPose (rtabmap_ros::ResetPose::Request &, rtabmap_ros::ResetPose::Response &)
bool	resume (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setLogDebug (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setLogError (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setLogInfo (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setLogWarn (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
virtual	~OdometryROS ()
Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
	Nodelet ()
virtual	~Nodelet ()

Protected Member Functions
virtual void	flushCallbacks ()
Protected Member Functions inherited from rtabmap_ros::OdometryROS
void	callbackCalled ()
void	startWarningThread (const std::string &subscribedTopicsMsg, bool approxSync)
tf::TransformListener &	tfListener ()
Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const
ros::NodeHandle &	getMTNodeHandle () const
ros::NodeHandle &	getMTPrivateNodeHandle () const
const V_string &	getMyArgv () const
const std::string &	getName () const
ros::NodeHandle &	getNodeHandle () const
ros::NodeHandle &	getPrivateNodeHandle () const
const M_string &	getRemappingArgs () const
ros::CallbackQueueInterface &	getSTCallbackQueue () const
std::string	getSuffixedName (const std::string &suffix) const

Private Member Functions
void	callbackCloud (const sensor_msgs::PointCloud2ConstPtr &pointCloudMsg)
void	callbackScan (const sensor_msgs::LaserScanConstPtr &scanMsg)
virtual void	onOdomInit ()
virtual void	updateParameters (ParametersMap &parameters)

Private Attributes
ros::Subscriber	cloud_sub_
bool	cloudReceived_ = false
ros::Publisher	filtered_scan_pub_
pluginlib::ClassLoader< rtabmap_ros::PluginInterface >	plugin_loader_
std::vector< boost::shared_ptr< rtabmap_ros::PluginInterface > >	plugins_
ros::Subscriber	scan_sub_
int	scanCloudMaxPoints_
int	scanDownsamplingStep_
double	scanNormalGroundUp_
int	scanNormalK_
double	scanNormalRadius_
double	scanRangeMax_
double	scanRangeMin_
bool	scanReceived_ = false
double	scanVoxelSize_

Detailed Description

Definition at line 58 of file icp_odometry.cpp.

Constructor & Destructor Documentation

rtabmap_ros::ICPOdometry::ICPOdometry ( )

inline

Definition at line 61 of file icp_odometry.cpp.

virtual rtabmap_ros::ICPOdometry::~ICPOdometry ( )

inlinevirtual

Definition at line 77 of file icp_odometry.cpp.

Member Function Documentation

void rtabmap_ros::ICPOdometry::callbackCloud ( const sensor_msgs::PointCloud2ConstPtr &  pointCloudMsg )

inlineprivate

Definition at line 476 of file icp_odometry.cpp.

void rtabmap_ros::ICPOdometry::callbackScan ( const sensor_msgs::LaserScanConstPtr &  scanMsg )

inlineprivate

Definition at line 273 of file icp_odometry.cpp.

virtual void rtabmap_ros::ICPOdometry::flushCallbacks ( )

inlineprotectedvirtual

Implements rtabmap_ros::OdometryROS.

Definition at line 767 of file icp_odometry.cpp.

virtual void rtabmap_ros::ICPOdometry::onOdomInit ( )

inlineprivatevirtual

Implements rtabmap_ros::OdometryROS.

Definition at line 84 of file icp_odometry.cpp.

virtual void rtabmap_ros::ICPOdometry::updateParameters ( ParametersMap &  parameters )

inlineprivatevirtual

Definition at line 149 of file icp_odometry.cpp.

Member Data Documentation

ros::Subscriber rtabmap_ros::ICPOdometry::cloud_sub_

private

Definition at line 774 of file icp_odometry.cpp.

bool rtabmap_ros::ICPOdometry::cloudReceived_ = false

private

Definition at line 787 of file icp_odometry.cpp.

ros::Publisher rtabmap_ros::ICPOdometry::filtered_scan_pub_

private

Definition at line 775 of file icp_odometry.cpp.

pluginlib::ClassLoader<rtabmap_ros::PluginInterface> rtabmap_ros::ICPOdometry::plugin_loader_

private

Definition at line 785 of file icp_odometry.cpp.

std::vector<boost::shared_ptr<rtabmap_ros::PluginInterface> > rtabmap_ros::ICPOdometry::plugins_

private

Definition at line 784 of file icp_odometry.cpp.

ros::Subscriber rtabmap_ros::ICPOdometry::scan_sub_

private

Definition at line 773 of file icp_odometry.cpp.

int rtabmap_ros::ICPOdometry::scanCloudMaxPoints_

private

Definition at line 776 of file icp_odometry.cpp.

int rtabmap_ros::ICPOdometry::scanDownsamplingStep_

private

Definition at line 777 of file icp_odometry.cpp.

double rtabmap_ros::ICPOdometry::scanNormalGroundUp_

private

Definition at line 783 of file icp_odometry.cpp.

int rtabmap_ros::ICPOdometry::scanNormalK_

private

Definition at line 781 of file icp_odometry.cpp.

double rtabmap_ros::ICPOdometry::scanNormalRadius_

private

Definition at line 782 of file icp_odometry.cpp.

double rtabmap_ros::ICPOdometry::scanRangeMax_

private

Definition at line 779 of file icp_odometry.cpp.

double rtabmap_ros::ICPOdometry::scanRangeMin_

private

Definition at line 778 of file icp_odometry.cpp.

bool rtabmap_ros::ICPOdometry::scanReceived_ = false

private

Definition at line 786 of file icp_odometry.cpp.

double rtabmap_ros::ICPOdometry::scanVoxelSize_

private

Definition at line 780 of file icp_odometry.cpp.

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

• icp_odometry.cpp