Classes
class	MyPointRepresentation

Public Member Functions
void	cbMapUpdateTimer (const ros::TimerEvent &event)

bool	configure ()

	MCL3dlNode ()

	~MCL3dlNode ()

Protected Types
using	PointType = mcl_3dl::PointXYZIL

Protected Member Functions
void	cbCloud (const sensor_msgs::PointCloud2::ConstPtr &msg)

bool	cbExpansionReset (std_srvs::TriggerRequest &request, std_srvs::TriggerResponse &response)

bool	cbGlobalLocalization (std_srvs::TriggerRequest &request, std_srvs::TriggerResponse &response)

void	cbImu (const sensor_msgs::Imu::ConstPtr &msg)

void	cbLandmark (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg)

void	cbMapcloud (const sensor_msgs::PointCloud2::ConstPtr &msg)

void	cbMapcloudUpdate (const sensor_msgs::PointCloud2::ConstPtr &msg)

void	cbOdom (const nav_msgs::Odometry::ConstPtr &msg)

void	cbPosition (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg)

bool	cbResizeParticle (mcl_3dl_msgs::ResizeParticleRequest &request, mcl_3dl_msgs::ResizeParticleResponse &response)

void	publishParticles ()

Protected Attributes
int	cnt_accum_

int	cnt_measure_

std::default_random_engine	engine_

std::shared_ptr< Filter >	f_acc_ [3]

std::shared_ptr< Filter >	f_ang_ [3]

std::shared_ptr< Filter >	f_pos_ [3]

bool	fake_imu_

bool	fake_odom_

std::map< std::string, std::string >	frame_ids_

size_t	frame_num_

std::map< std::string, bool >	frames_

std::vector< std::string >	frames_v_

size_t	global_localization_fix_cnt_

bool	has_imu_

bool	has_map_

bool	has_odom_

ros::Time	imu_last_

ImuMeasurementModelBase::Ptr	imu_measurement_model_

Quat	imu_quat_

ChunkedKdtree< PointType >::Ptr	kdtree_

std::map< std::string, LidarMeasurementModelBase::Ptr >	lidar_measurements_

std::shared_ptr< Filter >	localize_rate_

ros::Time	localized_last_

ros::Timer	map_update_timer_

ros::Time	match_output_last_

MotionPredictionModelBase::Ptr	motion_prediction_model_

ros::NodeHandle	nh_

State6DOF	odom_

ros::Time	odom_last_

State6DOF	odom_prev_

bool	output_pcd_

Parameters	params_

std::vector< std_msgs::Header >	pc_accum_header_

pcl::PointCloud< PointType >::Ptr	pc_all_accum_

pcl::PointCloud< PointType >::Ptr	pc_local_accum_

pcl::PointCloud< PointType >::Ptr	pc_map2_

pcl::PointCloud< PointType >::Ptr	pc_map_

pcl::PointCloud< PointType >::Ptr	pc_update_

std::shared_ptr< pf::ParticleFilter< State6DOF, float, ParticleWeightedMeanQuat > >	pf_

ros::NodeHandle	pnh_

MyPointRepresentation	point_rep_

ros::Publisher	pub_debug_marker_

ros::Publisher	pub_mapcloud_

ros::Publisher	pub_matched_

ros::Publisher	pub_particle_

ros::Publisher	pub_pose_

ros::Publisher	pub_status_

ros::Publisher	pub_unmatched_

bool	publish_tf_

std::random_device	seed_gen_

ros::ServiceServer	srv_expansion_reset_

ros::ServiceServer	srv_global_localization_

ros::ServiceServer	srv_particle_size_

State6DOF	state_prev_

ros::Subscriber	sub_cloud_

ros::Subscriber	sub_imu_

ros::Subscriber	sub_landmark_

ros::Subscriber	sub_mapcloud_

ros::Subscriber	sub_mapcloud_update_

ros::Subscriber	sub_odom_

ros::Subscriber	sub_position_

ros::Duration	tf_tolerance_base_

tf2_ros::TransformBroadcaster	tfb_

tf2_ros::Buffer	tfbuf_

tf2_ros::TransformListener	tfl_

Detailed Description

Definition at line 95 of file mcl_3dl.cpp.

Member Typedef Documentation

using mcl_3dl::MCL3dlNode::PointType = mcl_3dl::PointXYZIL

protected

Definition at line 98 of file mcl_3dl.cpp.

Constructor & Destructor Documentation

mcl_3dl::MCL3dlNode::MCL3dlNode ( )

inline

Definition at line 1080 of file mcl_3dl.cpp.

mcl_3dl::MCL3dlNode::~MCL3dlNode ( )

inline

Definition at line 1329 of file mcl_3dl.cpp.

Member Function Documentation

void mcl_3dl::MCL3dlNode::cbCloud ( const sensor_msgs::PointCloud2::ConstPtr & msg )

inlineprotected

Definition at line 247 of file mcl_3dl.cpp.

bool mcl_3dl::MCL3dlNode::cbExpansionReset	(	std_srvs::TriggerRequest &	request,
		std_srvs::TriggerResponse &	response
	)

inlineprotected

Definition at line 974 of file mcl_3dl.cpp.

bool mcl_3dl::MCL3dlNode::cbGlobalLocalization	(	std_srvs::TriggerRequest &	request,
		std_srvs::TriggerResponse &	response
	)

inlineprotected

Definition at line 987 of file mcl_3dl.cpp.

void mcl_3dl::MCL3dlNode::cbImu ( const sensor_msgs::Imu::ConstPtr & msg )

inlineprotected

Definition at line 887 of file mcl_3dl.cpp.

void mcl_3dl::MCL3dlNode::cbLandmark ( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr & msg )

inlineprotected

Definition at line 845 of file mcl_3dl.cpp.

void mcl_3dl::MCL3dlNode::cbMapcloud ( const sensor_msgs::PointCloud2::ConstPtr & msg )

inlineprotected

Definition at line 118 of file mcl_3dl.cpp.

void mcl_3dl::MCL3dlNode::cbMapcloudUpdate ( const sensor_msgs::PointCloud2::ConstPtr & msg )

inlineprotected

Definition at line 145 of file mcl_3dl.cpp.

void mcl_3dl::MCL3dlNode::cbMapUpdateTimer ( const ros::TimerEvent & event )

inline

Definition at line 1339 of file mcl_3dl.cpp.

void mcl_3dl::MCL3dlNode::cbOdom ( const nav_msgs::Odometry::ConstPtr & msg )

inlineprotected

Definition at line 199 of file mcl_3dl.cpp.

void mcl_3dl::MCL3dlNode::cbPosition ( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr & msg )

inlineprotected

Definition at line 159 of file mcl_3dl.cpp.

bool mcl_3dl::MCL3dlNode::cbResizeParticle	(	mcl_3dl_msgs::ResizeParticleRequest &	request,
		mcl_3dl_msgs::ResizeParticleResponse &	response
	)

inlineprotected

Definition at line 967 of file mcl_3dl.cpp.

bool mcl_3dl::MCL3dlNode::configure ( )

inline

Definition at line 1088 of file mcl_3dl.cpp.

void mcl_3dl::MCL3dlNode::publishParticles ( )

inlineprotected

Definition at line 1054 of file mcl_3dl.cpp.

Member Data Documentation

int mcl_3dl::MCL3dlNode::cnt_accum_

protected

Definition at line 1421 of file mcl_3dl.cpp.

int mcl_3dl::MCL3dlNode::cnt_measure_

protected

Definition at line 1420 of file mcl_3dl.cpp.

std::default_random_engine mcl_3dl::MCL3dlNode::engine_

protected

Definition at line 1442 of file mcl_3dl.cpp.

std::shared_ptr<Filter> mcl_3dl::MCL3dlNode::f_acc_[3]

protected

Definition at line 1397 of file mcl_3dl.cpp.

std::shared_ptr<Filter> mcl_3dl::MCL3dlNode::f_ang_[3]

protected

Definition at line 1396 of file mcl_3dl.cpp.

std::shared_ptr<Filter> mcl_3dl::MCL3dlNode::f_pos_[3]

protected

Definition at line 1395 of file mcl_3dl.cpp.

bool mcl_3dl::MCL3dlNode::fake_imu_

protected

Definition at line 1407 of file mcl_3dl.cpp.

bool mcl_3dl::MCL3dlNode::fake_odom_

protected

Definition at line 1407 of file mcl_3dl.cpp.

std::map<std::string, std::string> mcl_3dl::MCL3dlNode::frame_ids_

protected

Definition at line 1403 of file mcl_3dl.cpp.

size_t mcl_3dl::MCL3dlNode::frame_num_

protected

Definition at line 1417 of file mcl_3dl.cpp.

std::map<std::string, bool> mcl_3dl::MCL3dlNode::frames_

protected

Definition at line 1415 of file mcl_3dl.cpp.

std::vector<std::string> mcl_3dl::MCL3dlNode::frames_v_

protected

Definition at line 1416 of file mcl_3dl.cpp.

size_t mcl_3dl::MCL3dlNode::global_localization_fix_cnt_

protected

Definition at line 1423 of file mcl_3dl.cpp.

bool mcl_3dl::MCL3dlNode::has_imu_

protected

Definition at line 1412 of file mcl_3dl.cpp.

bool mcl_3dl::MCL3dlNode::has_map_

protected

Definition at line 1410 of file mcl_3dl.cpp.

bool mcl_3dl::MCL3dlNode::has_odom_

protected

Definition at line 1411 of file mcl_3dl.cpp.

ros::Time mcl_3dl::MCL3dlNode::imu_last_

protected

Definition at line 1419 of file mcl_3dl.cpp.

ImuMeasurementModelBase::Ptr mcl_3dl::MCL3dlNode::imu_measurement_model_

protected

Definition at line 1438 of file mcl_3dl.cpp.

Quat mcl_3dl::MCL3dlNode::imu_quat_

protected

Definition at line 1422 of file mcl_3dl.cpp.

ChunkedKdtree<PointType>::Ptr mcl_3dl::MCL3dlNode::kdtree_

protected

Definition at line 1432 of file mcl_3dl.cpp.

std::map< std::string, LidarMeasurementModelBase::Ptr> mcl_3dl::MCL3dlNode::lidar_measurements_

protected

Definition at line 1437 of file mcl_3dl.cpp.

std::shared_ptr<Filter> mcl_3dl::MCL3dlNode::localize_rate_

protected

Definition at line 1398 of file mcl_3dl.cpp.

ros::Time mcl_3dl::MCL3dlNode::localized_last_

protected

Definition at line 1399 of file mcl_3dl.cpp.

ros::Timer mcl_3dl::MCL3dlNode::map_update_timer_

protected

Definition at line 1386 of file mcl_3dl.cpp.

ros::Time mcl_3dl::MCL3dlNode::match_output_last_

protected

Definition at line 1408 of file mcl_3dl.cpp.

MotionPredictionModelBase::Ptr mcl_3dl::MCL3dlNode::motion_prediction_model_

protected

Definition at line 1439 of file mcl_3dl.cpp.

ros::NodeHandle mcl_3dl::MCL3dlNode::nh_

protected

Definition at line 1369 of file mcl_3dl.cpp.

State6DOF mcl_3dl::MCL3dlNode::odom_

protected

Definition at line 1413 of file mcl_3dl.cpp.

ros::Time mcl_3dl::MCL3dlNode::odom_last_

protected

Definition at line 1409 of file mcl_3dl.cpp.

State6DOF mcl_3dl::MCL3dlNode::odom_prev_

protected

Definition at line 1414 of file mcl_3dl.cpp.

bool mcl_3dl::MCL3dlNode::output_pcd_

protected

Definition at line 1404 of file mcl_3dl.cpp.

Parameters mcl_3dl::MCL3dlNode::params_

protected

Definition at line 1402 of file mcl_3dl.cpp.

std::vector<std_msgs::Header> mcl_3dl::MCL3dlNode::pc_accum_header_

protected

Definition at line 1433 of file mcl_3dl.cpp.

pcl::PointCloud<PointType>::Ptr mcl_3dl::MCL3dlNode::pc_all_accum_

protected

Definition at line 1430 of file mcl_3dl.cpp.

pcl::PointCloud<PointType>::Ptr mcl_3dl::MCL3dlNode::pc_local_accum_

protected

Definition at line 1431 of file mcl_3dl.cpp.

pcl::PointCloud<PointType>::Ptr mcl_3dl::MCL3dlNode::pc_map2_

protected

Definition at line 1428 of file mcl_3dl.cpp.

pcl::PointCloud<PointType>::Ptr mcl_3dl::MCL3dlNode::pc_map_

protected

Definition at line 1427 of file mcl_3dl.cpp.

pcl::PointCloud<PointType>::Ptr mcl_3dl::MCL3dlNode::pc_update_

protected

Definition at line 1429 of file mcl_3dl.cpp.

std::shared_ptr<pf::ParticleFilter<State6DOF, float, ParticleWeightedMeanQuat> > mcl_3dl::MCL3dlNode::pf_

protected

Definition at line 99 of file mcl_3dl.cpp.

ros::NodeHandle mcl_3dl::MCL3dlNode::pnh_

protected

Definition at line 1370 of file mcl_3dl.cpp.

MyPointRepresentation mcl_3dl::MCL3dlNode::point_rep_

protected

Definition at line 1425 of file mcl_3dl.cpp.

ros::Publisher mcl_3dl::MCL3dlNode::pub_debug_marker_

protected

Definition at line 1384 of file mcl_3dl.cpp.

ros::Publisher mcl_3dl::MCL3dlNode::pub_mapcloud_

protected

Definition at line 1380 of file mcl_3dl.cpp.

ros::Publisher mcl_3dl::MCL3dlNode::pub_matched_

protected

Definition at line 1382 of file mcl_3dl.cpp.

ros::Publisher mcl_3dl::MCL3dlNode::pub_particle_

protected

Definition at line 1379 of file mcl_3dl.cpp.

ros::Publisher mcl_3dl::MCL3dlNode::pub_pose_

protected

Definition at line 1381 of file mcl_3dl.cpp.

ros::Publisher mcl_3dl::MCL3dlNode::pub_status_

protected

Definition at line 1385 of file mcl_3dl.cpp.

ros::Publisher mcl_3dl::MCL3dlNode::pub_unmatched_

protected

Definition at line 1383 of file mcl_3dl.cpp.

bool mcl_3dl::MCL3dlNode::publish_tf_

protected

Definition at line 1405 of file mcl_3dl.cpp.

std::random_device mcl_3dl::MCL3dlNode::seed_gen_

protected

Definition at line 1441 of file mcl_3dl.cpp.

ros::ServiceServer mcl_3dl::MCL3dlNode::srv_expansion_reset_

protected

Definition at line 1389 of file mcl_3dl.cpp.

ros::ServiceServer mcl_3dl::MCL3dlNode::srv_global_localization_

protected

Definition at line 1388 of file mcl_3dl.cpp.

ros::ServiceServer mcl_3dl::MCL3dlNode::srv_particle_size_

protected

Definition at line 1387 of file mcl_3dl.cpp.

State6DOF mcl_3dl::MCL3dlNode::state_prev_

protected

Definition at line 1418 of file mcl_3dl.cpp.

ros::Subscriber mcl_3dl::MCL3dlNode::sub_cloud_

protected

Definition at line 1372 of file mcl_3dl.cpp.

ros::Subscriber mcl_3dl::MCL3dlNode::sub_imu_

protected

Definition at line 1376 of file mcl_3dl.cpp.

ros::Subscriber mcl_3dl::MCL3dlNode::sub_landmark_

protected

Definition at line 1378 of file mcl_3dl.cpp.

ros::Subscriber mcl_3dl::MCL3dlNode::sub_mapcloud_

protected

Definition at line 1373 of file mcl_3dl.cpp.

ros::Subscriber mcl_3dl::MCL3dlNode::sub_mapcloud_update_

protected

Definition at line 1374 of file mcl_3dl.cpp.

ros::Subscriber mcl_3dl::MCL3dlNode::sub_odom_

protected

Definition at line 1375 of file mcl_3dl.cpp.

ros::Subscriber mcl_3dl::MCL3dlNode::sub_position_

protected

Definition at line 1377 of file mcl_3dl.cpp.

ros::Duration mcl_3dl::MCL3dlNode::tf_tolerance_base_

protected

Definition at line 1400 of file mcl_3dl.cpp.

tf2_ros::TransformBroadcaster mcl_3dl::MCL3dlNode::tfb_

protected

Definition at line 1393 of file mcl_3dl.cpp.

tf2_ros::Buffer mcl_3dl::MCL3dlNode::tfbuf_

protected

Definition at line 1391 of file mcl_3dl.cpp.

tf2_ros::TransformListener mcl_3dl::MCL3dlNode::tfl_

protected

Definition at line 1392 of file mcl_3dl.cpp.

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

mcl_3dl.cpp

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation