Public Member Functions | Static Public Member Functions | Private Attributes | Static Private Attributes | List of all members
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_tmParticleFilter
 
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_tsMap = 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.


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


nav2d_localizer
Author(s): Sebastian Kasperski
autogenerated on Thu Jun 6 2019 19:20:19