MergeMapsKinematic Class Reference

#include <merge_maps_kinematic.hpp>

Public Member Functions
	MergeMapsKinematic ()
	~MergeMapsKinematic ()

Private Types
typedef karto::LocalizedRangeScanVector::iterator	LocalizedRangeScansIt
typedef std::vector< karto::LocalizedRangeScanVector >::iterator	LocalizedRangeScansVecIt

Private Member Functions
bool	addSubmapCallback (slam_toolbox_msgs::AddSubmap::Request &req, slam_toolbox_msgs::AddSubmap::Response &resp)
karto::Pose2	applyCorrection (const karto::Pose2 &pose, const tf2::Transform &submap_correction)
karto::Vector2< kt_double >	applyCorrection (const karto::Vector2< kt_double > &pose, const tf2::Transform &submap_correction)
void	kartoToROSOccupancyGrid (const karto::LocalizedRangeScanVector &scans, nav_msgs::GetMap::Response &map)
bool	mergeMapCallback (slam_toolbox_msgs::MergeMaps::Request &req, slam_toolbox_msgs::MergeMaps::Response &resp)
void	processInteractiveFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	setup ()
void	transformScan (LocalizedRangeScansIt iter, tf2::Transform &submap_correction)

Private Attributes
std::vector< std::unique_ptr< karto::Dataset > >	dataset_vec_
std::unique_ptr< interactive_markers::InteractiveMarkerServer >	interactive_server_
std::map< std::string, laser_utils::LaserMetadata >	lasers_
ros::NodeHandle	nh_
int	num_submaps_
double	resolution_
std::vector< karto::LocalizedRangeScanVector >	scans_vec_
ros::ServiceServer	ssMap_
ros::ServiceServer	ssSubmap_
std::vector< ros::Publisher >	sstmS_
std::vector< ros::Publisher >	sstS_
std::map< int, Eigen::Vector3d >	submap_locations_
std::map< int, tf2::Transform >	submap_marker_transform_
std::unique_ptr< tf2_ros::TransformBroadcaster >	tfB_

Detailed Description

Definition at line 48 of file merge_maps_kinematic.hpp.

Member Typedef Documentation

LocalizedRangeScansIt

typedef karto::LocalizedRangeScanVector::iterator MergeMapsKinematic::LocalizedRangeScansIt

private

Definition at line 51 of file merge_maps_kinematic.hpp.

LocalizedRangeScansVecIt

typedef std::vector<karto::LocalizedRangeScanVector>::iterator MergeMapsKinematic::LocalizedRangeScansVecIt

private

Definition at line 50 of file merge_maps_kinematic.hpp.

Constructor & Destructor Documentation

MergeMapsKinematic()

MergeMapsKinematic::MergeMapsKinematic

(

)

Definition at line 23 of file merge_maps_kinematic.cpp.

~MergeMapsKinematic()

MergeMapsKinematic::~MergeMapsKinematic

(

)

Definition at line 51 of file merge_maps_kinematic.cpp.

Member Function Documentation

addSubmapCallback()

bool MergeMapsKinematic::addSubmapCallback ( slam_toolbox_msgs::AddSubmap::Request &  req, slam_toolbox_msgs::AddSubmap::Response &  resp  )

private

Definition at line 57 of file merge_maps_kinematic.cpp.

applyCorrection() [1/2]

karto::Pose2 MergeMapsKinematic::applyCorrection ( const karto::Pose2 &  pose, const tf2::Transform &  submap_correction  )

private

Definition at line 153 of file merge_maps_kinematic.cpp.

applyCorrection() [2/2]

karto::Vector2< kt_double > MergeMapsKinematic::applyCorrection ( const karto::Vector2< kt_double > &  pose, const tf2::Transform &  submap_correction  )

private

Definition at line 169 of file merge_maps_kinematic.cpp.

kartoToROSOccupancyGrid()

void MergeMapsKinematic::kartoToROSOccupancyGrid ( const karto::LocalizedRangeScanVector &  scans, nav_msgs::GetMap::Response &  map  )

private

Definition at line 274 of file merge_maps_kinematic.cpp.

mergeMapCallback()

bool MergeMapsKinematic::mergeMapCallback ( slam_toolbox_msgs::MergeMaps::Request &  req, slam_toolbox_msgs::MergeMaps::Response &  resp  )

private

Definition at line 231 of file merge_maps_kinematic.cpp.

processInteractiveFeedback()

void MergeMapsKinematic::processInteractiveFeedback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback )

private

Definition at line 296 of file merge_maps_kinematic.cpp.

setup()

void MergeMapsKinematic::setup ( )

private

Definition at line 31 of file merge_maps_kinematic.cpp.

transformScan()

void MergeMapsKinematic::transformScan ( LocalizedRangeScansIt  iter, tf2::Transform &  submap_correction  )

private

Definition at line 183 of file merge_maps_kinematic.cpp.

Member Data Documentation

dataset_vec_

std::vector<std::unique_ptr<karto::Dataset> > MergeMapsKinematic::dataset_vec_

private

Definition at line 80 of file merge_maps_kinematic.hpp.

interactive_server_

std::unique_ptr<interactive_markers::InteractiveMarkerServer> MergeMapsKinematic::interactive_server_

private

Definition at line 86 of file merge_maps_kinematic.hpp.

lasers_

std::map<std::string, laser_utils::LaserMetadata> MergeMapsKinematic::lasers_

private

Definition at line 79 of file merge_maps_kinematic.hpp.

nh_

ros::NodeHandle MergeMapsKinematic::nh_

private

Definition at line 74 of file merge_maps_kinematic.hpp.

num_submaps_

int MergeMapsKinematic::num_submaps_

private

Definition at line 93 of file merge_maps_kinematic.hpp.

resolution_

double MergeMapsKinematic::resolution_

private

Definition at line 92 of file merge_maps_kinematic.hpp.

scans_vec_

std::vector<karto::LocalizedRangeScanVector> MergeMapsKinematic::scans_vec_

private

Definition at line 90 of file merge_maps_kinematic.hpp.

ssMap_

ros::ServiceServer MergeMapsKinematic::ssMap_

private

Definition at line 76 of file merge_maps_kinematic.hpp.

ssSubmap_

ros::ServiceServer MergeMapsKinematic::ssSubmap_

private

Definition at line 76 of file merge_maps_kinematic.hpp.

sstmS_

std::vector<ros::Publisher> MergeMapsKinematic::sstmS_

private

Definition at line 75 of file merge_maps_kinematic.hpp.

sstS_

std::vector<ros::Publisher> MergeMapsKinematic::sstS_

private

Definition at line 75 of file merge_maps_kinematic.hpp.

submap_locations_

std::map<int, Eigen::Vector3d> MergeMapsKinematic::submap_locations_

private

Definition at line 89 of file merge_maps_kinematic.hpp.

submap_marker_transform_

std::map<int, tf2::Transform> MergeMapsKinematic::submap_marker_transform_

private

Definition at line 91 of file merge_maps_kinematic.hpp.

tfB_

std::unique_ptr<tf2_ros::TransformBroadcaster> MergeMapsKinematic::tfB_

private

Definition at line 83 of file merge_maps_kinematic.hpp.

---

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

• merge_maps_kinematic.hpp
• merge_maps_kinematic.cpp