loop_closure_assistant::LoopClosureAssistant Class Reference

#include <loop_closure_assistant.hpp>

Public Member Functions
void	clearMovedNodes ()
	LoopClosureAssistant (ros::NodeHandle &node, karto::Mapper *mapper, laser_utils::ScanHolder *scan_holder, PausedState &state, ProcessType &processor_type)
void	processInteractiveFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	publishGraph ()
void	setMapper (karto::Mapper *mapper)

Private Member Functions
void	addMovedNodes (const int &id, Eigen::Vector3d vec)
bool	clearChangesCallback (slam_toolbox_msgs::Clear::Request &req, slam_toolbox_msgs::Clear::Response &resp)
bool	interactiveModeCallback (slam_toolbox_msgs::ToggleInteractive::Request &req, slam_toolbox_msgs::ToggleInteractive::Response &resp)
bool	manualLoopClosureCallback (slam_toolbox_msgs::LoopClosure::Request &req, slam_toolbox_msgs::LoopClosure::Response &resp)
void	moveNode (const int &id, const Eigen::Vector3d &pose)

Private Attributes
bool	enable_interactive_mode_
bool	interactive_mode_
boost::mutex	interactive_mutex_
std::unique_ptr< interactive_markers::InteractiveMarkerServer >	interactive_server_
std::string	map_frame_
karto::Mapper *	mapper_
visualization_msgs::MarkerArray	marker_array_
ros::Publisher	marker_publisher_
std::map< int, Eigen::Vector3d >	moved_nodes_
boost::mutex	moved_nodes_mutex_
ros::NodeHandle &	nh_
ProcessType &	processor_type_
laser_utils::ScanHolder *	scan_holder_
ros::Publisher	scan_publisher_
karto::ScanSolver *	solver_
ros::ServiceServer	ssClear_manual_
ros::ServiceServer	ssInteractive_
ros::ServiceServer	ssLoopClosure_
PausedState &	state_
std::unique_ptr< tf2_ros::TransformBroadcaster >	tfB_

Detailed Description

Definition at line 42 of file loop_closure_assistant.hpp.

Constructor & Destructor Documentation

LoopClosureAssistant()

loop_closure_assistant::LoopClosureAssistant::LoopClosureAssistant	(	ros::NodeHandle &	node,
		karto::Mapper *	mapper,
		laser_utils::ScanHolder *	scan_holder,
		PausedState &	state,
		ProcessType &	processor_type
	)

Definition at line 25 of file loop_closure_assistant.cpp.

Member Function Documentation

addMovedNodes()

void loop_closure_assistant::LoopClosureAssistant::addMovedNodes ( const int &  id, Eigen::Vector3d  vec  )

private

Definition at line 356 of file loop_closure_assistant.cpp.

clearChangesCallback()

bool loop_closure_assistant::LoopClosureAssistant::clearChangesCallback ( slam_toolbox_msgs::Clear::Request &  req, slam_toolbox_msgs::Clear::Response &  resp  )

private

Definition at line 330 of file loop_closure_assistant.cpp.

clearMovedNodes()

void loop_closure_assistant::LoopClosureAssistant::clearMovedNodes

(

)

Definition at line 348 of file loop_closure_assistant.cpp.

interactiveModeCallback()

bool loop_closure_assistant::LoopClosureAssistant::interactiveModeCallback ( slam_toolbox_msgs::ToggleInteractive::Request &  req, slam_toolbox_msgs::ToggleInteractive::Response &  resp  )

private

Definition at line 289 of file loop_closure_assistant.cpp.

manualLoopClosureCallback()

bool loop_closure_assistant::LoopClosureAssistant::manualLoopClosureCallback ( slam_toolbox_msgs::LoopClosure::Request &  req, slam_toolbox_msgs::LoopClosure::Response &  resp  )

private

Definition at line 247 of file loop_closure_assistant.cpp.

moveNode()

void loop_closure_assistant::LoopClosureAssistant::moveNode ( const int &  id, const Eigen::Vector3d &  pose  )

private

Definition at line 322 of file loop_closure_assistant.cpp.

processInteractiveFeedback()

void loop_closure_assistant::LoopClosureAssistant::processInteractiveFeedback

(

const visualization_msgs::InteractiveMarkerFeedbackConstPtr &

feedback

)

Definition at line 64 of file loop_closure_assistant.cpp.

publishGraph()

void loop_closure_assistant::LoopClosureAssistant::publishGraph

(

)

Definition at line 131 of file loop_closure_assistant.cpp.

setMapper()

void loop_closure_assistant::LoopClosureAssistant::setMapper

(

karto::Mapper *

mapper

)

Definition at line 57 of file loop_closure_assistant.cpp.

Member Data Documentation

enable_interactive_mode_

bool loop_closure_assistant::LoopClosureAssistant::enable_interactive_mode_

private

Definition at line 70 of file loop_closure_assistant.hpp.

interactive_mode_

bool loop_closure_assistant::LoopClosureAssistant::interactive_mode_

private

Definition at line 70 of file loop_closure_assistant.hpp.

interactive_mutex_

boost::mutex loop_closure_assistant::LoopClosureAssistant::interactive_mutex_

private

Definition at line 69 of file loop_closure_assistant.hpp.

interactive_server_

std::unique_ptr<interactive_markers::InteractiveMarkerServer> loop_closure_assistant::LoopClosureAssistant::interactive_server_

private

Definition at line 67 of file loop_closure_assistant.hpp.

map_frame_

std::string loop_closure_assistant::LoopClosureAssistant::map_frame_

private

Definition at line 72 of file loop_closure_assistant.hpp.

mapper_

karto::Mapper* loop_closure_assistant::LoopClosureAssistant::mapper_

private

Definition at line 65 of file loop_closure_assistant.hpp.

marker_array_

visualization_msgs::MarkerArray loop_closure_assistant::LoopClosureAssistant::marker_array_

private

Definition at line 68 of file loop_closure_assistant.hpp.

marker_publisher_

ros::Publisher loop_closure_assistant::LoopClosureAssistant::marker_publisher_

private

Definition at line 61 of file loop_closure_assistant.hpp.

moved_nodes_

std::map<int, Eigen::Vector3d> loop_closure_assistant::LoopClosureAssistant::moved_nodes_

private

Definition at line 64 of file loop_closure_assistant.hpp.

moved_nodes_mutex_

boost::mutex loop_closure_assistant::LoopClosureAssistant::moved_nodes_mutex_

private

Definition at line 63 of file loop_closure_assistant.hpp.

nh_

ros::NodeHandle& loop_closure_assistant::LoopClosureAssistant::nh_

private

Definition at line 71 of file loop_closure_assistant.hpp.

processor_type_

ProcessType& loop_closure_assistant::LoopClosureAssistant::processor_type_

private

Definition at line 74 of file loop_closure_assistant.hpp.

scan_holder_

laser_utils::ScanHolder* loop_closure_assistant::LoopClosureAssistant::scan_holder_

private

Definition at line 60 of file loop_closure_assistant.hpp.

scan_publisher_

ros::Publisher loop_closure_assistant::LoopClosureAssistant::scan_publisher_

private

Definition at line 61 of file loop_closure_assistant.hpp.

solver_

karto::ScanSolver* loop_closure_assistant::LoopClosureAssistant::solver_

private

Definition at line 66 of file loop_closure_assistant.hpp.

ssClear_manual_

ros::ServiceServer loop_closure_assistant::LoopClosureAssistant::ssClear_manual_

private

Definition at line 62 of file loop_closure_assistant.hpp.

ssInteractive_

ros::ServiceServer loop_closure_assistant::LoopClosureAssistant::ssInteractive_

private

Definition at line 62 of file loop_closure_assistant.hpp.

ssLoopClosure_

ros::ServiceServer loop_closure_assistant::LoopClosureAssistant::ssLoopClosure_

private

Definition at line 62 of file loop_closure_assistant.hpp.

state_

PausedState& loop_closure_assistant::LoopClosureAssistant::state_

private

Definition at line 73 of file loop_closure_assistant.hpp.

tfB_

std::unique_ptr<tf2_ros::TransformBroadcaster> loop_closure_assistant::LoopClosureAssistant::tfB_

private

Definition at line 59 of file loop_closure_assistant.hpp.

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

• loop_closure_assistant.hpp
• loop_closure_assistant.cpp