flirtlib_ros::Node Class Reference

List of all members.

Public Member Functions
void	mainLoop (const ros::TimerEvent &e)
void	mainLoop (const ros::TimerEvent &e)
void	mapCB (const nm::OccupancyGrid &g)
void	navCB (const mbm::MoveBaseActionResult &m)
	Node ()
	Node ()
	Node ()
	Node ()
	Node ()
void	publishExecState (const ros::TimerEvent &e)
bool	resetExecState (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
void	scanCB (sm::LaserScan::ConstPtr scan)
void	scanCB (sm::LaserScan::ConstPtr scan)
void	scanCB (sm::LaserScan::ConstPtr scan)
void	scanCB (sm::LaserScan::ConstPtr scan)
void	scanCB (unsigned i, const sm::LaserScan::ConstPtr &scan)
Private Member Functions
tf::Transform	compensateOdometry (const tf::Pose &sensor_pose, const string &frame, const ros::Time &t1, const ros::Time &t2)
RefScanRos	extractFeatures (sm::LaserScan::ConstPtr scan, const gm::Pose &pose)
RefScans	generateRefScans () const
gm::Pose	getPose ()
gm::Pose	getPose ()
gm::Pose	getPoseAt (const ros::Time &t) const
MapWithMetadata::ConstPtr	getSavedGrid () const
bool	haveNearbyScan (const gm::Pose &pose) const
void	initializeRefScans ()
void	initializeRefScans ()
void	publishRefScans () const
void	updateLocalized (sm::LaserScan::ConstPtr scan, const gm::Pose &p)
void	updateUnlocalized (sm::LaserScan::ConstPtr scan)
Private Attributes
ros::Publisher	adjusted_pose_pub_
double	badness_threshold_
bool	continual_publish_
string	db_host_
string	db_name_
shared_ptr< DescriptorGenerator >	descriptor_
boost::shared_ptr < DescriptorGenerator >	descriptor_
shared_ptr< Detector >	detector_
boost::shared_ptr< Detector >	detector_
shared_ptr< ScanPoseEvaluator >	evaluator_
ros::Publisher	exec_state_pub_
ros::Timer	exec_timer_
FlirtlibFeatures	features_
shared_ptr< HistogramDistance < double > >	histogram_dist_
boost::shared_ptr < HistogramDistance< double > >	histogram_dist_
const tf::Transform	laser_offset_
tf::Transform	laser_offset_
boost::optional< gm::Pose >	last_pose_
double	localization_badness_
ros::Subscriber	map_sub_
ros::Publisher	marker_pub_
ros::Publisher	match_pose_pub_
const double	min_num_matches_
unsigned	min_num_matches_
unsigned	min_successful_navs_
boost::mutex	mutex_
ros::Subscriber	nav_sub_
ros::NodeHandle	nh_
const unsigned	num_matches_required_
string	odom_frame_
shared_ptr < SimpleMinMaxPeakFinder >	peak_finder_
	Flirtlib.
boost::shared_ptr < SimpleMinMaxPeakFinder >	peak_finder_
ros::NodeHandle	pnh_
const double	pos_inc_
ros::Publisher	pose_est_pub_
ros::Publisher	pose_pub_
ros::Timer	pub_timer_
bool	publishing_loc_
shared_ptr < RansacFeatureSetMatcher >	ransac_
boost::shared_ptr < RansacFeatureSetMatcher >	ransac_
ros::Publisher	ref_scan_pose_pub_
RefScans	ref_scans_
vector< RefScan >	ref_scans_
ros::ServiceServer	reset_srv_
sm::LaserScan::ConstPtr	scan_
vector< sm::LaserScan::ConstPtr >	scan_
const string	scan_db_
ros::Subscriber	scan_sub_
ros::Subscriber	scan_subs_ [2]
mr::MessageCollection< RefScanRos >	scans_
unsigned	successful_navs_
tf::TransformListener	tf_
const double	theta_inc_
ros::Rate	update_rate_

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Detailed Description

Definition at line 104 of file flirtlib_ros_test.cpp.

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Constructor & Destructor Documentation

flirtlib_ros::Node::Node

(

)

Definition at line 171 of file flirtlib_ros_test.cpp.

flirtlib_ros::Node::Node

(

)

flirtlib_ros::Node::Node

(

)

flirtlib_ros::Node::Node

(

)

flirtlib_ros::Node::Node

(

)

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Member Function Documentation

tf::Transform flirtlib_ros::Node::compensateOdometry	(	const tf::Pose &	pose,
		const string &	frame,
		const ros::Time &	t1,
		const ros::Time &	t2
	)			[private]

Compensate for base movement between scan time and current time using odometry

Definition at line 456 of file localization_monitor_node.cpp.

RefScanRos flirtlib_ros::Node::extractFeatures	(	sm::LaserScan::ConstPtr	scan,
		const gm::Pose &	pose
	)			[private]

Definition at line 170 of file generate_scan_map.cpp.

RefScans flirtlib_ros::Node::generateRefScans

(

)

const [private]

Definition at line 213 of file place_rec_test.cpp.

gm::Pose flirtlib_ros::Node::getPose

(

)

[private]

gm::Pose flirtlib_ros::Node::getPose

(

)

[private]

Definition at line 327 of file place_rec_test.cpp.

gm::Pose flirtlib_ros::Node::getPoseAt

(

const ros::Time &

t

)

const [private]

Definition at line 156 of file generate_scan_map.cpp.

MapWithMetadata::ConstPtr flirtlib_ros::Node::getSavedGrid

(

)

const [private]

bool flirtlib_ros::Node::haveNearbyScan

(

const gm::Pose &

pose

)

const [private]

Definition at line 133 of file generate_scan_map.cpp.

void flirtlib_ros::Node::initializeRefScans

(

)

[private]

void flirtlib_ros::Node::initializeRefScans

(

)

[private]

Definition at line 273 of file place_rec_test.cpp.

void flirtlib_ros::Node::mainLoop

(

const ros::TimerEvent &

e

)

void flirtlib_ros::Node::mainLoop

(

const ros::TimerEvent &

e

)

Definition at line 241 of file flirtlib_ros_test.cpp.

void flirtlib_ros::Node::mapCB

(

const nm::OccupancyGrid &

g

)

Definition at line 328 of file localization_monitor_node.cpp.

void flirtlib_ros::Node::navCB

(

const mbm::MoveBaseActionResult &

m

)

Definition at line 293 of file localization_monitor_node.cpp.

void flirtlib_ros::Node::publishExecState

(

const ros::TimerEvent &

e

)

Definition at line 282 of file localization_monitor_node.cpp.

void flirtlib_ros::Node::publishRefScans

(

)

const [private]

Definition at line 307 of file localization_monitor_node.cpp.

bool flirtlib_ros::Node::resetExecState	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

Definition at line 233 of file localization_monitor_node.cpp.

void flirtlib_ros::Node::scanCB

(

sm::LaserScan::ConstPtr

scan

)

void flirtlib_ros::Node::scanCB

(

sm::LaserScan::ConstPtr

scan

)

void flirtlib_ros::Node::scanCB

(

sm::LaserScan::ConstPtr

scan

)

void flirtlib_ros::Node::scanCB

(

sm::LaserScan::ConstPtr

scan

)

Definition at line 184 of file generate_scan_map.cpp.

void flirtlib_ros::Node::scanCB	(	unsigned	i,
		const sm::LaserScan::ConstPtr &	scan
	)

Definition at line 229 of file flirtlib_ros_test.cpp.

void flirtlib_ros::Node::updateLocalized	(	sm::LaserScan::ConstPtr	scan,
		const gm::Pose &	p
	)			[private]

Definition at line 476 of file localization_monitor_node.cpp.

void flirtlib_ros::Node::updateUnlocalized

(

sm::LaserScan::ConstPtr

scan

)

[private]

Definition at line 370 of file localization_monitor_node.cpp.

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Member Data Documentation

ros::Publisher flirtlib_ros::Node::adjusted_pose_pub_ [private]

Definition at line 110 of file startup_loc.cpp.

double flirtlib_ros::Node::badness_threshold_ [private]

Definition at line 176 of file localization_monitor_node.cpp.

bool flirtlib_ros::Node::continual_publish_ [private]

Definition at line 183 of file localization_monitor_node.cpp.

string flirtlib_ros::Node::db_host_ [private]

Definition at line 170 of file localization_monitor_node.cpp.

string flirtlib_ros::Node::db_name_ [private]

Definition at line 167 of file localization_monitor_node.cpp.

shared_ptr<DescriptorGenerator> flirtlib_ros::Node::descriptor_ [private]

Definition at line 111 of file place_rec_test.cpp.

boost::shared_ptr< DescriptorGenerator > flirtlib_ros::Node::descriptor_ [private]

Definition at line 125 of file flirtlib_ros_test.cpp.

shared_ptr<Detector> flirtlib_ros::Node::detector_ [private]

Definition at line 110 of file place_rec_test.cpp.

boost::shared_ptr< Detector > flirtlib_ros::Node::detector_ [private]

Definition at line 124 of file flirtlib_ros_test.cpp.

shared_ptr<ScanPoseEvaluator> flirtlib_ros::Node::evaluator_ [private]

Definition at line 212 of file localization_monitor_node.cpp.

ros::Publisher flirtlib_ros::Node::exec_state_pub_ [private]

Definition at line 224 of file localization_monitor_node.cpp.

ros::Timer flirtlib_ros::Node::exec_timer_ [private]

Definition at line 132 of file flirtlib_ros_test.cpp.

FlirtlibFeatures flirtlib_ros::Node::features_ [private]

Definition at line 82 of file generate_scan_map.cpp.

shared_ptr<HistogramDistance<double> > flirtlib_ros::Node::histogram_dist_ [private]

Definition at line 109 of file place_rec_test.cpp.

boost::shared_ptr< HistogramDistance< double > > flirtlib_ros::Node::histogram_dist_ [private]

Definition at line 123 of file flirtlib_ros_test.cpp.

const tf::Transform flirtlib_ros::Node::laser_offset_ [private]

Definition at line 92 of file startup_loc.cpp.

tf::Transform flirtlib_ros::Node::laser_offset_ [private]

Definition at line 193 of file localization_monitor_node.cpp.

boost::optional<gm::Pose> flirtlib_ros::Node::last_pose_ [private]

Definition at line 105 of file place_rec_test.cpp.

double flirtlib_ros::Node::localization_badness_ [private]

Definition at line 202 of file localization_monitor_node.cpp.

ros::Subscriber flirtlib_ros::Node::map_sub_ [private]

Definition at line 219 of file localization_monitor_node.cpp.

ros::Publisher flirtlib_ros::Node::marker_pub_ [private]

Definition at line 130 of file flirtlib_ros_test.cpp.

ros::Publisher flirtlib_ros::Node::match_pose_pub_ [private]

Definition at line 223 of file localization_monitor_node.cpp.

const double flirtlib_ros::Node::min_num_matches_ [private]

Definition at line 91 of file startup_loc.cpp.

unsigned flirtlib_ros::Node::min_num_matches_ [private]

Definition at line 161 of file localization_monitor_node.cpp.

unsigned flirtlib_ros::Node::min_successful_navs_ [private]

Definition at line 164 of file localization_monitor_node.cpp.

boost::mutex flirtlib_ros::Node::mutex_ [private]

Definition at line 115 of file flirtlib_ros_test.cpp.

ros::Subscriber flirtlib_ros::Node::nav_sub_ [private]

Definition at line 226 of file localization_monitor_node.cpp.

ros::NodeHandle flirtlib_ros::Node::nh_ [private]

Definition at line 116 of file flirtlib_ros_test.cpp.

const unsigned flirtlib_ros::Node::num_matches_required_ [private]

Definition at line 100 of file place_rec_test.cpp.

string flirtlib_ros::Node::odom_frame_ [private]

Definition at line 179 of file localization_monitor_node.cpp.

shared_ptr<SimpleMinMaxPeakFinder> flirtlib_ros::Node::peak_finder_ [private]

Flirtlib.

Definition at line 108 of file place_rec_test.cpp.

boost::shared_ptr< SimpleMinMaxPeakFinder > flirtlib_ros::Node::peak_finder_ [private]

Definition at line 122 of file flirtlib_ros_test.cpp.

ros::NodeHandle flirtlib_ros::Node::pnh_ [private]

Definition at line 227 of file localization_monitor_node.cpp.

const double flirtlib_ros::Node::pos_inc_ [private]

Definition at line 79 of file generate_scan_map.cpp.

ros::Publisher flirtlib_ros::Node::pose_est_pub_ [private]

Definition at line 222 of file localization_monitor_node.cpp.

ros::Publisher flirtlib_ros::Node::pose_pub_ [private]

Definition at line 225 of file localization_monitor_node.cpp.

ros::Timer flirtlib_ros::Node::pub_timer_ [private]

Definition at line 229 of file localization_monitor_node.cpp.

bool flirtlib_ros::Node::publishing_loc_ [private]

Definition at line 196 of file localization_monitor_node.cpp.

shared_ptr<RansacFeatureSetMatcher> flirtlib_ros::Node::ransac_ [private]

Definition at line 112 of file place_rec_test.cpp.

boost::shared_ptr< RansacFeatureSetMatcher > flirtlib_ros::Node::ransac_ [private]

Definition at line 126 of file flirtlib_ros_test.cpp.

ros::Publisher flirtlib_ros::Node::ref_scan_pose_pub_ [private]

Definition at line 221 of file localization_monitor_node.cpp.

RefScans flirtlib_ros::Node::ref_scans_ [private]

Definition at line 104 of file place_rec_test.cpp.

RefScans flirtlib_ros::Node::ref_scans_ [private]

Definition at line 190 of file localization_monitor_node.cpp.

ros::ServiceServer flirtlib_ros::Node::reset_srv_ [private]

Definition at line 228 of file localization_monitor_node.cpp.

sm::LaserScan::ConstPtr flirtlib_ros::Node::scan_ [private]

Definition at line 103 of file place_rec_test.cpp.

vector<sm::LaserScan::ConstPtr> flirtlib_ros::Node::scan_ [private]

Definition at line 119 of file flirtlib_ros_test.cpp.

const string flirtlib_ros::Node::scan_db_ [private]

Definition at line 99 of file place_rec_test.cpp.

ros::Subscriber flirtlib_ros::Node::scan_sub_ [private]

Definition at line 86 of file generate_scan_map.cpp.

ros::Subscriber flirtlib_ros::Node::scan_subs_[2] [private]

Definition at line 129 of file flirtlib_ros_test.cpp.

mr::MessageCollection< RefScanRos > flirtlib_ros::Node::scans_ [private]

Definition at line 88 of file generate_scan_map.cpp.

unsigned flirtlib_ros::Node::successful_navs_ [private]

Definition at line 199 of file localization_monitor_node.cpp.

tf::TransformListener flirtlib_ros::Node::tf_ [private]

Definition at line 131 of file flirtlib_ros_test.cpp.

const double flirtlib_ros::Node::theta_inc_ [private]

Definition at line 79 of file generate_scan_map.cpp.

ros::Rate flirtlib_ros::Node::update_rate_ [private]

Definition at line 173 of file localization_monitor_node.cpp.

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

• flirtlib_ros_test.cpp
• generate_scan_map.cpp
• localization_monitor_node.cpp
• place_rec_test.cpp
• startup_loc.cpp