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SlamKarto Class Reference

List of all members.

Public Member Functions

void laserCallback (const sensor_msgs::LaserScan::ConstPtr &scan)
bool mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
 SlamKarto ()
 ~SlamKarto ()

Private Member Functions

bool addScan (karto::LaserRangeFinder *laser, const sensor_msgs::LaserScan::ConstPtr &scan, karto::Pose2 &karto_pose)
karto::LaserRangeFinder * getLaser (const sensor_msgs::LaserScan::ConstPtr &scan)
bool getOdomPose (karto::Pose2 &karto_pose, const ros::Time &t)
void publishGraphVisualization ()
void publishLoop (double transform_publish_period)
void publishTransform ()
bool updateMap ()

Private Attributes

std::string base_frame_
karto::Dataset * dataset_
bool got_map_
bool inverted_laser_
int laser_count_
std::map< std::string,
karto::LaserRangeFinder * > 
lasers_
std::map< std::string, bool > lasers_inverted_
nav_msgs::GetMap::Response map_
std::string map_frame_
boost::mutex map_mutex_
tf::Transform map_to_odom_
boost::mutex map_to_odom_mutex_
ros::Duration map_update_interval_
karto::Mapper * mapper_
unsigned marker_count_
ros::Publisher marker_publisher_
ros::NodeHandle node_
std::string odom_frame_
double resolution_
tf::MessageFilter
< sensor_msgs::LaserScan > * 
scan_filter_
message_filters::Subscriber
< sensor_msgs::LaserScan > * 
scan_filter_sub_
SpaSolversolver_
ros::ServiceServer ss_
ros::Publisher sst_
ros::Publisher sstm_
tf::TransformListener tf_
tf::TransformBroadcastertfB_
int throttle_scans_
boost::thread * transform_thread_

Detailed Description

Definition at line 52 of file slam_karto.cpp.


Constructor & Destructor Documentation

SlamKarto::SlamKarto (  ) 

Definition at line 113 of file slam_karto.cpp.

SlamKarto::~SlamKarto (  ) 

Definition at line 168 of file slam_karto.cpp.


Member Function Documentation

bool SlamKarto::addScan ( karto::LaserRangeFinder *  laser,
const sensor_msgs::LaserScan::ConstPtr scan,
karto::Pose2 &  karto_pose 
) [private]

Definition at line 522 of file slam_karto.cpp.

karto::LaserRangeFinder * SlamKarto::getLaser ( const sensor_msgs::LaserScan::ConstPtr scan  )  [private]

Definition at line 212 of file slam_karto.cpp.

bool SlamKarto::getOdomPose ( karto::Pose2 &  karto_pose,
const ros::Time t 
) [private]

Definition at line 298 of file slam_karto.cpp.

void SlamKarto::laserCallback ( const sensor_msgs::LaserScan::ConstPtr scan  ) 

Definition at line 404 of file slam_karto.cpp.

bool SlamKarto::mapCallback ( nav_msgs::GetMap::Request req,
nav_msgs::GetMap::Response res 
)

Definition at line 592 of file slam_karto.cpp.

void SlamKarto::publishGraphVisualization (  )  [private]

Definition at line 323 of file slam_karto.cpp.

void SlamKarto::publishLoop ( double  transform_publish_period  )  [private]

Definition at line 190 of file slam_karto.cpp.

void SlamKarto::publishTransform (  )  [private]

Definition at line 204 of file slam_karto.cpp.

bool SlamKarto::updateMap (  )  [private]

Definition at line 446 of file slam_karto.cpp.


Member Data Documentation

std::string SlamKarto::base_frame_ [private]

Definition at line 90 of file slam_karto.cpp.

karto::Dataset* SlamKarto::dataset_ [private]

Definition at line 99 of file slam_karto.cpp.

bool SlamKarto::got_map_ [private]

Definition at line 105 of file slam_karto.cpp.

Definition at line 110 of file slam_karto.cpp.

int SlamKarto::laser_count_ [private]

Definition at line 106 of file slam_karto.cpp.

std::map<std::string, karto::LaserRangeFinder*> SlamKarto::lasers_ [private]

Definition at line 101 of file slam_karto.cpp.

std::map<std::string, bool> SlamKarto::lasers_inverted_ [private]

Definition at line 102 of file slam_karto.cpp.

Definition at line 85 of file slam_karto.cpp.

std::string SlamKarto::map_frame_ [private]

Definition at line 89 of file slam_karto.cpp.

boost::mutex SlamKarto::map_mutex_ [private]

Definition at line 94 of file slam_karto.cpp.

Definition at line 108 of file slam_karto.cpp.

boost::mutex SlamKarto::map_to_odom_mutex_ [private]

Definition at line 95 of file slam_karto.cpp.

Definition at line 92 of file slam_karto.cpp.

karto::Mapper* SlamKarto::mapper_ [private]

Definition at line 98 of file slam_karto.cpp.

unsigned SlamKarto::marker_count_ [private]

Definition at line 109 of file slam_karto.cpp.

Definition at line 80 of file slam_karto.cpp.

Definition at line 74 of file slam_karto.cpp.

std::string SlamKarto::odom_frame_ [private]

Definition at line 88 of file slam_karto.cpp.

double SlamKarto::resolution_ [private]

Definition at line 93 of file slam_karto.cpp.

Definition at line 78 of file slam_karto.cpp.

Definition at line 77 of file slam_karto.cpp.

Definition at line 100 of file slam_karto.cpp.

Definition at line 82 of file slam_karto.cpp.

Definition at line 79 of file slam_karto.cpp.

Definition at line 81 of file slam_karto.cpp.

Definition at line 75 of file slam_karto.cpp.

Definition at line 76 of file slam_karto.cpp.

Definition at line 91 of file slam_karto.cpp.

boost::thread* SlamKarto::transform_thread_ [private]

Definition at line 107 of file slam_karto.cpp.


The documentation for this class was generated from the following file:
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karto
Author(s): SRI International (package maintained by Brian Gerkey)
autogenerated on Sat Mar 2 13:43:11 2013