This class detects the door in 2D laser scans. More...

#include <door_angle_detector.h>

Public Member Functions
	DoorAngleDetector ()
void	estimateDoorState (const PointCloudType &pcl_cloud, double &angle_out, geometry_msgs::Point &axis_position_out)
	computes angle, stores slope and intercept
void	scanCallback (const sensor_msgs::LaserScan::ConstPtr &scan)
bool	serviceCallback (door_perception_msgs::DoorStateSrv::Request &request, door_perception_msgs::DoorStateSrv::Response &response)
Private Attributes
double	angle
ros::Publisher	angle_pub_
PointCloudType	cropping_polygon_
bool	door_found
std::string	door_frame_
ros::Publisher	door_state_publisher_
double	intercept
sensor_msgs::LaserScan	last_scan_
ros::NodeHandle	node_
ros::Publisher	point_cloud_publisher_
laser_geometry::LaserProjection	projector_
message_filters::Subscriber < sensor_msgs::LaserScan >	scan_sub_
ros::ServiceServer	service
double	slope
tf::MessageFilter < sensor_msgs::LaserScan > *	tf_filter_
tf::TransformListener	tfListener_
ros::Publisher	vis_pub_

Detailed Description

This class detects the door in 2D laser scans.

This class projects the laser scan into the (tf) door frame (settable via parameter) and crops it to remove the (physical) door frame. It then determines the angle of the door, which can be requested via service or subscribed to on a topic

Definition at line 23 of file door_angle_detector.h.

Constructor & Destructor Documentation

DoorAngleDetector::DoorAngleDetector ( )

Definition at line 16 of file door_angle_detector.cpp.

Member Function Documentation

void DoorAngleDetector::estimateDoorState	(	const PointCloudType &	pcl_cloud,
		double &	angle_out,
		geometry_msgs::Point &	axis_position_out
	)

computes angle, stores slope and intercept

Definition at line 115 of file door_angle_detector.cpp.

void DoorAngleDetector::scanCallback ( const sensor_msgs::LaserScan::ConstPtr & scan )

Definition at line 45 of file door_angle_detector.cpp.

bool DoorAngleDetector::serviceCallback	(	door_perception_msgs::DoorStateSrv::Request &	request,
		door_perception_msgs::DoorStateSrv::Response &	response
	)