Wraps the Karto Scan matcher. More...

#include <karto_scan_matcher.h>

Public Member Functions
	KartoScanMatcher (const sensor_msgs::LaserScan &init_scan, const tf::TransformListener &tf, double search_space_size, double search_grid_resolution)
	Constructor.
	KartoScanMatcher (const sensor_msgs::LaserScan &init_scan, const geometry_msgs::Pose2D &laser_pose, double search_space_size, double search_grid_resolution)
	Constructor when laser relative pose is known.
	KartoScanMatcher (const sensor_msgs::LaserScan &init_scan, const geometry_msgs::Pose2D &laser_pose, const DoubleVector &search_sizes, const DoubleVector &search_resolutions)
	Constructor when we have multiple matchers we want to use in sequence (increasingly fine)
ScanMatchResult	scanMatch (const sensor_msgs::LaserScan &scan, const geometry_msgs::Pose2D &pose, const vector< ScanWithPose > &reference_scans) const
	Match scans.
void	setPenalizeDistance (bool penalize)
	Set flag indicating whether to penalize distance from initial estimate in scan matching.
void	setVisualizationPublisher (const std::string &topic, const std::string &frame)
	Sets the visualization topic. Scan match results will be visualized on this topic as PointCloud2 messages.
Private Types
typedef boost::shared_ptr < karto::Mapper >	MapperPtr
typedef boost::shared_ptr < karto::ScanMatcher >	MatcherPtr
Private Member Functions
void	initialize (const sensor_msgs::LaserScan &init_scan, const geometry_msgs::Pose2D &laser_pose, const DoubleVector &search_space_sizes, const DoubleVector &search_space_resolutions)
void	visualizeResult (const sensor_msgs::LaserScan &scan, const geometry_msgs::Pose2D &pose, const vector< ScanWithPose > &reference_scans, const geometry_msgs::Pose2D &res) const
Private Attributes
boost::shared_ptr< karto::Dataset >	dataset_
karto::LaserRangeFinder *	laser_
btTransform	laser_to_base_
std::vector< MapperPtr >	mappers_
std::vector< MatcherPtr >	matchers_
bool	penalize_distance_
std::string	vis_frame_
boost::optional< ros::Publisher >	vis_pub_

Detailed Description

Wraps the Karto Scan matcher.

To use it, just construct an instance and call scanMatch as many times as you want. The main constraint is that laser offset and frame should be the same for all scans passed into the constructor and to scanMatch.

All scans are assumed to be in the base_laser_link frame, and poses are of the base_link frame.

Definition at line 111 of file karto_scan_matcher.h.

Member Typedef Documentation

typedef boost::shared_ptr<karto::Mapper> karto_scan_matcher::KartoScanMatcher::MapperPtr [private]

Definition at line 182 of file karto_scan_matcher.h.

typedef boost::shared_ptr<karto::ScanMatcher> karto_scan_matcher::KartoScanMatcher::MatcherPtr [private]

Definition at line 181 of file karto_scan_matcher.h.

Constructor & Destructor Documentation

karto_scan_matcher::KartoScanMatcher::KartoScanMatcher	(	const sensor_msgs::LaserScan &	init_scan,
		const tf::TransformListener &	tf,
		double	search_space_size,
		double	search_grid_resolution
	)

Constructor.

Parameters:

init_scan	A scan that's used to set the parameters of the laser
tf	Used to figure out the offset of the laser (we're assuming this will be fixed henceforth)
name	Prefixed to the sensor name (since all karto instances in this process have a global namespace)
search_space_size	Size in meters of space to search over centered at initial estimate
search_grid_resolution	Resolution (m/cell) of discretization of search space

Other parameters: penalize_distance is true on construction

karto_scan_matcher::KartoScanMatcher::KartoScanMatcher	(	const sensor_msgs::LaserScan &	init_scan,
		const geometry_msgs::Pose2D &	laser_pose,
		double	search_space_size,
		double	search_grid_resolution
	)

Constructor when laser relative pose is known.

Parameters:

init_scan	A scan that's used to set the parameters of the laser
name	Prefixed to the sensor name (since all karto instances in this process have a global namespace)
laser_pose	Relative pose of the laser w.r.t. the base
search_space_size	Size in meters of space to search over centered at initial estimate
search_grid_resolution	Resolution (m/cell) of discretization of search space

Other parameters: penalize_distance is true on construction

karto_scan_matcher::KartoScanMatcher::KartoScanMatcher	(	const sensor_msgs::LaserScan &	init_scan,
		const geometry_msgs::Pose2D &	laser_pose,
		const DoubleVector &	search_sizes,
		const DoubleVector &	search_resolutions
	)

Constructor when we have multiple matchers we want to use in sequence (increasingly fine)

Parameters:

init_scan	A scan that's used to set the parameters of the laser
laser_pose	Relative pose of the laser w.r.t. the base
name	Prefixed to the sensor name (since all karto instances in this process have a global namespace)
search_space_sizes	The sizes in meters of space to search over at each level (coarse to fine)
search_grid_resolutions	Resolutions (m/cells) of discretizations of search space (match up with the ones in search_space_sizes)

Other parameters: penalize_distance is true on construction

Definition at line 106 of file karto_scan_matcher.cpp.

Member Function Documentation

void karto_scan_matcher::KartoScanMatcher::initialize	(	const sensor_msgs::LaserScan &	init_scan,
		const geometry_msgs::Pose2D &	laser_pose,
		const DoubleVector &	search_space_sizes,
		const DoubleVector &	search_space_resolutions
	)		`[private]`

Definition at line 112 of file karto_scan_matcher.cpp.

ScanMatchResult karto_scan_matcher::KartoScanMatcher::scanMatch	(	const sensor_msgs::LaserScan &	scan,
		const geometry_msgs::Pose2D &	pose,
		const vector< ScanWithPose > &	reference_scans
	)		const

Match scans.

Parameters:

scan	The current laser scan.
pose	The initial estimate of the pose at which this scan was taken.
reference_scans	Each of these is a scan, together with the pose at which it was taken

Return values:

The	optimal pose, covariance, and response strength

If setVisualizationPublisher has been called, a visualization of the input scans and result will be published on the given ROS topic.

Definition at line 197 of file karto_scan_matcher.cpp.

void karto_scan_matcher::KartoScanMatcher::setPenalizeDistance ( bool penalize )

Set flag indicating whether to penalize distance from initial estimate in scan matching.

Definition at line 167 of file karto_scan_matcher.cpp.

void karto_scan_matcher::KartoScanMatcher::setVisualizationPublisher	(	const std::string &	topic,
		const std::string &	frame
	)

Sets the visualization topic. Scan match results will be visualized on this topic as PointCloud2 messages.

Definition at line 258 of file karto_scan_matcher.cpp.

void karto_scan_matcher::KartoScanMatcher::visualizeResult	(	const sensor_msgs::LaserScan &	scan,
		const geometry_msgs::Pose2D &	pose,
		const vector< ScanWithPose > &	reference_scans,
		const geometry_msgs::Pose2D &	res
	)		const `[private]`