Public Member Functions
	Mapper (ros::NodeHandle &n, ros::NodeHandle &pn)
	Mapper (ros::NodeHandle &n, ros::NodeHandle &pn)
	~Mapper ()
	~Mapper ()
Protected Member Functions
bool	correctPose (ethzasl_icp_mapper::CorrectPose::Request &req, ethzasl_icp_mapper::CorrectPose::Response &res)
bool	correctPose (ethzasl_icp_mapper::CorrectPose::Request &req, ethzasl_icp_mapper::CorrectPose::Response &res)
bool	getBoundedMap (ethzasl_icp_mapper::GetBoundedMap::Request &req, ethzasl_icp_mapper::GetBoundedMap::Response &res)
bool	getBoundedMap (ethzasl_icp_mapper::GetBoundedMap::Request &req, ethzasl_icp_mapper::GetBoundedMap::Response &res)
bool	getMode (ethzasl_icp_mapper::GetMode::Request &req, ethzasl_icp_mapper::GetMode::Response &res)
bool	getMode (ethzasl_icp_mapper::GetMode::Request &req, ethzasl_icp_mapper::GetMode::Response &res)
bool	getPointMap (map_msgs::GetPointMap::Request &req, map_msgs::GetPointMap::Response &res)
bool	getPointMap (map_msgs::GetPointMap::Request &req, map_msgs::GetPointMap::Response &res)
string	getTransParamCsvHeader (const PM::TransformationParameters T, const string prefix)
void	gotCloud (const sensor_msgs::PointCloud2 &cloudMsgIn)
void	gotCloud (const sensor_msgs::PointCloud2 &cloudMsgIn)
void	gotScan (const sensor_msgs::LaserScan &scanMsgIn)
void	gotScan (const sensor_msgs::LaserScan &scanMsgIn)
bool	loadMap (ethzasl_icp_mapper::LoadMap::Request &req, ethzasl_icp_mapper::LoadMap::Response &res)
bool	loadMap (ethzasl_icp_mapper::LoadMap::Request &req, ethzasl_icp_mapper::LoadMap::Response &res)
void	processCloud (unique_ptr< DP > cloud, const std::string &scannerFrame, const ros::Time &stamp, uint32_t seq)
void	processCloud (unique_ptr< DP > cloud, const std::string &scannerFrame, const ros::Time &stamp, uint32_t seq)
void	processNewMapIfAvailable ()
void	processNewMapIfAvailable ()
void	publishLoop (double publishPeriod)
void	publishLoop (double publishPeriod)
void	publishTransform ()
void	publishTransform ()
bool	reset (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	reset (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	saveMap (map_msgs::SaveMap::Request &req, map_msgs::SaveMap::Response &res)
bool	saveMap (map_msgs::SaveMap::Request &req, map_msgs::SaveMap::Response &res)
void	savePathToCsv (string fileName)
string	serializeTransParamCSV (const PM::TransformationParameters T, const bool getHeader=false, const string prefix="")
void	setMap (DP *newPointCloud)
void	setMap (DP *newPointCloud)
bool	setMode (ethzasl_icp_mapper::SetMode::Request &req, ethzasl_icp_mapper::SetMode::Response &res)
bool	setMode (ethzasl_icp_mapper::SetMode::Request &req, ethzasl_icp_mapper::SetMode::Response &res)
DP *	updateMap (DP *newPointCloud, const PM::TransformationParameters Ticp, bool updateExisting)
DP *	updateMap (DP *newPointCloud, const PM::TransformationParameters Ticp, bool updateExisting)
void	waitForMapBuildingCompleted ()
void	waitForMapBuildingCompleted ()
Private Types
typedef PM::DataPoints	DP
typedef PM::DataPoints	DP
typedef PM::Matches	Matches
typedef Nabo::NearestNeighbourSearch < float >	NNS
typedef NNS::SearchType	NNSearchType
typedef PointMatcher< float >	PM
typedef PointMatcher< float >	PM
Private Attributes
const float	alpha
	ratio. Propability of staying static given that the point was dynamic
const float	beta
	ratio. Propability of staying dynamic given that the point was static
ros::Subscriber	cloudSub
ros::ServiceServer	correctPoseSrv
ros::Publisher	debugPub
const float	eps
const float	eps_a
	ratio. Error proportional to the laser distance
const float	eps_d
	in meter. Fix error on the laser distance
std::vector < PM::TransformationParameters >	errors
	vector of poses representing the correction applied by ICP.
ros::ServiceServer	getBoundedMapSrv
ros::ServiceServer	getModeSrv
ros::ServiceServer	getPointMapSrv
PM::ICPSequence	icp
PM::DataPointsFilters	inputFilters
int	inputQueueSize
ros::Time	lastPoinCloudTime
ros::ServiceServer	loadMapSrv
bool	localizing
ros::Time	mapCreationTime
const double	mapElevation
string	mapFrame
bool	mapping
PM::DataPoints *	mapPointCloud
PM::DataPointsFilters	mapPostFilters
PM::DataPointsFilters	mapPreFilters
ros::Publisher	mapPub
const float	maxAngle
	in rad. Openning angle of a laser beam
const float	maxDistNewPoint
	in meter. Distance at which a new point will be added in the global map.
const float	maxDyn
	ratio. Threshold for which a point will stay dynamic
double	maxOverlapToMerge
int	minMapPointCount
double	minOverlap
int	minReadingPointCount
ros::NodeHandle &	n
ros::Publisher	odomErrorPub
string	odomFrame
ros::Publisher	odomPub
ros::Publisher	outlierPub
std::vector < PM::TransformationParameters >	path
	vector of poses representing the path after ICP correction.
ros::NodeHandle &	pn
const float	priorDyn
	ratio. Prior to be dynamic when a new point is added
const float	priorStatic
	ratio. Prior to be static when a new point is added
bool	processingNewCloud
boost::mutex	publishLock
bool	publishMapTf
ros::Time	publishStamp
boost::thread	publishThread
ros::ServiceServer	resetSrv
ros::ServiceServer	saveMapSrv
ros::Subscriber	scanSub
const float	sensorMaxRange
	in meter. Radius in which the global map needs to be updated when a new scan arrived.
ros::ServiceServer	setModeSrv
tf::TransformBroadcaster	tfBroadcaster
tf::TransformListener	tfListener
double	tfRefreshPeriod
	if set to zero, tf will be publish at the rate of the incoming point cloud messages
PM::TransformationParameters	TOdomToMap
unique_ptr< PM::Transformation >	transformation
bool	useConstMotionModel
string	vtkFinalMapName
	name of the final vtk map