A class that provides sensor abstraction. More...

#include <sensor_base.h>

Inheritance diagram for stdr_robot::Sensor:

Public Member Functions
std::string	getFrameId (void) const
	Getter function for returning the sensor frame id.
geometry_msgs::Pose2D	getSensorPose (void) const
	Getter function for returning the sensor pose relatively to robot.
virtual void	updateSensorCallback (void)=0
	Virtual function for sensor value callback. Implement this function on derived class to publish sensor measurements.
virtual	~Sensor (void)
	Default destructor.
Protected Member Functions
void	checkAndUpdateSensor (const ros::TimerEvent &ev)
	Checks if transform is available and calls updateSensorCallback()
	Sensor (const nav_msgs::OccupancyGrid &map, const std::string &name, ros::NodeHandle &n, const geometry_msgs::Pose2D &sensorPose, const std::string &sensorFrameId, float updateFrequency)
	Default constructor.
void	updateTransform (const ros::TimerEvent &ev)
	Function for updating the sensor tf transform.
Protected Attributes
bool	_gotTransform
const nav_msgs::OccupancyGrid &	_map
	Sensor pose relative to robot.
const std::string &	_namespace
	< The base for the sensor frame_id
ros::Publisher	_publisher
	ROS tf listener.
const std::string	_sensorFrameId
	A ROS timer for updating the sensor values.
const geometry_msgs::Pose2D	_sensorPose
	Update frequency of _timer.
tf::StampedTransform	_sensorTransform
	True if sensor got the _sensorTransform.
tf::TransformListener	_tfListener
	ROS transform from sensor to map.
ros::Timer	_tfTimer
	ROS publisher for posting the sensor measurements.
ros::Timer	_timer
	A ROS timer for updating the sensor tf.
const float	_updateFrequency
	Sensor frame id.

Detailed Description

A class that provides sensor abstraction.

Definition at line 40 of file sensor_base.h.

Constructor & Destructor Documentation

virtual stdr_robot::Sensor::~Sensor ( void ) [inline, virtual]

Default destructor.

Returns:: void

Definition at line 73 of file sensor_base.h.

stdr_robot::Sensor::Sensor	(	const nav_msgs::OccupancyGrid &	map,
		const std::string &	name,
		ros::NodeHandle &	n,
		const geometry_msgs::Pose2D &	sensorPose,
		const std::string &	sensorFrameId,
		float	updateFrequency
	)		`[protected]`

Default constructor.

Parameters:

map	[const nav_msgs::OccupancyGrid&] An occupancy grid map
name	[const std::string&] The sensor frame id without the base
n	[ros::NodeHandle& n] A ROS NodeHandle to create timers
sensorPose	[const geometry_msgs::Pose2D&] The sensor's pose relative to robot
sensorFrameId	[const std::string&] The sensor's frame id
updateFrequency	[float] The sensor's update frequnecy

Returns:: void

Definition at line 36 of file sensor_base.cpp.

Member Function Documentation

void stdr_robot::Sensor::checkAndUpdateSensor ( const ros::TimerEvent & ev ) [protected]

Checks if transform is available and calls updateSensorCallback()

Parameters:

ev	[const ros::TimerEvent&] A ROS timer event

Returns:: void

< wait for transform

Definition at line 63 of file sensor_base.cpp.

std::string stdr_robot::Sensor::getFrameId ( void ) const [inline]

Getter function for returning the sensor frame id.

Returns:: std::string

Definition at line 64 of file sensor_base.h.

geometry_msgs::Pose2D stdr_robot::Sensor::getSensorPose ( void ) const [inline]

Getter function for returning the sensor pose relatively to robot.

Returns:: geometry_msgs::Pose2D

Definition at line 55 of file sensor_base.h.

virtual void stdr_robot::Sensor::updateSensorCallback ( void ) [pure virtual]

Virtual function for sensor value callback. Implement this function on derived class to publish sensor measurements.

Returns:: void

Implemented in stdr_robot::CO2Sensor, stdr_robot::SoundSensor, stdr_robot::ThermalSensor, stdr_robot::RfidReader, stdr_robot::Laser, and stdr_robot::Sonar.

void stdr_robot::Sensor::updateTransform ( const ros::TimerEvent & ev ) [protected]

Function for updating the sensor tf transform.

Updates the sensor tf transform.

Parameters:

ev	[const ros::TimerEvent&] A ROS timer event

Returns:: void; void

Definition at line 76 of file sensor_base.cpp.

Member Data Documentation

bool stdr_robot::Sensor::_gotTransform [protected]

Definition at line 138 of file sensor_base.h.

const nav_msgs::OccupancyGrid& stdr_robot::Sensor::_map [protected]

Sensor pose relative to robot.

Definition at line 118 of file sensor_base.h.

const std::string& stdr_robot::Sensor::_namespace [protected]

< The base for the sensor frame_id

The environment occupancy grid map

Definition at line 115 of file sensor_base.h.

ros::Publisher stdr_robot::Sensor::_publisher [protected]

ROS tf listener.

Definition at line 132 of file sensor_base.h.

const std::string stdr_robot::Sensor::_sensorFrameId [protected]

A ROS timer for updating the sensor values.

Definition at line 125 of file sensor_base.h.

const geometry_msgs::Pose2D stdr_robot::Sensor::_sensorPose [protected]

Update frequency of _timer.

Definition at line 120 of file sensor_base.h.

tf::StampedTransform stdr_robot::Sensor::_sensorTransform [protected]

True if sensor got the _sensorTransform.

Definition at line 137 of file sensor_base.h.

tf::TransformListener stdr_robot::Sensor::_tfListener [protected]

ROS transform from sensor to map.

Definition at line 134 of file sensor_base.h.

ros::Timer stdr_robot::Sensor::_tfTimer [protected]

ROS publisher for posting the sensor measurements.

Definition at line 130 of file sensor_base.h.

ros::Timer stdr_robot::Sensor::_timer [protected]

A ROS timer for updating the sensor tf.

Definition at line 127 of file sensor_base.h.

const float stdr_robot::Sensor::_updateFrequency [protected]

Sensor frame id.

Definition at line 122 of file sensor_base.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation