Public Member Functions | Private Types | Private Member Functions | Private Attributes | Static Private Attributes
EKFnode Class Reference

#include <kalman.hpp>

List of all members.

Public Member Functions

 EKFnode (const ros::NodeHandle &nh, const double &spin_rate, const double &voxel_grid_size_=0.005)
void spin (const ros::TimerEvent &e)

Private Types

enum  { OCCUPIED = 0, FREE = 255 }
typedef pcl::PointCloud
< point_type > 		map_t
typedef map_t::Ptr map_t_ptr
typedef pcl::PointXYZ point_type

Private Member Functions

void angleOverflowCorrect (double &a)
void broadcast (const ros::Time &broad_cast_time)
void convertMap (const nav_msgs::OccupancyGrid &map_msg)
void drawCovariance (const Eigen::Matrix2f &covMatrix)
void drawFeatures ()
void handleMapMessage (const nav_msgs::OccupancyGrid &msg)
void laser_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void mapReceived (const nav_msgs::OccupancyGridConstPtr &msg)
bool predict ()
void publishFeatures ()
void requestMap ()

Private Attributes

double a_thresh_
double alpha_1
double alpha_2
double alpha_3
double alpha_4
std::string base_link
double covariance_marker_scale_
double d_thresh_
FeaturesExtractor features_extractor
boost::shared_ptr
< BFL::ExtendedKalmanFilter > 		filter
tf::Stamped< tf::Pose > filter_odom_pose_
ros::Time filter_stamp_
bool first_map_only_
bool first_map_received_
double icp_optimization_epsilon
double icp_score_scale
pcl::PointCloud< point_type >::Ptr laser
bool laser_active_
ros::Time laser_init_stamp_
bool laser_initialized_
ros::Time laser_last_stamp_
std::string laser_link
int laser_max_beams_
ros::Subscriber laser_sub
BFL::ColumnVector last_laser_pose_
tf::Stamped< tf::Pose > latest_odom_pose_
boost::shared_ptr
< tf::TransformListener > 		listener
ros::Publisher local_features_pub
ros::Publisher location_undertainty
pcl::PointCloud< point_type >::Ptr map_
std::string map_link
ros::Publisher map_pub_
ros::Subscriber map_sub_
double max_correspondence_distance
int max_iterations
boost::shared_ptr
< BFL::LinearAnalyticMeasurementModelGaussianUncertainty > 		meas_model
boost::shared_ptr
< BFL::LinearAnalyticConditionalGaussian > 		meas_pdf
ros::NodeHandle nh_
ros::NodeHandle nh_priv
bool odom_active_
ros::Time odom_init_stamp_
bool odom_initialized_
ros::Time odom_last_stamp_
std::string odom_link
laser_geometry::LaserProjection projector_
int ransac_iterations
double ransac_outlier_threshold
boost::shared_ptr
< BFL::AnalyticSystemModelGaussianUncertainty > 		sys_model
boost::shared_ptr
< BFL::NonLinearAnalyticConditionalGaussianMobile > 		sys_pdf
tf::TransformBroadcaster tf_broadcaster
ros::Timer timer_
tf::Transformer transformer_
bool use_map_topic_
double voxel_grid_size

Static Private Attributes

static const int CV_TYPE = CV_64F

Detailed Description

Definition at line 52 of file kalman.hpp.

Member Typedef Documentation

typedef pcl::PointCloud<point_type> EKFnode::map_t [private]

Definition at line 55 of file kalman.hpp.

typedef map_t::Ptr EKFnode::map_t_ptr [private]

Definition at line 56 of file kalman.hpp.

typedef pcl::PointXYZ EKFnode::point_type [private]

Definition at line 54 of file kalman.hpp.

Member Enumeration Documentation

anonymous enum [private]
Enumerator:
OCCUPIED 
FREE 

Definition at line 131 of file kalman.hpp.

Constructor & Destructor Documentation

EKFnode::EKFnode ( const ros::NodeHandle &  nh,
const double &  spin_rate,
const double &  voxel_grid_size_ = 0.005 
)

Definition at line 3 of file kalman.cpp.

Member Function Documentation

void EKFnode::angleOverflowCorrect ( double &  a) [inline, private]

Definition at line 121 of file kalman.hpp.

void EKFnode::broadcast ( const ros::Time &  broad_cast_time) [private]

Definition at line 419 of file kalman.cpp.

void EKFnode::convertMap ( const nav_msgs::OccupancyGrid &  map_msg) [private]

Definition at line 534 of file kalman.cpp.

void EKFnode::drawCovariance ( const Eigen::Matrix2f &  covMatrix) [private]

Definition at line 460 of file kalman.cpp.

void EKFnode::drawFeatures ( ) [private]
void EKFnode::handleMapMessage ( const nav_msgs::OccupancyGrid &  msg) [private]

Definition at line 508 of file kalman.cpp.

void EKFnode::laser_callback ( const sensor_msgs::LaserScan::ConstPtr &  msg) [private]

Definition at line 171 of file kalman.cpp.

void EKFnode::mapReceived ( const nav_msgs::OccupancyGridConstPtr &  msg) [private]

Definition at line 496 of file kalman.cpp.

bool EKFnode::predict ( ) [private]

Definition at line 312 of file kalman.cpp.

void EKFnode::publishFeatures ( ) [inline, private]

Definition at line 127 of file kalman.hpp.

void EKFnode::requestMap ( ) [private]

Definition at line 517 of file kalman.cpp.

void EKFnode::spin ( const ros::TimerEvent &  e)

Definition at line 572 of file kalman.cpp.

Member Data Documentation

double EKFnode::a_thresh_ [private]

Definition at line 91 of file kalman.hpp.

double EKFnode::alpha_1 [private]

Definition at line 90 of file kalman.hpp.

double EKFnode::alpha_2 [private]

Definition at line 90 of file kalman.hpp.

double EKFnode::alpha_3 [private]

Definition at line 90 of file kalman.hpp.

double EKFnode::alpha_4 [private]

Definition at line 90 of file kalman.hpp.

std::string EKFnode::base_link [private]

Definition at line 66 of file kalman.hpp.

double EKFnode::covariance_marker_scale_ [private]

Definition at line 105 of file kalman.hpp.

const int EKFnode::CV_TYPE = CV_64F [static, private]

Definition at line 132 of file kalman.hpp.

double EKFnode::d_thresh_ [private]

Definition at line 91 of file kalman.hpp.

FeaturesExtractor EKFnode::features_extractor [private]

Definition at line 98 of file kalman.hpp.

boost::shared_ptr<BFL::ExtendedKalmanFilter> EKFnode::filter [private]

Definition at line 82 of file kalman.hpp.

tf::Stamped<tf::Pose> EKFnode::filter_odom_pose_ [private]

Definition at line 96 of file kalman.hpp.

ros::Time EKFnode::filter_stamp_ [private]

Definition at line 63 of file kalman.hpp.

bool EKFnode::first_map_only_ [private]

Definition at line 70 of file kalman.hpp.

bool EKFnode::first_map_received_ [private]

Definition at line 70 of file kalman.hpp.

double EKFnode::icp_optimization_epsilon [private]

Definition at line 103 of file kalman.hpp.

double EKFnode::icp_score_scale [private]

Definition at line 104 of file kalman.hpp.

pcl::PointCloud<point_type>::Ptr EKFnode::laser [private]

Definition at line 80 of file kalman.hpp.

bool EKFnode::laser_active_ [private]

Definition at line 107 of file kalman.hpp.

ros::Time EKFnode::laser_init_stamp_ [private]

Definition at line 63 of file kalman.hpp.

bool EKFnode::laser_initialized_ [private]

Definition at line 107 of file kalman.hpp.

ros::Time EKFnode::laser_last_stamp_ [private]

Definition at line 63 of file kalman.hpp.

std::string EKFnode::laser_link [private]

Definition at line 69 of file kalman.hpp.

int EKFnode::laser_max_beams_ [private]

Definition at line 77 of file kalman.hpp.

ros::Subscriber EKFnode::laser_sub [private]

Definition at line 71 of file kalman.hpp.

BFL::ColumnVector EKFnode::last_laser_pose_ [private]

Definition at line 109 of file kalman.hpp.

tf::Stamped<tf::Pose> EKFnode::latest_odom_pose_ [private]

Definition at line 95 of file kalman.hpp.

boost::shared_ptr<tf::TransformListener> EKFnode::listener [private]

Definition at line 65 of file kalman.hpp.

ros::Publisher EKFnode::local_features_pub [private]

Definition at line 75 of file kalman.hpp.

ros::Publisher EKFnode::location_undertainty [private]

Definition at line 73 of file kalman.hpp.

pcl::PointCloud<point_type>::Ptr EKFnode::map_ [private]

Definition at line 88 of file kalman.hpp.

std::string EKFnode::map_link [private]

Definition at line 68 of file kalman.hpp.

ros::Publisher EKFnode::map_pub_ [private]

Definition at line 74 of file kalman.hpp.

ros::Subscriber EKFnode::map_sub_ [private]

Definition at line 72 of file kalman.hpp.

double EKFnode::max_correspondence_distance [private]

Definition at line 99 of file kalman.hpp.

int EKFnode::max_iterations [private]

Definition at line 100 of file kalman.hpp.

boost::shared_ptr<BFL::LinearAnalyticMeasurementModelGaussianUncertainty> EKFnode::meas_model [private]

Definition at line 86 of file kalman.hpp.

boost::shared_ptr<BFL::LinearAnalyticConditionalGaussian> EKFnode::meas_pdf [private]

Definition at line 85 of file kalman.hpp.

ros::NodeHandle EKFnode::nh_ [private]

Definition at line 60 of file kalman.hpp.

ros::NodeHandle EKFnode::nh_priv [private]

Definition at line 59 of file kalman.hpp.

bool EKFnode::odom_active_ [private]

Definition at line 107 of file kalman.hpp.

ros::Time EKFnode::odom_init_stamp_ [private]

Definition at line 63 of file kalman.hpp.

bool EKFnode::odom_initialized_ [private]

Definition at line 107 of file kalman.hpp.

ros::Time EKFnode::odom_last_stamp_ [private]

Definition at line 63 of file kalman.hpp.

std::string EKFnode::odom_link [private]

Definition at line 67 of file kalman.hpp.

laser_geometry::LaserProjection EKFnode::projector_ [private]

Definition at line 81 of file kalman.hpp.

int EKFnode::ransac_iterations [private]

Definition at line 101 of file kalman.hpp.

double EKFnode::ransac_outlier_threshold [private]

Definition at line 102 of file kalman.hpp.

boost::shared_ptr<BFL::AnalyticSystemModelGaussianUncertainty> EKFnode::sys_model [private]

Definition at line 84 of file kalman.hpp.

boost::shared_ptr<BFL::NonLinearAnalyticConditionalGaussianMobile> EKFnode::sys_pdf [private]

Definition at line 83 of file kalman.hpp.

tf::TransformBroadcaster EKFnode::tf_broadcaster [private]

Definition at line 79 of file kalman.hpp.

ros::Timer EKFnode::timer_ [private]

Definition at line 76 of file kalman.hpp.

tf::Transformer EKFnode::transformer_ [private]

Definition at line 62 of file kalman.hpp.

bool EKFnode::use_map_topic_ [private]

Definition at line 70 of file kalman.hpp.

double EKFnode::voxel_grid_size [private]

Definition at line 92 of file kalman.hpp.

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

ekf_localization
Author(s):
autogenerated on Sat Jun 8 2019 20:11:55