slam_node.cpp
/tmp/ws/src/ohm_tsd_slam/src/
slam__node_8cpp
SlamNode.h
int
main
slam__node_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
SlamNode.cpp
/tmp/ws/src/ohm_tsd_slam/src/
SlamNode_8cpp
SlamNode.h
ThreadMapping.h
ThreadGrid.h
ThreadLocalize.h
ohm_tsd_slam
SlamNode.h
/tmp/ws/src/ohm_tsd_slam/src/
SlamNode_8h
ohm_tsd_slam::SlamNode
ohm_tsd_slam
#define
INIT_PSHS
SlamNode_8h.html
a7f516bedc9360ce81c38b2b6fbd1a5ff
#define
THREAD_TERM_MS
SlamNode_8h.html
a502d892a0b86363c94e2f11fb2370346
ThreadGrid.cpp
/tmp/ws/src/ohm_tsd_slam/src/
ThreadGrid_8cpp
ThreadGrid.h
SlamNode.h
ohm_tsd_slam
ThreadGrid.h
/tmp/ws/src/ohm_tsd_slam/src/
ThreadGrid_8h
ThreadSLAM.h
ohm_tsd_slam::ThreadGrid
ohm_tsd_slam
ThreadLocalize.cpp
/tmp/ws/src/ohm_tsd_slam/src/
ThreadLocalize_8cpp
ThreadLocalize.h
SlamNode.h
ThreadMapping.h
ohm_tsd_slam
ThreadLocalize.h
/tmp/ws/src/ohm_tsd_slam/src/
ThreadLocalize_8h
ThreadSLAM.h
ohm_tsd_slam::ThreadLocalize
ohm_tsd_slam
ThreadMapping.cpp
/tmp/ws/src/ohm_tsd_slam/src/
ThreadMapping_8cpp
ThreadMapping.h
SlamNode.h
ohm_tsd_slam
ThreadMapping.h
/tmp/ws/src/ohm_tsd_slam/src/
ThreadMapping_8h
ThreadSLAM.h
ohm_tsd_slam::ThreadMapping
ohm_tsd_slam
ThreadSLAM.cpp
/tmp/ws/src/ohm_tsd_slam/src/
ThreadSLAM_8cpp
ThreadSLAM.h
ohm_tsd_slam
ThreadSLAM.h
/tmp/ws/src/ohm_tsd_slam/src/
ThreadSLAM_8h
ohm_tsd_slam::ThreadSLAM
ohm_tsd_slam
ohm_tsd_slam
namespaceohm__tsd__slam.html
ohm_tsd_slam::SlamNode
ohm_tsd_slam::ThreadGrid
ohm_tsd_slam::ThreadLocalize
ohm_tsd_slam::ThreadMapping
ohm_tsd_slam::ThreadSLAM
ohm_tsd_slam::SlamNode
classohm__tsd__slam_1_1SlamNode.html
SlamNode
classohm__tsd__slam_1_1SlamNode.html
a53405334bd8bd96a906d12fbee18a0f3
(void)
void
start
classohm__tsd__slam_1_1SlamNode.html
aab61ed9a47da67c158575fff0c1bedf0
(void)
virtual
~SlamNode
classohm__tsd__slam_1_1SlamNode.html
afa406b71eeedebc517f8af86da11cfe1
()
void
run
classohm__tsd__slam_1_1SlamNode.html
a4bd9154e7b2003ab45422bfd8df1ad39
(void)
void
timedGridPub
classohm__tsd__slam_1_1SlamNode.html
a4b997ce8018bf1f309dbe696a63b4a3b
(void)
obvious::TsdGrid *
_grid
classohm__tsd__slam_1_1SlamNode.html
ae781a4fa4945e764019bf372cd6ac5ab
ros::Duration *
_gridInterval
classohm__tsd__slam_1_1SlamNode.html
aca637ee8387c2414902516f0a4e32b79
std::vector< ThreadLocalize * >
_localizers
classohm__tsd__slam_1_1SlamNode.html
a94818e8716a1ee8d83071e2bf8fb2604
ros::Rate *
_loopRate
classohm__tsd__slam_1_1SlamNode.html
ad0a9e371e33605f4a5666060949473a5
ros::NodeHandle
_nh
classohm__tsd__slam_1_1SlamNode.html
ad80198ebc14aa678f72738ba64d612bc
std::vector< ros::Subscriber >
_subsLaser
classohm__tsd__slam_1_1SlamNode.html
a179acaa908de3eede8c50a00bff6b4a3
ThreadGrid *
_threadGrid
classohm__tsd__slam_1_1SlamNode.html
ab0dfdeb16f4b4ef1962c749954c77e32
ThreadMapping *
_threadMapping
classohm__tsd__slam_1_1SlamNode.html
a6a6b18010b78fd8fbdf67aff45613c10
double
_xOffFactor
classohm__tsd__slam_1_1SlamNode.html
a794eb5cfc1ba5f68d10e034061c3aed0
double
_yOffFactor
classohm__tsd__slam_1_1SlamNode.html
a275194525a13fc4400406d172a9742d4
ohm_tsd_slam::ThreadGrid
classohm__tsd__slam_1_1ThreadGrid.html
ohm_tsd_slam::ThreadSLAM
ThreadGrid
classohm__tsd__slam_1_1ThreadGrid.html
a731c32d1d4f82828276668fad5e87666
(obvious::TsdGrid *grid, ros::NodeHandle *const nh, const double xOffset, const double yOffset)
virtual
~ThreadGrid
classohm__tsd__slam_1_1ThreadGrid.html
ad5dc483d91336c2caf7db7bb12052bd7
()
virtual void
eventLoop
classohm__tsd__slam_1_1ThreadGrid.html
ae26cf1d14ae574d1c86ada45296fe8e7
(void)
bool
getMapServCallBack
classohm__tsd__slam_1_1ThreadGrid.html
a97de0caa38b68c24c43db87ba0d20f15
(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
double
_cellSize
classohm__tsd__slam_1_1ThreadGrid.html
a2b4a29e5e9f5ff151bbb2694e1535ab0
ros::ServiceServer
_getMapServ
classohm__tsd__slam_1_1ThreadGrid.html
a194c884091661587b5f29bfdaa28d1a5
double *
_gridCoords
classohm__tsd__slam_1_1ThreadGrid.html
af3e9a59cc3b9f4d9a05d28787ea5a6cb
ros::Publisher
_gridPub
classohm__tsd__slam_1_1ThreadGrid.html
afbf434c99d9a9416ef930b5f3f338326
unsigned int
_height
classohm__tsd__slam_1_1ThreadGrid.html
a21dc0fc660a35b54a6781e84ad5e5b61
bool
_objectInflation
classohm__tsd__slam_1_1ThreadGrid.html
a805e621897346f4fb44d30b4a9ded6cd
unsigned int
_objInflateFactor
classohm__tsd__slam_1_1ThreadGrid.html
a6bcd50b318c841d53245d7d889567a77
nav_msgs::OccupancyGrid *
_occGrid
classohm__tsd__slam_1_1ThreadGrid.html
a063898cfe74d2274f68f6cfb26a326be
char *
_occGridContent
classohm__tsd__slam_1_1ThreadGrid.html
a9d400d85900d4c0b94fe0959fbe9133e
unsigned int
_width
classohm__tsd__slam_1_1ThreadGrid.html
a218d52ed78d591569f226c97e7cab2d9
ohm_tsd_slam::ThreadLocalize
classohm__tsd__slam_1_1ThreadLocalize.html
ohm_tsd_slam::ThreadSLAM
void
laserCallBack
classohm__tsd__slam_1_1ThreadLocalize.html
ac31e63cbe27658aa4b454f22bced5cdb
(const sensor_msgs::LaserScan &scan)
ThreadLocalize
classohm__tsd__slam_1_1ThreadLocalize.html
adca3606d5fd194057ad803bddd5faf5b
(obvious::TsdGrid *grid, ThreadMapping *mapper, ros::NodeHandle *nh, std::string nameSpace, const double xOffset, const double yOffset)
virtual
~ThreadLocalize
classohm__tsd__slam_1_1ThreadLocalize.html
a3f59c46db61b0ef8cfc35c61020d45b1
()
virtual void
eventLoop
classohm__tsd__slam_1_1ThreadLocalize.html
a3e9d5152ce0b0a36e994026ed8ccc218
(void)
EnumRegModes
classohm__tsd__slam_1_1ThreadLocalize.html
aa0415c0398d25c3d66dd25f7c370a4e2
ICP
classohm__tsd__slam_1_1ThreadLocalize.html
aa0415c0398d25c3d66dd25f7c370a4e2aec3afd1847f40051f0d63de2bf00d3dc
EXP
classohm__tsd__slam_1_1ThreadLocalize.html
aa0415c0398d25c3d66dd25f7c370a4e2ab2849a21077519cbdeb70eadd93d3f69
double
calcAngle
classohm__tsd__slam_1_1ThreadLocalize.html
aeb85aeade019d711fa39f06b1773f9a3
(obvious::Matrix *T)
obvious::Matrix
doRegistration
classohm__tsd__slam_1_1ThreadLocalize.html
a427e231aeef918d7c017603a1593ab30
(obvious::SensorPolar2D *sensor, obvious::Matrix *M, obvious::Matrix *Mvalid, obvious::Matrix *N, obvious::Matrix *Nvalid, obvious::Matrix *S, obvious::Matrix *Svalid, const bool experimental)
void
init
classohm__tsd__slam_1_1ThreadLocalize.html
a5ca528b74a590553bbf65a5bc12b7de1
(const sensor_msgs::LaserScan &scan)
bool
isPoseChangeSignificant
classohm__tsd__slam_1_1ThreadLocalize.html
a5eda4fecc347da0c20604e28bf86d023
(obvious::Matrix *lastPose, obvious::Matrix *curPose)
bool
isRegistrationError
classohm__tsd__slam_1_1ThreadLocalize.html
a7b5ee6a60ed9e44de76ff982e0cc0164
(obvious::Matrix *T, const double trnsMax, const double rotMax)
obvious::Matrix
maskMatrix
classohm__tsd__slam_1_1ThreadLocalize.html
a94de43abec08b9c43be7e2f743d013f9
(obvious::Matrix *Mat, bool *mask, unsigned int maskSize, unsigned int validPoints)
void
reduceResolution
classohm__tsd__slam_1_1ThreadLocalize.html
a14e8537155be7847da8c1c8f9b2f656e
(bool *const maskIn, const obvious::Matrix *matIn, bool *const maskOut, obvious::Matrix *matOut, unsigned int pointsIn, unsigned int pointsOut, unsigned int reductionFactor)
void
sendNanTransform
classohm__tsd__slam_1_1ThreadLocalize.html
a6698d8ae455e3367e609d5a74b9bfc03
()
void
sendTransform
classohm__tsd__slam_1_1ThreadLocalize.html
ae54d0dfe188432ac1e258deef9370fc7
(obvious::Matrix *T)
obvious::PairAssignment *
_assigner
classohm__tsd__slam_1_1ThreadLocalize.html
a33f86d68e72901c8be14dcf5c7fdb485
boost::mutex
_dataMutex
classohm__tsd__slam_1_1ThreadLocalize.html
a79f7545b18b4d6fb15d9a1424c6a67fd
obvious::IRigidEstimator *
_estimator
classohm__tsd__slam_1_1ThreadLocalize.html
a1622526c04b26c59355a97989121e0bc
obvious::OutOfBoundsFilter2D *
_filterBounds
classohm__tsd__slam_1_1ThreadLocalize.html
a8e9a482523cd13c719bd33621fd2c238
obvious::DistanceFilter *
_filterDist
classohm__tsd__slam_1_1ThreadLocalize.html
a429b3448ceb24a931885e157ae0fb78e
obvious::ReciprocalFilter *
_filterReciprocal
classohm__tsd__slam_1_1ThreadLocalize.html
a2ec03c62faf1c34f888e84a515cef3ae
const double
_gridHeight
classohm__tsd__slam_1_1ThreadLocalize.html
a088f335659b326a39bb6e0d92f9f1176
const double
_gridOffSetX
classohm__tsd__slam_1_1ThreadLocalize.html
af67c012633de7f44d37efd6780bad54b
const double
_gridOffSetY
classohm__tsd__slam_1_1ThreadLocalize.html
a75bdf4a742ab824a8122539636f739a4
const double
_gridWidth
classohm__tsd__slam_1_1ThreadLocalize.html
aba93d1b9958254e14ef51169d62ee664
obvious::Icp *
_icp
classohm__tsd__slam_1_1ThreadLocalize.html
abb9e6f500fadfb8d900c6f49cf38a03a
bool
_initialized
classohm__tsd__slam_1_1ThreadLocalize.html
a5672375d03c077b089bcf005cbf1a16c
std::deque< sensor_msgs::LaserScan * >
_laserData
classohm__tsd__slam_1_1ThreadLocalize.html
afef03e3b5bd0ad1a8117ac86e7b61435
obvious::Matrix *
_lastPose
classohm__tsd__slam_1_1ThreadLocalize.html
ae0eebac934769eaa7c03e7f916cf4299
ThreadMapping &
_mapper
classohm__tsd__slam_1_1ThreadLocalize.html
ae58a8a3c0a7bf3d04c7f18f33958278f
bool *
_maskM
classohm__tsd__slam_1_1ThreadLocalize.html
afc7aff7dbc7f5fef2c8a830734319b1b
bool *
_maskS
classohm__tsd__slam_1_1ThreadLocalize.html
a55678b9206bfa61280673aa58c591dcf
double *
_modelCoords
classohm__tsd__slam_1_1ThreadLocalize.html
a7d05c13b116c2ce0a6e61588fc8fa1f3
double *
_modelNormals
classohm__tsd__slam_1_1ThreadLocalize.html
a62acd2d911769baa9fc5f59d7ea32225
std::string
_nameSpace
classohm__tsd__slam_1_1ThreadLocalize.html
ad9f6a514d9bdd89097f02986edc6e367
ros::NodeHandle *
_nh
classohm__tsd__slam_1_1ThreadLocalize.html
ac62aaf465d2cc976e19e91471d4b1b94
ros::Publisher
_posePub
classohm__tsd__slam_1_1ThreadLocalize.html
a2f08e6a7a376dd5746b9636069f7861b
geometry_msgs::PoseStamped
_poseStamped
classohm__tsd__slam_1_1ThreadLocalize.html
ad2d6214952bc8111cf1d2e934a0f9f92
double
_ranEpsThresh
classohm__tsd__slam_1_1ThreadLocalize.html
acfb5a18318dde5be04afdb36fe74ae0c
double
_ranPhiMax
classohm__tsd__slam_1_1ThreadLocalize.html
a6fb9409fdd117cbccc8d162dc792d84a
unsigned int
_ranSizeCtrlSet
classohm__tsd__slam_1_1ThreadLocalize.html
a8a46779b6e7cf32099850b5e1ae983d1
unsigned int
_ranTrials
classohm__tsd__slam_1_1ThreadLocalize.html
a9f33a464ff82bb17fc6d17a901f924a6
obvious::RayCastPolar2D *
_rayCaster
classohm__tsd__slam_1_1ThreadLocalize.html
a5988958e4f7888b86f7aaf483d5d6a3e
EnumRegModes
_regMode
classohm__tsd__slam_1_1ThreadLocalize.html
ae91396335ea7e25bf4334f6cb70df2fc
double
_rotMax
classohm__tsd__slam_1_1ThreadLocalize.html
a801745a9cfd6ef554a22d03c78ae0ed9
double *
_scene
classohm__tsd__slam_1_1ThreadLocalize.html
a9021b68843228fbdf49b5820c66680c3
obvious::SensorPolar2D *
_sensor
classohm__tsd__slam_1_1ThreadLocalize.html
a0d8eb4b61423a761ba29286635de80a3
tf::StampedTransform
_tf
classohm__tsd__slam_1_1ThreadLocalize.html
ae6b0be7748240c2a319385447cd59f75
tf::TransformBroadcaster
_tfBroadcaster
classohm__tsd__slam_1_1ThreadLocalize.html
a832a4cf42b4cc2b7b6ddcf2d6062cc6a
double
_trnsMax
classohm__tsd__slam_1_1ThreadLocalize.html
ac374a43e71d535bca54a8d3790f30926
const double
_xOffset
classohm__tsd__slam_1_1ThreadLocalize.html
aa62082640dfac68160e02232c5d4d407
const double
_yOffset
classohm__tsd__slam_1_1ThreadLocalize.html
af831f5d7411a76283817bdbfb0e1d311
ohm_tsd_slam::ThreadMapping
classohm__tsd__slam_1_1ThreadMapping.html
ohm_tsd_slam::ThreadSLAM
bool
initialized
classohm__tsd__slam_1_1ThreadMapping.html
a8af204bfc8312100e1a1778763aa1e28
(void)
void
initPush
classohm__tsd__slam_1_1ThreadMapping.html
ad43a0db9dc8f9ec10c9311741dfcddc4
(obvious::SensorPolar2D *sensor)
void
queuePush
classohm__tsd__slam_1_1ThreadMapping.html
a9b20cd36160830d70963e66d7d0ca6ec
(obvious::SensorPolar2D *sensor)
ThreadMapping
classohm__tsd__slam_1_1ThreadMapping.html
a83ba669f863a7bb8105e7f3e471701a8
(obvious::TsdGrid *grid)
virtual
~ThreadMapping
classohm__tsd__slam_1_1ThreadMapping.html
a4558a8f24cdc36f880dbd5f97b647891
()
virtual void
eventLoop
classohm__tsd__slam_1_1ThreadMapping.html
a34250e58f807fd5410121b4629bca9d7
(void)
bool
_initialized
classohm__tsd__slam_1_1ThreadMapping.html
aa02986791bf3183e1117b32d8bf066ea
boost::mutex
_pushMutex
classohm__tsd__slam_1_1ThreadMapping.html
a567056be04dc9132b964ea3e09799075
std::queue< obvious::SensorPolar2D * >
_sensors
classohm__tsd__slam_1_1ThreadMapping.html
a2bc04bb771d0ece1e77f471600f2fefd
ohm_tsd_slam::ThreadSLAM
classohm__tsd__slam_1_1ThreadSLAM.html
bool
alive
classohm__tsd__slam_1_1ThreadSLAM.html
a5770bb0e3a34c33cc77997dbb6d1070f
(unsigned int ms)
void
terminateThread
classohm__tsd__slam_1_1ThreadSLAM.html
a258dde01a1af44f1f41a938c1cf7090d
(void)
ThreadSLAM
classohm__tsd__slam_1_1ThreadSLAM.html
a599f76f87ccd528425603ffc0dbe2887
(obvious::TsdGrid &grid)
void
unblock
classohm__tsd__slam_1_1ThreadSLAM.html
abf6bd2bb25ecfc36fb14a7ad3eec0bf7
(void)
virtual
~ThreadSLAM
classohm__tsd__slam_1_1ThreadSLAM.html
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()
virtual void
eventLoop
classohm__tsd__slam_1_1ThreadSLAM.html
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(void)=0
obvious::TsdGrid &
_grid
classohm__tsd__slam_1_1ThreadSLAM.html
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boost::condition_variable_any
_sleepCond
classohm__tsd__slam_1_1ThreadSLAM.html
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boost::mutex
_sleepMutex
classohm__tsd__slam_1_1ThreadSLAM.html
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bool
_stayActive
classohm__tsd__slam_1_1ThreadSLAM.html
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boost::thread *
_thread
classohm__tsd__slam_1_1ThreadSLAM.html
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