Class LedFinder

Defined in File led_finder.hpp

Nested Relationships

Nested Types

Struct LedFinder::CloudDifferenceTracker

Inheritance Relationships

Base Type

public robot_calibration::FeatureFinder (Class FeatureFinder)

Class Documentation

class LedFinder : public robot_calibration::FeatureFinder 

This class processes the point cloud input to find the LED.

Public Functions

LedFinder()

virtual bool init(const std::string &name, std::shared_ptr<tf2_ros::Buffer> buffer, rclcpp::Node::SharedPtr node)

Initialize the feature finder.

Parameters:

name – The name of this finder.
node – The node to use when loading feature finder configuration data.

Returns:

True/False if the feature finder was able to be initialized

virtual bool find(robot_calibration_msgs::msg::CalibrationData *msg)

Once the robot has been moved into the proper position and settled, this function will be called. It should add any new observations to the msg passed in.

Parameters:: msg – The message to which observations should be added.
Returns:: True if feature finder succeeded in finding the features and adding them to the observation list. False otherwise.