mbicp Class Reference

Inheritance diagram for mbicp:

Public Member Functions
	mbicp (ConfigFile *cf, int section)
virtual int	ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data)
virtual int	Setup ()
virtual int	Shutdown ()
virtual	~mbicp ()

Private Member Functions
void	compute ()
virtual void	Main ()
void	playerLaser2Tpfp (player_laser_data_t laserData, Tpfp *laserDataTpfp)
Tsc	playerPose2Tsc (player_pose2d_t posicion)
void	ProcessCommand (player_msghdr_t *hdr, player_position2d_cmd_pos_t &)
void	ProcessOdom (player_msghdr_t *hdr, player_position2d_data_t &data)
void	ProcessSubtypeLaser (player_msghdr_t *hdr, player_laser_data_scanpose_t &data)
int	SetupDevice ()
void	setupScanMatching ()
int	ShutdownDevice ()
player_pose2d_t	Tsc2playerPose (Tsc posicion)

Private Attributes
float	AsocError
float	Br
float	Bw
player_pose2d_t	currentPose
player_laser_data_t	currentScan
float	errorRatio
float	errt_out
float	errx_out
float	erry_out
float	filter
bool	havePrevious
int	IterSmoothConv
float	L
Device *	laser
player_devaddr_t	laser_addr
Tsc	laserPoseTsc
int	laserStep
player_pose2d_t	lastPoseOdom
float	max_laser_range
float	MaxDistInter
int	MaxIter
Device *	odom
player_devaddr_t	odom_addr
player_devaddr_t	posicion_addr
player_pose2d_t	previousPose
player_laser_data_t	previousScan
int	ProjectionFilter
player_pose2d_t	scanmatchingPose

Detailed Description

Definition at line 184 of file mbicp_driver.cc.

Constructor & Destructor Documentation

mbicp::mbicp	(	ConfigFile *	cf,
		int	section
	)

Definition at line 334 of file mbicp_driver.cc.

mbicp::~mbicp ( )

virtual

Definition at line 383 of file mbicp_driver.cc.

Member Function Documentation

void mbicp::compute ( )

private

Definition at line 586 of file mbicp_driver.cc.

void mbicp::Main ( )

privatevirtual

Definition at line 435 of file mbicp_driver.cc.

void mbicp::playerLaser2Tpfp ( player_laser_data_t  laserData, Tpfp *  laserDataTpfp  )

private

Definition at line 687 of file mbicp_driver.cc.

Tsc mbicp::playerPose2Tsc ( player_pose2d_t  posicion )

private

Definition at line 663 of file mbicp_driver.cc.

void mbicp::ProcessCommand ( player_msghdr_t *  hdr, player_position2d_cmd_pos_t &    )

private

int mbicp::ProcessMessage ( QueuePointer &  resp_queue, player_msghdr *  hdr, void *  data  )

virtual

Definition at line 450 of file mbicp_driver.cc.

void mbicp::ProcessOdom ( player_msghdr_t *  hdr, player_position2d_data_t &  data  )

private

Definition at line 505 of file mbicp_driver.cc.

void mbicp::ProcessSubtypeLaser ( player_msghdr_t *  hdr, player_laser_data_scanpose_t &  data  )

private

Definition at line 547 of file mbicp_driver.cc.

int mbicp::Setup ( )

virtual

Definition at line 282 of file mbicp_driver.cc.

int mbicp::SetupDevice ( )

private

Definition at line 389 of file mbicp_driver.cc.

void mbicp::setupScanMatching ( )

private

Definition at line 301 of file mbicp_driver.cc.

int mbicp::Shutdown ( )

virtual

Definition at line 323 of file mbicp_driver.cc.

int mbicp::ShutdownDevice ( )

private

Definition at line 414 of file mbicp_driver.cc.

player_pose2d_t mbicp::Tsc2playerPose ( Tsc  posicion )

private

Definition at line 675 of file mbicp_driver.cc.

Member Data Documentation

float mbicp::AsocError

private

Definition at line 208 of file mbicp_driver.cc.

float mbicp::Br

private

Definition at line 202 of file mbicp_driver.cc.

float mbicp::Bw

private

Definition at line 201 of file mbicp_driver.cc.

player_pose2d_t mbicp::currentPose

private

Definition at line 217 of file mbicp_driver.cc.

player_laser_data_t mbicp::currentScan

private

Definition at line 222 of file mbicp_driver.cc.

float mbicp::errorRatio

private

Definition at line 210 of file mbicp_driver.cc.

float mbicp::errt_out

private

Definition at line 213 of file mbicp_driver.cc.

float mbicp::errx_out

private

Definition at line 211 of file mbicp_driver.cc.

float mbicp::erry_out

private

Definition at line 212 of file mbicp_driver.cc.

float mbicp::filter

private

Definition at line 206 of file mbicp_driver.cc.

bool mbicp::havePrevious

private

Definition at line 225 of file mbicp_driver.cc.

int mbicp::IterSmoothConv

private

Definition at line 214 of file mbicp_driver.cc.

float mbicp::L

private

Definition at line 203 of file mbicp_driver.cc.

Device* mbicp::laser

private

Definition at line 260 of file mbicp_driver.cc.

player_devaddr_t mbicp::laser_addr

private

Definition at line 261 of file mbicp_driver.cc.

Tsc mbicp::laserPoseTsc

private

Definition at line 215 of file mbicp_driver.cc.

int mbicp::laserStep

private

Definition at line 204 of file mbicp_driver.cc.

player_pose2d_t mbicp::lastPoseOdom

private

Definition at line 217 of file mbicp_driver.cc.

float mbicp::max_laser_range

private

Definition at line 200 of file mbicp_driver.cc.

float mbicp::MaxDistInter

private

Definition at line 205 of file mbicp_driver.cc.

int mbicp::MaxIter

private

Definition at line 209 of file mbicp_driver.cc.

Device* mbicp::odom

private

Definition at line 257 of file mbicp_driver.cc.

player_devaddr_t mbicp::odom_addr

private

Definition at line 258 of file mbicp_driver.cc.

player_devaddr_t mbicp::posicion_addr

private

Definition at line 254 of file mbicp_driver.cc.

player_pose2d_t mbicp::previousPose

private

Definition at line 217 of file mbicp_driver.cc.

player_laser_data_t mbicp::previousScan

private

Definition at line 222 of file mbicp_driver.cc.

int mbicp::ProjectionFilter

private

Definition at line 207 of file mbicp_driver.cc.

player_pose2d_t mbicp::scanmatchingPose

private

Definition at line 217 of file mbicp_driver.cc.

---

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

• mbicp_driver.cc