Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
jsk_pcl_ros::PointCloudLocalization Class Reference

#include <pointcloud_localization.h>

Inheritance diagram for jsk_pcl_ros::PointCloudLocalization:
Inheritance graph
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Public Member Functions

 PointCloudLocalization ()
 

Protected Member Functions

virtual void applyDownsampling (pcl::PointCloud< pcl::PointNormal >::Ptr in_cloud, pcl::PointCloud< pcl::PointNormal > &out_cloud)
 
virtual void cloudCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)
 callback function of ~input topic. More...
 
virtual void cloudTimerCallback (const ros::TimerEvent &event)
 cloud periodic timer callback More...
 
virtual bool isFirstTime ()
 return true if it is the first time to localize More...
 
virtual bool localizationRequest (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 callback function of ~localize service. More...
 
virtual void onInit ()
 
virtual void subscribe ()
 
virtual void tfTimerCallback (const ros::TimerEvent &event)
 tf periodic timer callback More...
 
virtual void unsubscribe ()
 
virtual bool updateOffsetCallback (jsk_recognition_msgs::UpdateOffset::Request &req, jsk_recognition_msgs::UpdateOffset::Response &res)
 callback function for ~update_offset service More...
 

Protected Attributes

pcl::PointCloud< pcl::PointNormal >::Ptr all_cloud_
 
bool clip_unseen_pointcloud_
 
ros::Timer cloud_timer_
 
bool first_time_
 
std::string global_frame_
 Publishes tf transformation of global_frame_ -> odom_frame_. More...
 
bool initialize_from_tf_
 
std::string initialize_tf_
 
sensor_msgs::PointCloud2::ConstPtr latest_cloud_
 
double leaf_size_
 
ros::ServiceServer localization_srv_
 
bool localize_requested_
 
tf::Transform localize_transform_
 
boost::mutex mutex_
 
std::string odom_frame_
 
ros::Publisher pub_cloud_
 
std::string sensor_frame_
 
ros::Subscriber sub_
 
tf::TransformBroadcaster tf_broadcast_
 
tf::TransformListener * tf_listener_
 
boost::mutex tf_mutex_
 
ros::Timer tf_timer_
 
ros::ServiceServer update_offset_srv_
 
bool use_normal_
 Resolution of voxel grid. More...
 

Detailed Description

Definition at line 84 of file pointcloud_localization.h.

Constructor & Destructor Documentation

◆ PointCloudLocalization()

jsk_pcl_ros::PointCloudLocalization::PointCloudLocalization ( )
inline

Definition at line 119 of file pointcloud_localization.h.

Member Function Documentation

◆ applyDownsampling()

void jsk_pcl_ros::PointCloudLocalization::applyDownsampling ( pcl::PointCloud< pcl::PointNormal >::Ptr  in_cloud,
pcl::PointCloud< pcl::PointNormal > &  out_cloud 
)
protectedvirtual

Definition at line 99 of file pointcloud_localization_nodelet.cpp.

◆ cloudCallback()

void jsk_pcl_ros::PointCloudLocalization::cloudCallback ( const sensor_msgs::PointCloud2::ConstPtr &  cloud_msg)
protectedvirtual

callback function of ~input topic.

Definition at line 147 of file pointcloud_localization_nodelet.cpp.

◆ cloudTimerCallback()

void jsk_pcl_ros::PointCloudLocalization::cloudTimerCallback ( const ros::TimerEvent &  event)
protectedvirtual

cloud periodic timer callback

Definition at line 109 of file pointcloud_localization_nodelet.cpp.

◆ isFirstTime()

bool jsk_pcl_ros::PointCloudLocalization::isFirstTime ( )
protectedvirtual

return true if it is the first time to localize

Definition at line 303 of file pointcloud_localization_nodelet.cpp.

◆ localizationRequest()

bool jsk_pcl_ros::PointCloudLocalization::localizationRequest ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protectedvirtual

callback function of ~localize service.

Definition at line 308 of file pointcloud_localization_nodelet.cpp.

◆ onInit()

void jsk_pcl_ros::PointCloudLocalization::onInit ( )
protectedvirtual

Definition at line 46 of file pointcloud_localization_nodelet.cpp.

◆ subscribe()

void jsk_pcl_ros::PointCloudLocalization::subscribe ( )
protectedvirtual

Definition at line 89 of file pointcloud_localization_nodelet.cpp.

◆ tfTimerCallback()

void jsk_pcl_ros::PointCloudLocalization::tfTimerCallback ( const ros::TimerEvent &  event)
protectedvirtual

tf periodic timer callback

Definition at line 123 of file pointcloud_localization_nodelet.cpp.

◆ unsubscribe()

void jsk_pcl_ros::PointCloudLocalization::unsubscribe ( )
protectedvirtual

Definition at line 94 of file pointcloud_localization_nodelet.cpp.

◆ updateOffsetCallback()

bool jsk_pcl_ros::PointCloudLocalization::updateOffsetCallback ( jsk_recognition_msgs::UpdateOffset::Request &  req,
jsk_recognition_msgs::UpdateOffset::Response &  res 
)
protectedvirtual

callback function for ~update_offset service

Definition at line 318 of file pointcloud_localization_nodelet.cpp.

Member Data Documentation

◆ all_cloud_

pcl::PointCloud<pcl::PointNormal>::Ptr jsk_pcl_ros::PointCloudLocalization::all_cloud_
protected

Definition at line 183 of file pointcloud_localization.h.

◆ clip_unseen_pointcloud_

bool jsk_pcl_ros::PointCloudLocalization::clip_unseen_pointcloud_
protected

Definition at line 188 of file pointcloud_localization.h.

◆ cloud_timer_

ros::Timer jsk_pcl_ros::PointCloudLocalization::cloud_timer_
protected

Definition at line 181 of file pointcloud_localization.h.

◆ first_time_

bool jsk_pcl_ros::PointCloudLocalization::first_time_
protected

Definition at line 205 of file pointcloud_localization.h.

◆ global_frame_

std::string jsk_pcl_ros::PointCloudLocalization::global_frame_
protected

Publishes tf transformation of global_frame_ -> odom_frame_.

Definition at line 195 of file pointcloud_localization.h.

◆ initialize_from_tf_

bool jsk_pcl_ros::PointCloudLocalization::initialize_from_tf_
protected

Definition at line 189 of file pointcloud_localization.h.

◆ initialize_tf_

std::string jsk_pcl_ros::PointCloudLocalization::initialize_tf_
protected

Definition at line 190 of file pointcloud_localization.h.

◆ latest_cloud_

sensor_msgs::PointCloud2::ConstPtr jsk_pcl_ros::PointCloudLocalization::latest_cloud_
protected

Definition at line 184 of file pointcloud_localization.h.

◆ leaf_size_

double jsk_pcl_ros::PointCloudLocalization::leaf_size_
protected

Definition at line 203 of file pointcloud_localization.h.

◆ localization_srv_

ros::ServiceServer jsk_pcl_ros::PointCloudLocalization::localization_srv_
protected

Definition at line 179 of file pointcloud_localization.h.

◆ localize_requested_

bool jsk_pcl_ros::PointCloudLocalization::localize_requested_
protected

Definition at line 186 of file pointcloud_localization.h.

◆ localize_transform_

tf::Transform jsk_pcl_ros::PointCloudLocalization::localize_transform_
protected

Definition at line 204 of file pointcloud_localization.h.

◆ mutex_

boost::mutex jsk_pcl_ros::PointCloudLocalization::mutex_
protected

Definition at line 174 of file pointcloud_localization.h.

◆ odom_frame_

std::string jsk_pcl_ros::PointCloudLocalization::odom_frame_
protected

Definition at line 196 of file pointcloud_localization.h.

◆ pub_cloud_

ros::Publisher jsk_pcl_ros::PointCloudLocalization::pub_cloud_
protected

Definition at line 177 of file pointcloud_localization.h.

◆ sensor_frame_

std::string jsk_pcl_ros::PointCloudLocalization::sensor_frame_
protected

Definition at line 187 of file pointcloud_localization.h.

◆ sub_

ros::Subscriber jsk_pcl_ros::PointCloudLocalization::sub_
protected

Definition at line 176 of file pointcloud_localization.h.

◆ tf_broadcast_

tf::TransformBroadcaster jsk_pcl_ros::PointCloudLocalization::tf_broadcast_
protected

Definition at line 185 of file pointcloud_localization.h.

◆ tf_listener_

tf::TransformListener* jsk_pcl_ros::PointCloudLocalization::tf_listener_
protected

Definition at line 178 of file pointcloud_localization.h.

◆ tf_mutex_

boost::mutex jsk_pcl_ros::PointCloudLocalization::tf_mutex_
protected

Definition at line 175 of file pointcloud_localization.h.

◆ tf_timer_

ros::Timer jsk_pcl_ros::PointCloudLocalization::tf_timer_
protected

Definition at line 182 of file pointcloud_localization.h.

◆ update_offset_srv_

ros::ServiceServer jsk_pcl_ros::PointCloudLocalization::update_offset_srv_
protected

Definition at line 180 of file pointcloud_localization.h.

◆ use_normal_

bool jsk_pcl_ros::PointCloudLocalization::use_normal_
protected

Resolution of voxel grid.

Definition at line 202 of file pointcloud_localization.h.

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

jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jan 7 2025 04:05:46