Public Member Functions
	GmclNode ()

int	process ()

void	runFromBag (const std::string &in_bag_fn, bool trigger_global_localization=false)
	Uses TF and LaserScan messages from bag file to drive AMCL instead. More...

void	savePoseToServer ()

	~GmclNode ()

Private Member Functions
void	applyInitialPose ()

void	checkLaserReceived (const ros::TimerEvent &event)

map_t *	convertMap (const nav_msgs::OccupancyGrid &map_msg)

void	freeMapDependentMemory ()

bool	getOdomPose (geometry_msgs::PoseStamped &pose, double &x, double &y, double &yaw, const ros::Time &t, const std::string &f)

bool	globalLocalizationCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

void	handelNewLaser (const sensor_msgs::LaserScanConstPtr &laser_scan)

void	handleInitialPoseMessage (const geometry_msgs::PoseWithCovarianceStamped &msg)

void	handleMapMessage (const nav_msgs::OccupancyGrid &msg)

void	initialPoseReceived (const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)

void	laserReceived (const sensor_msgs::LaserScanConstPtr &laser_scan)

void	mapReceived (const nav_msgs::OccupancyGridConstPtr &msg)

bool	nomotionUpdateCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

void	reconfigureCB (gmcl::GMCLConfig &config, uint32_t level)

void	requestMap ()

bool	setMapCallback (nav_msgs::SetMap::Request &req, nav_msgs::SetMap::Response &res)

void	standardDeviationDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &diagnostic_status)

void	updatePoseFromServer ()

Static Private Member Functions
static pf_vector_t	uniformPoseGenerator (pf_t pf, void arg, void *e_arg)

Private Attributes
double	a_thresh_

double	alpha1_

double	alpha2_

double	alpha3_

double	alpha4_

double	alpha5_

double	alpha_fast_

double	alpha_slow_

ros::WallDuration	bag_scan_period_

std::string	base_frame_id_

double	beam_skip_distance_

double	beam_skip_error_threshold_

double	beam_skip_threshold_

ros::Timer	check_laser_timer_

ros::Duration	cloud_pub_interval

boost::recursive_mutex	configuration_mutex_

double	crossover_alpha_

double	d_thresh_

gmcl::GMCLConfig	default_config_

diagnostic_updater::Updater	diagnosic_updater_

bool	do_beamskip_

dynamic_reconfigure::Server< gmcl::GMCLConfig > *	dsrv_

energy_map_t *	energy_map_

ros::Publisher	energy_particlecloud_pub_

bool	first_map_only_

bool	first_map_received_

bool	first_reconfigure_call_

std::map< std::string, int >	frame_to_laser_

std::string	global_frame_id_

ros::ServiceServer	global_loc_srv_

ros::Duration	gui_publish_period

double	init_cov_ [3]

double	init_pose_ [3]

gmcl_hyp_t *	initial_pose_hyp_

ros::Subscriber	initial_pose_sub_

ros::Subscriber	initial_pose_sub_old_

double	lambda_short_

GMCLLaser *	laser_

ros::Duration	laser_check_interval_

int	laser_index

double	laser_likelihood_max_dist_

double	laser_max_range_

double	laser_min_range_

laser_model_t	laser_model_type_

tf2_ros::MessageFilter< sensor_msgs::LaserScan > *	laser_scan_filter_

message_filters::Subscriber< sensor_msgs::LaserScan > *	laser_scan_sub_

std::vector< GMCLLaser * >	lasers_

std::vector< bool >	lasers_update_

ros::Time	last_cloud_pub_time

ros::Time	last_laser_received_ts_

geometry_msgs::PoseWithCovarianceStamped	last_published_pose

geometry_msgs::PoseStamped	latest_odom_pose_

tf2::Transform	latest_tf_

bool	latest_tf_valid_

std::vector< GMCLLaserData * >	ldata_

bool	m_force_update

map_t *	map_

ros::Subscriber	map_sub_

char *	mapdata

int	max_beams_

int	max_particles_

int	min_particles_

double	mutation_prob_

int	N_aux_particles_

ros::NodeHandle	nh_

ros::ServiceServer	nomotion_update_srv_

GMCLOdom *	odom_

std::string	odom_frame_id_

odom_model_t	odom_model_type_

ros::Publisher	particlecloud_pub_

pf_t *	pf_

double	pf_err_

bool	pf_init_

pf_model_type	pf_model_

pf_vector_t	pf_odom_pose_

double	pf_z_

ros::Publisher	pose_pub_

ros::NodeHandle	private_nh_

bool	pub_energy_map_

int	resample_count_

int	resample_interval_

double	resolution

double	resolution_x_

double	resolution_y_

ros::Time	save_pose_last_time

ros::Duration	save_pose_period

bool	selective_resampling_

bool	sent_first_transform_

ros::ServiceServer	set_map_srv_

double	sigma_hit_

double	std_warn_level_x_

double	std_warn_level_y_

double	std_warn_level_yaw_

int	sx

int	sy

std::shared_ptr< tf2_ros::Buffer >	tf_

bool	tf_broadcast_

std::shared_ptr< tf2_ros::TransformBroadcaster >	tfb_

std::shared_ptr< tf2_ros::TransformListener >	tfl_

double	threshold_val_

ros::Duration	transform_tolerance_

bool	use_map_topic_

double	z_hit_

double	z_max_

double	z_rand_

double	z_short_

Static Private Attributes
static std::vector< std::pair< int, int > >	free_space_indices

Detailed Description

Definition at line 140 of file gmcl_node.cpp.

Constructor & Destructor Documentation

◆ GmclNode()

GmclNode::GmclNode ( )

Definition at line 367 of file gmcl_node.cpp.

◆ ~GmclNode()

GmclNode::~GmclNode ( )

Definition at line 1117 of file gmcl_node.cpp.

Member Function Documentation

◆ applyInitialPose()

void GmclNode::applyInitialPose ( )

private

If initial_pose_hyp_ and map_ are both non-null, apply the initial pose to the particle filter state. initial_pose_hyp_ is deleted and set to NULL after it is used.

Definition at line 1919 of file gmcl_node.cpp.

◆ checkLaserReceived()

void GmclNode::checkLaserReceived ( const ros::TimerEvent & event )

private

Definition at line 906 of file gmcl_node.cpp.

◆ convertMap()

map_t * GmclNode::convertMap ( const nav_msgs::OccupancyGrid & map_msg )

private

Convert an OccupancyGrid map message into the internal representation. This allocates a map_t and returns it.

Definition at line 1091 of file gmcl_node.cpp.

◆ freeMapDependentMemory()

void GmclNode::freeMapDependentMemory ( )

private

Definition at line 1066 of file gmcl_node.cpp.

◆ getOdomPose()

bool GmclNode::getOdomPose	(	geometry_msgs::PoseStamped &	pose,
		double &	x,
		double &	y,
		double &	yaw,
		const ros::Time &	t,
		const std::string &	f
	)

private

Definition at line 1127 of file gmcl_node.cpp.

◆ globalLocalizationCallback()

bool GmclNode::globalLocalizationCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

private

Definition at line 1300 of file gmcl_node.cpp.

◆ handelNewLaser()

void GmclNode::handelNewLaser ( const sensor_msgs::LaserScanConstPtr & laser_scan )

private

Definition at line 1346 of file gmcl_node.cpp.

◆ handleInitialPoseMessage()

void GmclNode::handleInitialPoseMessage ( const geometry_msgs::PoseWithCovarianceStamped & msg )

private

Definition at line 1838 of file gmcl_node.cpp.

◆ handleMapMessage()

void GmclNode::handleMapMessage ( const nav_msgs::OccupancyGrid & msg )

private

Definition at line 948 of file gmcl_node.cpp.

◆ initialPoseReceived()

void GmclNode::initialPoseReceived ( const geometry_msgs::PoseWithCovarianceStampedConstPtr & msg )

private

Definition at line 1832 of file gmcl_node.cpp.

◆ laserReceived()

void GmclNode::laserReceived ( const sensor_msgs::LaserScanConstPtr & laser_scan )

private

Definition at line 1464 of file gmcl_node.cpp.

◆ mapReceived()

void GmclNode::mapReceived ( const nav_msgs::OccupancyGridConstPtr & msg )

private

Definition at line 936 of file gmcl_node.cpp.

◆ nomotionUpdateCallback()

bool GmclNode::nomotionUpdateCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

private

Definition at line 1325 of file gmcl_node.cpp.

◆ process()

int GmclNode::process ( )

◆ reconfigureCB()

void GmclNode::reconfigureCB	(	gmcl::GMCLConfig &	config,
		uint32_t	level
	)

private

Definition at line 551 of file gmcl_node.cpp.

◆ requestMap()

void GmclNode::requestMap ( )

private

Definition at line 918 of file gmcl_node.cpp.

◆ runFromBag()

void GmclNode::runFromBag	(	const std::string &	in_bag_fn,
		bool	trigger_global_localization = `false`
	)

Uses TF and LaserScan messages from bag file to drive AMCL instead.

Parameters

in_bag_fn	input bagfile
trigger_global_localization	whether to trigger global localization before starting to process the bagfile

Definition at line 746 of file gmcl_node.cpp.

◆ savePoseToServer()

void GmclNode::savePoseToServer ( )

Definition at line 839 of file gmcl_node.cpp.

◆ setMapCallback()

bool GmclNode::setMapCallback	(	nav_msgs::SetMap::Request &	req,
		nav_msgs::SetMap::Response &	res
	)

private

Definition at line 1334 of file gmcl_node.cpp.

◆ standardDeviationDiagnostics()

void GmclNode::standardDeviationDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper & diagnostic_status )

private

Definition at line 1932 of file gmcl_node.cpp.

◆ uniformPoseGenerator()

pf_vector_t GmclNode::uniformPoseGenerator	(	pf_t *	pf,
		void *	arg,
		void *	e_arg
	)

staticprivate

Definition at line 1154 of file gmcl_node.cpp.

◆ updatePoseFromServer()

void GmclNode::updatePoseFromServer ( )

private

Definition at line 863 of file gmcl_node.cpp.

Member Data Documentation

◆ a_thresh_

double GmclNode::a_thresh_

private

Definition at line 236 of file gmcl_node.cpp.

◆ alpha1_

double GmclNode::alpha1_

private

Definition at line 294 of file gmcl_node.cpp.

◆ alpha2_

double GmclNode::alpha2_

private

Definition at line 294 of file gmcl_node.cpp.

◆ alpha3_

double GmclNode::alpha3_

private

Definition at line 294 of file gmcl_node.cpp.

◆ alpha4_

double GmclNode::alpha4_

private

Definition at line 294 of file gmcl_node.cpp.

◆ alpha5_

double GmclNode::alpha5_

private

Definition at line 294 of file gmcl_node.cpp.

◆ alpha_fast_

double GmclNode::alpha_fast_

private

Definition at line 295 of file gmcl_node.cpp.

◆ alpha_slow_

double GmclNode::alpha_slow_

private

Definition at line 295 of file gmcl_node.cpp.

◆ bag_scan_period_

ros::WallDuration GmclNode::bag_scan_period_

private

Definition at line 254 of file gmcl_node.cpp.

◆ base_frame_id_

std::string GmclNode::base_frame_id_

private

Definition at line 201 of file gmcl_node.cpp.

◆ beam_skip_distance_

double GmclNode::beam_skip_distance_

private

Definition at line 300 of file gmcl_node.cpp.

◆ beam_skip_error_threshold_

double GmclNode::beam_skip_error_threshold_

private

Definition at line 300 of file gmcl_node.cpp.

◆ beam_skip_threshold_

double GmclNode::beam_skip_threshold_

private

Definition at line 300 of file gmcl_node.cpp.

◆ check_laser_timer_

ros::Timer GmclNode::check_laser_timer_

private

Definition at line 291 of file gmcl_node.cpp.

◆ cloud_pub_interval

ros::Duration GmclNode::cloud_pub_interval

private

Definition at line 250 of file gmcl_node.cpp.

◆ configuration_mutex_

boost::recursive_mutex GmclNode::configuration_mutex_

private

Definition at line 288 of file gmcl_node.cpp.

◆ crossover_alpha_

double GmclNode::crossover_alpha_

private

Definition at line 296 of file gmcl_node.cpp.

◆ d_thresh_

double GmclNode::d_thresh_

private

Definition at line 236 of file gmcl_node.cpp.

◆ default_config_

gmcl::GMCLConfig GmclNode::default_config_

private

Definition at line 290 of file gmcl_node.cpp.

◆ diagnosic_updater_

diagnostic_updater::Updater GmclNode::diagnosic_updater_

private

Definition at line 278 of file gmcl_node.cpp.

◆ do_beamskip_

bool GmclNode::do_beamskip_

private

Definition at line 299 of file gmcl_node.cpp.

◆ dsrv_

dynamic_reconfigure::Server<gmcl::GMCLConfig>* GmclNode::dsrv_

private

Definition at line 289 of file gmcl_node.cpp.

◆ energy_map_

energy_map_t* GmclNode::energy_map_

private

Definition at line 218 of file gmcl_node.cpp.

◆ energy_particlecloud_pub_

ros::Publisher GmclNode::energy_particlecloud_pub_

private

Definition at line 271 of file gmcl_node.cpp.

◆ first_map_only_

bool GmclNode::first_map_only_

private

Definition at line 205 of file gmcl_node.cpp.

◆ first_map_received_

bool GmclNode::first_map_received_

private

Definition at line 285 of file gmcl_node.cpp.

◆ first_reconfigure_call_

bool GmclNode::first_reconfigure_call_

private

Definition at line 286 of file gmcl_node.cpp.

◆ frame_to_laser_

std::map< std::string, int > GmclNode::frame_to_laser_

private

Definition at line 229 of file gmcl_node.cpp.

◆ free_space_indices

std::vector< std::pair< int, int > > GmclNode::free_space_indices

staticprivate

Definition at line 171 of file gmcl_node.cpp.

◆ global_frame_id_

std::string GmclNode::global_frame_id_

private

Definition at line 202 of file gmcl_node.cpp.

◆ global_loc_srv_

ros::ServiceServer GmclNode::global_loc_srv_

private

Definition at line 272 of file gmcl_node.cpp.

◆ gui_publish_period

ros::Duration GmclNode::gui_publish_period

private

Definition at line 207 of file gmcl_node.cpp.

◆ init_cov_

double GmclNode::init_cov_[3]

private

Definition at line 304 of file gmcl_node.cpp.

◆ init_pose_

double GmclNode::init_pose_[3]

private

Definition at line 303 of file gmcl_node.cpp.

◆ initial_pose_hyp_

gmcl_hyp_t* GmclNode::initial_pose_hyp_

private

Definition at line 284 of file gmcl_node.cpp.

◆ initial_pose_sub_

ros::Subscriber GmclNode::initial_pose_sub_

private

Definition at line 225 of file gmcl_node.cpp.

◆ initial_pose_sub_old_

ros::Subscriber GmclNode::initial_pose_sub_old_

private

Definition at line 275 of file gmcl_node.cpp.

◆ lambda_short_

double GmclNode::lambda_short_

private

Definition at line 297 of file gmcl_node.cpp.

◆ laser_

GMCLLaser* GmclNode::laser_

private

Definition at line 247 of file gmcl_node.cpp.

◆ laser_check_interval_

ros::Duration GmclNode::laser_check_interval_

private

Definition at line 313 of file gmcl_node.cpp.

◆ laser_index

int GmclNode::laser_index

private

Definition at line 248 of file gmcl_node.cpp.

◆ laser_likelihood_max_dist_

double GmclNode::laser_likelihood_max_dist_

private

Definition at line 301 of file gmcl_node.cpp.

◆ laser_max_range_

double GmclNode::laser_max_range_

private

Definition at line 240 of file gmcl_node.cpp.

◆ laser_min_range_

double GmclNode::laser_min_range_

private

Definition at line 239 of file gmcl_node.cpp.

◆ laser_model_type_

laser_model_t GmclNode::laser_model_type_

private

Definition at line 305 of file gmcl_node.cpp.

◆ laser_scan_filter_

tf2_ros::MessageFilter<sensor_msgs::LaserScan>* GmclNode::laser_scan_filter_

private

Definition at line 224 of file gmcl_node.cpp.

◆ laser_scan_sub_

message_filters::Subscriber<sensor_msgs::LaserScan>* GmclNode::laser_scan_sub_

private

Definition at line 223 of file gmcl_node.cpp.

◆ lasers_

std::vector< GMCLLaser* > GmclNode::lasers_

private

Definition at line 226 of file gmcl_node.cpp.

◆ lasers_update_

std::vector< bool > GmclNode::lasers_update_

private

Definition at line 228 of file gmcl_node.cpp.

◆ last_cloud_pub_time

ros::Time GmclNode::last_cloud_pub_time

private

Definition at line 251 of file gmcl_node.cpp.

◆ last_laser_received_ts_

ros::Time GmclNode::last_laser_received_ts_

private

Definition at line 312 of file gmcl_node.cpp.

◆ last_published_pose

geometry_msgs::PoseWithCovarianceStamped GmclNode::last_published_pose

private

Definition at line 211 of file gmcl_node.cpp.

◆ latest_odom_pose_

geometry_msgs::PoseStamped GmclNode::latest_odom_pose_

private

Definition at line 198 of file gmcl_node.cpp.

◆ latest_tf_

tf2::Transform GmclNode::latest_tf_

private

Definition at line 164 of file gmcl_node.cpp.

◆ latest_tf_valid_

bool GmclNode::latest_tf_valid_

private

Definition at line 165 of file gmcl_node.cpp.

◆ ldata_

std::vector< GMCLLaserData* > GmclNode::ldata_

private

Definition at line 227 of file gmcl_node.cpp.

◆ m_force_update

bool GmclNode::m_force_update

private

Definition at line 244 of file gmcl_node.cpp.

◆ map_

map_t* GmclNode::map_

private

Definition at line 213 of file gmcl_node.cpp.

◆ map_sub_

ros::Subscriber GmclNode::map_sub_

private

Definition at line 276 of file gmcl_node.cpp.

◆ mapdata

char* GmclNode::mapdata

private

Definition at line 214 of file gmcl_node.cpp.

◆ max_beams_

int GmclNode::max_beams_

private

Definition at line 293 of file gmcl_node.cpp.

◆ max_particles_

int GmclNode::max_particles_

private

Definition at line 293 of file gmcl_node.cpp.

◆ min_particles_

int GmclNode::min_particles_

private

Definition at line 293 of file gmcl_node.cpp.

◆ mutation_prob_

double GmclNode::mutation_prob_

private

Definition at line 296 of file gmcl_node.cpp.

◆ N_aux_particles_

int GmclNode::N_aux_particles_

private

Definition at line 293 of file gmcl_node.cpp.

◆ nh_

ros::NodeHandle GmclNode::nh_

private

Definition at line 267 of file gmcl_node.cpp.

◆ nomotion_update_srv_

ros::ServiceServer GmclNode::nomotion_update_srv_

private

Definition at line 273 of file gmcl_node.cpp.

◆ odom_

GMCLOdom* GmclNode::odom_

private

Definition at line 246 of file gmcl_node.cpp.

◆ odom_frame_id_

std::string GmclNode::odom_frame_id_

private

Definition at line 195 of file gmcl_node.cpp.

◆ odom_model_type_

odom_model_t GmclNode::odom_model_type_

private

Definition at line 302 of file gmcl_node.cpp.

◆ particlecloud_pub_

ros::Publisher GmclNode::particlecloud_pub_

private

Definition at line 270 of file gmcl_node.cpp.

◆ pf_

pf_t* GmclNode::pf_

private

Definition at line 232 of file gmcl_node.cpp.

◆ pf_err_

double GmclNode::pf_err_

private

Definition at line 233 of file gmcl_node.cpp.

◆ pf_init_

bool GmclNode::pf_init_

private

Definition at line 234 of file gmcl_node.cpp.

◆ pf_model_

pf_model_type GmclNode::pf_model_

private

Definition at line 241 of file gmcl_node.cpp.

◆ pf_odom_pose_

pf_vector_t GmclNode::pf_odom_pose_

private

Definition at line 235 of file gmcl_node.cpp.

◆ pf_z_

double GmclNode::pf_z_

private

Definition at line 233 of file gmcl_node.cpp.

◆ pose_pub_

ros::Publisher GmclNode::pose_pub_

private

Definition at line 269 of file gmcl_node.cpp.

◆ private_nh_

ros::NodeHandle GmclNode::private_nh_

private

Definition at line 268 of file gmcl_node.cpp.

◆ pub_energy_map_

bool GmclNode::pub_energy_map_

private

Definition at line 221 of file gmcl_node.cpp.

◆ resample_count_

int GmclNode::resample_count_

private

Definition at line 238 of file gmcl_node.cpp.

◆ resample_interval_

int GmclNode::resample_interval_

private

Definition at line 237 of file gmcl_node.cpp.

◆ resolution

double GmclNode::resolution

private

Definition at line 216 of file gmcl_node.cpp.

◆ resolution_x_

double GmclNode::resolution_x_

private

Definition at line 219 of file gmcl_node.cpp.

◆ resolution_y_

double GmclNode::resolution_y_

private

Definition at line 219 of file gmcl_node.cpp.

◆ save_pose_last_time

ros::Time GmclNode::save_pose_last_time

private

Definition at line 208 of file gmcl_node.cpp.

◆ save_pose_period

ros::Duration GmclNode::save_pose_period

private

Definition at line 209 of file gmcl_node.cpp.

◆ selective_resampling_

bool GmclNode::selective_resampling_

private

Definition at line 307 of file gmcl_node.cpp.

◆ sent_first_transform_

bool GmclNode::sent_first_transform_

private

Definition at line 162 of file gmcl_node.cpp.

◆ set_map_srv_

ros::ServiceServer GmclNode::set_map_srv_

private

Definition at line 274 of file gmcl_node.cpp.

◆ sigma_hit_

double GmclNode::sigma_hit_

private

Definition at line 297 of file gmcl_node.cpp.

◆ std_warn_level_x_

double GmclNode::std_warn_level_x_

private

Definition at line 280 of file gmcl_node.cpp.

◆ std_warn_level_y_

double GmclNode::std_warn_level_y_

private

Definition at line 281 of file gmcl_node.cpp.

◆ std_warn_level_yaw_

double GmclNode::std_warn_level_yaw_

private

Definition at line 282 of file gmcl_node.cpp.

◆ sx

int GmclNode::sx

private

Definition at line 215 of file gmcl_node.cpp.

◆ sy

int GmclNode::sy

private

Definition at line 215 of file gmcl_node.cpp.

◆ tf_

std::shared_ptr<tf2_ros::Buffer> GmclNode::tf_

private

Definition at line 160 of file gmcl_node.cpp.

◆ tf_broadcast_

bool GmclNode::tf_broadcast_

private

Definition at line 306 of file gmcl_node.cpp.

◆ tfb_

std::shared_ptr<tf2_ros::TransformBroadcaster> GmclNode::tfb_

private

Definition at line 158 of file gmcl_node.cpp.

◆ tfl_

std::shared_ptr<tf2_ros::TransformListener> GmclNode::tfl_

private

Definition at line 159 of file gmcl_node.cpp.

◆ threshold_val_

double GmclNode::threshold_val_

private

Definition at line 220 of file gmcl_node.cpp.

◆ transform_tolerance_

ros::Duration GmclNode::transform_tolerance_

private

Definition at line 265 of file gmcl_node.cpp.

◆ use_map_topic_

bool GmclNode::use_map_topic_

private

Definition at line 204 of file gmcl_node.cpp.

◆ z_hit_

double GmclNode::z_hit_

private

Definition at line 297 of file gmcl_node.cpp.

◆ z_max_

double GmclNode::z_max_

private

Definition at line 297 of file gmcl_node.cpp.

◆ z_rand_

double GmclNode::z_rand_

private

Definition at line 297 of file gmcl_node.cpp.

◆ z_short_

double GmclNode::z_short_

private

Definition at line 297 of file gmcl_node.cpp.

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

gmcl_node.cpp

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GmclNode()

◆ ~GmclNode()

Member Function Documentation

◆ applyInitialPose()

◆ checkLaserReceived()

◆ convertMap()

◆ freeMapDependentMemory()

◆ getOdomPose()

◆ globalLocalizationCallback()

◆ handelNewLaser()

◆ handleInitialPoseMessage()

◆ handleMapMessage()

◆ initialPoseReceived()

◆ laserReceived()

◆ mapReceived()

◆ nomotionUpdateCallback()

◆ process()

◆ reconfigureCB()

◆ requestMap()

◆ runFromBag()

◆ savePoseToServer()

◆ setMapCallback()

◆ standardDeviationDiagnostics()

◆ uniformPoseGenerator()

◆ updatePoseFromServer()

Member Data Documentation

◆ a_thresh_

◆ alpha1_

◆ alpha2_

◆ alpha3_

◆ alpha4_

◆ alpha5_

◆ alpha_fast_

◆ alpha_slow_

◆ bag_scan_period_

◆ base_frame_id_

◆ beam_skip_distance_

◆ beam_skip_error_threshold_

◆ beam_skip_threshold_

◆ check_laser_timer_

◆ cloud_pub_interval

◆ configuration_mutex_

◆ crossover_alpha_

◆ d_thresh_

◆ default_config_

◆ diagnosic_updater_

◆ do_beamskip_

◆ dsrv_

◆ energy_map_

◆ energy_particlecloud_pub_

◆ first_map_only_

◆ first_map_received_

◆ first_reconfigure_call_

◆ frame_to_laser_

◆ free_space_indices

◆ global_frame_id_

◆ global_loc_srv_

◆ gui_publish_period

◆ init_cov_

◆ init_pose_

◆ initial_pose_hyp_

◆ initial_pose_sub_

◆ initial_pose_sub_old_

◆ lambda_short_

◆ laser_

◆ laser_check_interval_

◆ laser_index

◆ laser_likelihood_max_dist_

◆ laser_max_range_

◆ laser_min_range_

◆ laser_model_type_

◆ laser_scan_filter_

◆ laser_scan_sub_