Class FeatureFinder

Defined in File feature_finder.hpp

Inheritance Relationships

Derived Types

public robot_calibration::CheckerboardFinder< T > (Template Class CheckerboardFinder)
public robot_calibration::LedFinder (Class LedFinder)
public robot_calibration::PlaneFinder (Class PlaneFinder)
public robot_calibration::ScanFinder (Class ScanFinder)

Class Documentation

class FeatureFinder

Base class for a feature finder.

Subclassed by robot_calibration::CheckerboardFinder< T >, robot_calibration::LedFinder, robot_calibration::PlaneFinder, robot_calibration::ScanFinder

Public Functions

inline FeatureFinder()

inline virtual ~FeatureFinder()

inline 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

inline std::string getName(): Get the name of this feature finder.

virtual bool find(robot_calibration_msgs::msg::CalibrationData *msg) = 0

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.

Protected Attributes

std::shared_ptr<tf2_ros::Buffer> tf2_buffer_

rclcpp::Node::WeakPtr node_ptr_