Class LedFinder

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

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.