Class RobotFinder

Defined in File robot_finder.hpp

Inheritance Relationships

Base Type

public robot_calibration::PlaneFinder (Class PlaneFinder)

Class Documentation

class RobotFinder : public robot_calibration::PlaneFinder 

Public Functions

RobotFinder()

virtual ~RobotFinder() = default

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.

Protected Attributes

std::string robot_sensor_name_

rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr robot_publisher_

double min_robot_x_

double max_robot_x_

double min_robot_y_

double max_robot_y_

double min_robot_z_

double max_robot_z_