Egomotion from lidar main header. More...

#include <iostream>
#include <fstream>
#include <ros/ros.h>
#include <laser_geometry/laser_geometry.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_listener.h>
#include <pcl_ros/transforms.h>
#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <csm/csm_all.h>
#include <csm/laser_data.h>
#include "psm/polar_match.h"
#include "mbicp/MbICP2.h"
#include "motion_model.h"
#include "plplot_graph.h"
#include "types_declaration.h"

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Functions
void	CleanZone (ray_definition *rays, double steering_angle)

void	ConfigurePLICP (struct sm_params *params, LDP ref, LDP sens)

void	ConvertEstimatedToMeasurment (double vl, double dir, float dx, float dy, float *dtheta, double dt, double l, double bwa)

void	CreateMeasurementFromDisplacement (double dx, double dy, double dtheta, double z[2], double dt, double l, double bwa)

void	laser_2_Handler (const sensor_msgs::LaserScan &scan)

void	laser_3_Handler (const sensor_msgs::LaserScan &scan)

void	RaysToLDP (ray_definition *src, LDP dst, bool test_angle=0, double angle=M_PI/2.5)

void	RaysToLDP (ray_config_t cfg, ray_measurment_t src, LDP dst, bool test_angle=0, double angle=M_PI/2.5)

int	RaysToMbICP (ray_config_t cfg, ray_measurment_t src, Tpfp *dst, bool test_angle=0, double angle=M_PI/2.2)

int	RaysToMbICP (ray_definition src, Tpfp dst)

void	RaysToPMScan (ray_config_t cfg, ray_measurment_t src, PMScan *dst)

void	RaysToPMScan (ray_definition src, PMScan dst)

void	SetDefaultConfiguration (void)

pcl::PointCloud< pcl::PointXYZ >	wrapper_Laserscan2PointCloud (const sensor_msgs::LaserScan &scan)

Detailed Description

Egomotion from lidar main header.

Definition in file lidar_egomotion.h.

Function Documentation

void CleanZone	(	ray_definition *	rays,
		double	steering_angle
	)

Definition at line 84 of file lidar_egomotion.cpp.

void ConfigurePLICP	(	struct sm_params *	params,
		LDP	ref,
		LDP	sens
	)

A threshold for stopping.

Maximum angular displacement between scans (deg)

Maximum translation between scans (m)

Noise in the scan

Percentage of correspondences to consider: if 0.9, always discard the top 10% of correspondences with more error

Definition at line 667 of file lidar_egomotion.cpp.

void ConvertEstimatedToMeasurment	(	double	vl,
		double	dir,
		float *	dx,
		float *	dy,
		float *	dtheta,
		double	dt,
		double	l,
		double	bwa
	)

Definition at line 243 of file lidar_egomotion.cpp.

void CreateMeasurementFromDisplacement	(	double	dx,
		double	dy,
		double	dtheta,
		double	z[2],
		double	dt,
		double	l,
		double	bwa
	)

Definition at line 535 of file lidar_egomotion.cpp.

void laser_2_Handler ( const sensor_msgs::LaserScan & scan )

Definition at line 760 of file lidar_egomotion.cpp.

void laser_3_Handler ( const sensor_msgs::LaserScan & scan )

Definition at line 766 of file lidar_egomotion.cpp.

void RaysToLDP	(	ray_definition *	src,
		LDP	dst,
		bool	test_angle = `0`,
		double	angle = `M_PI/2.5`
	)

Definition at line 330 of file lidar_egomotion.cpp.

void RaysToLDP	(	ray_config_t *	cfg,
		ray_measurment_t *	src,
		LDP	dst,
		bool	test_angle = `0`,
		double	angle = `M_PI/2.5`
	)

Definition at line 353 of file lidar_egomotion.cpp.

int RaysToMbICP	(	ray_config_t *	cfg,
		ray_measurment_t *	src,
		Tpfp *	dst,
		bool	test_angle = `0`,
		double	angle = `M_PI/2.2`
	)

Definition at line 442 of file lidar_egomotion.cpp.

int RaysToMbICP	(	ray_definition *	src,
		Tpfp *	dst
	)

Definition at line 426 of file lidar_egomotion.cpp.

void RaysToPMScan	(	ray_config_t *	cfg,
		ray_measurment_t *	src,
		PMScan *	dst
	)

Definition at line 295 of file lidar_egomotion.cpp.

void RaysToPMScan	(	ray_definition *	src,
		PMScan *	dst
	)

Definition at line 225 of file lidar_egomotion.cpp.

void SetDefaultConfiguration ( void )

Definition at line 611 of file lidar_egomotion.cpp.

pcl::PointCloud<pcl::PointXYZ> wrapper_Laserscan2PointCloud ( const sensor_msgs::LaserScan & scan )

Definition at line 722 of file lidar_egomotion.cpp.

Functions

Detailed Description

Function Documentation