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wip separating node from computation

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This commit is contained in:
Jeremie Deray
2017-05-16 11:20:04 +02:00
committed by Jeremie Deray
parent 7c98c7e47c
commit 241358540a
4 changed files with 354 additions and 270 deletions
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38
include/rf2o_laser_odometry/CLaserOdometry2D.h
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@@ -59,19 +59,13 @@ class CLaserOdometry2D
public:
CLaserOdometry2D();
~CLaserOdometry2D();
void Init(const sensor_msgs::LaserScan& scan,
const geometry_msgs::Pose& initial_robot_pose);
bool is_initialized();
bool scan_available();
void Init();
void odometryCalculation();
std::string laser_scan_topic;
std::string odom_topic;
bool publish_tf;
std::string base_frame_id;
std::string odom_frame_id;
std::string init_pose_from_topic;
double freq;
<<<<<<< HEAD
protected:
ros::NodeHandle n;
sensor_msgs::LaserScan last_scan;
@@ -79,14 +73,15 @@ protected:
tf::TransformListener tf_listener; //Do not put inside the callback
tf::TransformBroadcaster odom_broadcaster;
nav_msgs::Odometry initial_robot_pose;
=======
void odometryCalculation(const sensor_msgs::LaserScan& scan);
>>>>>>> wip separating node from computation
//Subscriptions & Publishers
ros::Subscriber laser_sub, initPose_sub;
ros::Publisher odom_pub;
void setLaserPose(const tf::Transform& laser_pose);
//CallBacks
void LaserCallBack(const sensor_msgs::LaserScan::ConstPtr& new_scan);
void initPoseCallBack(const nav_msgs::Odometry::ConstPtr& new_initPose);
protected:
bool module_initialized,first_laser_scan;
// Internal Data
std::vector<Eigen::MatrixXf> range;
@@ -130,17 +125,22 @@ protected:
unsigned int iter_irls;
float g_mask[5];
double lin_speed, ang_speed;
//mrpt::gui::CDisplayWindowPlots window;
mrpt::utils::CTicTac m_clock;
float m_runtime;
ros::Time last_odom_time;
ros::Time last_odom_time, current_scan_time;
mrpt::math::CMatrixFloat31 kai_abs;
mrpt::math::CMatrixFloat31 kai_loc;
mrpt::math::CMatrixFloat31 kai_loc_old;
mrpt::math::CMatrixFloat31 kai_loc_level;
mrpt::poses::CPose3D laser_pose;
mrpt::poses::CPose3D laser_pose_on_robot;
mrpt::poses::CPose3D laser_pose_on_robot_inv;
mrpt::poses::CPose3D laser_pose;
mrpt::poses::CPose3D laser_oldpose;
mrpt::poses::CPose3D robot_pose;
mrpt::poses::CPose3D robot_oldpose;