mirrors/rf2o_laser_odometry
1
0
Fork 0
mirror of https://github.com/MAPIRlab/rf2o_laser_odometry.git synced 2023-04-06 19:28:55 +08:00
Code Issues Packages Projects Releases Wiki Activity

rm mrpt headers

Browse Source
This commit is contained in:
Jeremie Deray
2017-08-15 17:24:24 +02:00
parent 43d0c05e0f
commit 5543259c96
2 changed files with 57 additions and 81 deletions
Download Patch File Download Diff File Expand all files Collapse all files

44
include/rf2o_laser_odometry/CLaserOdometry2D.h
View File

@@ -16,40 +16,20 @@
#ifndef CLaserOdometry2D_H
#define CLaserOdometry2D_H
// std header
#include <iostream>
#include <fstream>
#include <numeric>
// ROS headers
#include <ros/ros.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/LaserScan.h>
// MRPT related headers
#include <mrpt/version.h>
#if MRPT_VERSION>=0x130
# include <mrpt/obs/CObservation2DRangeScan.h>
# include <mrpt/obs/CObservationOdometry.h>
typedef mrpt::obs::CObservation2DRangeScan CObservation2DRangeScan;
#else
# include <mrpt/slam/CObservation2DRangeScan.h>
# include <mrpt/slam/CObservationOdometry.h>
typedef mrpt::poses::CObservation2DRangeScan CObservation2DRangeScan;
#endif
#if MRPT_VERSION<0x150
# include <mrpt/system/threads.h>
#endif
#include <mrpt/system/os.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/utils.h>
//#include <mrpt/opengl.h>
#include <mrpt/math/CHistogram.h>
#include <boost/bind.hpp>
// Eigen headers
#include <Eigen/Dense>
#include <Eigen/Geometry>
#include <unsupported/Eigen/MatrixFunctions>
#include <iostream>
#include <fstream>
#include <numeric>
namespace rf2o {
template <typename T>
@@ -113,7 +93,7 @@ public:
protected:
bool verbose,module_initialized,first_laser_scan;
bool verbose, module_initialized, first_laser_scan;
// Internal Data
std::vector<Eigen::MatrixXf> range;
@@ -144,8 +124,6 @@ protected:
MatrixS31 Var; //3 unknowns: vx, vy, w
IncrementCov cov_odo;
//std::string LaserVarName; //Name of the topic containing the scan lasers \laser_scan
float fps; //In Hz
float fovh; //Horizontal FOV
@@ -160,7 +138,7 @@ protected:
double lin_speed, ang_speed;
ros::Duration m_runtime;
ros::WallDuration m_runtime;
ros::Time last_odom_time, current_scan_time;
MatrixS31 kai_abs_;
@@ -193,7 +171,7 @@ protected:
void solveSystemNonLinear();
void filterLevelSolution();
void PoseUpdate();
void Reset(const Pose3d& ini_pose, CObservation2DRangeScan scan);
void Reset(const Pose3d& ini_pose/*, CObservation2DRangeScan scan*/);
};
#endif
#endif // CLaserOdometry2D_H