Autoware.Auto
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#include <ndt_localizer_nodes.hpp>
Public Types | |
using | Localizer = ndt::P2DNDTLocalizer< OptimizerT > |
using | RegistrationSummary = localization_common::OptimizedRegistrationSummary |
using | ParentT = localization_nodes::RelativeLocalizerNode< sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, ndt::StaticNDTMap, Localizer, PoseInitializerT > |
using | PoseWithCovarianceStamped = typename Localizer::PoseWithCovarianceStamped |
using | Transform = typename Localizer::Transform |
using | EigTranslation = Eigen::Vector3d |
using | EigRotation = Eigen::Quaterniond |
Public Types inherited from autoware::localization::localization_nodes::RelativeLocalizerNode< sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, ndt::StaticNDTMap, ndt::P2DNDTLocalizer< Optimizer_ >, PoseInitializer_ > | |
using | PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped |
using | TransformStamped = geometry_msgs::msg::TransformStamped |
using | RegistrationSummary = localization_common::OptimizedRegistrationSummary |
Public Member Functions | |
P2DNDTLocalizerNode (const std::string &node_name, const std::string &name_space, const PoseInitializerT &pose_initializer) | |
P2DNDTLocalizerNode (const std::string &node_name, const rclcpp::NodeOptions &node_options, const PoseInitializerT &pose_initializer) | |
Public Member Functions inherited from autoware::localization::localization_nodes::RelativeLocalizerNode< sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, ndt::StaticNDTMap, ndt::P2DNDTLocalizer< Optimizer_ >, PoseInitializer_ > | |
RelativeLocalizerNode (const std::string &node_name, const std::string &name_space, const TopicQoS &observation_sub_config, const TopicQoS &map_sub_config, const TopicQoS &pose_pub_config, const TopicQoS &initial_pose_sub_config, const PoseInitializer_ &pose_initializer, LocalizerPublishMode publish_tf=LocalizerPublishMode::NO_PUBLISH_TF) | |
RelativeLocalizerNode (const std::string &node_name, const rclcpp::NodeOptions &options, const PoseInitializer_ &pose_initializer) | |
RelativeLocalizerNode (const std::string &node_name, const std::string &name_space, const PoseInitializer_ &pose_initializer) | |
const rclcpp::Publisher< PoseWithCovarianceStamped >::ConstSharedPtr | get_publisher () |
Get a const pointer of the output publisher. Can be used for matching against subscriptions. More... | |
Static Public Attributes | |
static constexpr auto | EPS = std::numeric_limits<ndt::Real>::epsilon() |
Static Public Attributes inherited from autoware::localization::localization_nodes::RelativeLocalizerNode< sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, ndt::StaticNDTMap, ndt::P2DNDTLocalizer< Optimizer_ >, PoseInitializer_ > | |
static constexpr bool | USE_DEDICATED_TF_THREAD |
Protected Member Functions | |
bool | validate_output (const RegistrationSummary &summary, const PoseWithCovarianceStamped &pose, const Transform &guess) override |
Protected Member Functions inherited from autoware::localization::localization_nodes::RelativeLocalizerNode< sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, ndt::StaticNDTMap, ndt::P2DNDTLocalizer< Optimizer_ >, PoseInitializer_ > | |
void | set_localizer (std::unique_ptr< ndt::P2DNDTLocalizer< Optimizer_ > > &&localizer_ptr) |
void | set_map (std::unique_ptr< ndt::StaticNDTMap > &&map_ptr) |
virtual void | on_bad_registration (std::exception_ptr eptr) |
Handle the exceptions during registration. More... | |
virtual void | on_bad_map (std::exception_ptr eptr) |
Handle the exceptions during map setting. More... | |
void | on_exception (std::exception_ptr eptr, const std::string &error_source) |
virtual void | on_observation_with_invalid_map (typename sensor_msgs::msg::PointCloud2 ::ConstSharedPtr) |
Default behavior when an observation is received with no valid existing map. More... | |
virtual void | on_invalid_output (const PoseWithCovarianceStamped &pose) |
virtual bool | validate_output (const RegistrationSummary &summary, const PoseWithCovarianceStamped &pose, const TransformStamped &guess) |
P2D NDT localizer node. Currently uses the hard coded optimizer and pose initializers.
OptimizerT | Hard coded for Newton optimizer. TODO(yunus.caliskan): Make Configurable |
PoseInitializerT | Hard coded for Best effort. TODO(yunus.caliskan): Make Configurable |
using autoware::localization::ndt_nodes::P2DNDTLocalizerNode< OptimizerT, PoseInitializerT >::EigRotation = Eigen::Quaterniond |
using autoware::localization::ndt_nodes::P2DNDTLocalizerNode< OptimizerT, PoseInitializerT >::EigTranslation = Eigen::Vector3d |
using autoware::localization::ndt_nodes::P2DNDTLocalizerNode< OptimizerT, PoseInitializerT >::Localizer = ndt::P2DNDTLocalizer<OptimizerT> |
using autoware::localization::ndt_nodes::P2DNDTLocalizerNode< OptimizerT, PoseInitializerT >::ParentT = localization_nodes::RelativeLocalizerNode< sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, ndt::StaticNDTMap, Localizer, PoseInitializerT> |
using autoware::localization::ndt_nodes::P2DNDTLocalizerNode< OptimizerT, PoseInitializerT >::PoseWithCovarianceStamped = typename Localizer::PoseWithCovarianceStamped |
using autoware::localization::ndt_nodes::P2DNDTLocalizerNode< OptimizerT, PoseInitializerT >::RegistrationSummary = localization_common::OptimizedRegistrationSummary |
using autoware::localization::ndt_nodes::P2DNDTLocalizerNode< OptimizerT, PoseInitializerT >::Transform = typename Localizer::Transform |
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Constructor
node_name | node name |
name_space | node namespace |
pose_initializer | pose initializer to use. |
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