deploy: 246081c

Author: fmrico

easynav__navmap__localizer_2include_2easynav__navmap__localizer_2AMCLLocalizer_8hpp_source.html

@@ -258,29 +258,29 @@
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_a684e4019f415659c584cb57c6165622b"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#a684e4019f415659c584cb57c6165622b">easynav::navmap::AMCLLocalizer::update_odom_from_tf</a></div><div class="ttdeci">void update_odom_from_tf()</div><div class="ttdoc">Update odom from TFs instead of a odom topic.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:482</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_a6ed380ba537bbe9a85710810db50a95c"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#a6ed380ba537bbe9a85710810db50a95c">easynav::navmap::AMCLLocalizer::update_rt</a></div><div class="ttdeci">void update_rt(NavState &amp;nav_state) override</div><div class="ttdoc">Real-time update of the localization state.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:509</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_a74ea4e16bac2911e5bd4725629c19c16"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#a74ea4e16bac2911e5bd4725629c19c16">easynav::navmap::AMCLLocalizer::pose_</a></div><div class="ttdeci">tf2::Transform pose_</div><div class="ttdoc">Current estimated odometry-based pose.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:190</div></div>
-<div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_a784a2acbafe345780ad8c74cc5c44a7d"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#a784a2acbafe345780ad8c74cc5c44a7d">easynav::navmap::AMCLLocalizer::publishEstimatedPose</a></div><div class="ttdeci">void publishEstimatedPose(const tf2::Transform &amp;est_pose)</div><div class="ttdoc">Publishes the estimated pose with covariance.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:1046</div></div>
+<div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_a784a2acbafe345780ad8c74cc5c44a7d"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#a784a2acbafe345780ad8c74cc5c44a7d">easynav::navmap::AMCLLocalizer::publishEstimatedPose</a></div><div class="ttdeci">void publishEstimatedPose(const tf2::Transform &amp;est_pose)</div><div class="ttdoc">Publishes the estimated pose with covariance.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:1026</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_a8182beefc878d00517e8ae01a5a0a43e"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#a8182beefc878d00517e8ae01a5a0a43e">easynav::navmap::AMCLLocalizer::odom_sub_</a></div><div class="ttdeci">rclcpp::Subscription&lt; nav_msgs::msg::Odometry &gt;::SharedPtr odom_sub_</div><div class="ttdoc">Subscriber for odometry messages.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:168</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_a8a4b614e9afd04fac7f7e8c10ccc35c7"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#a8a4b614e9afd04fac7f7e8c10ccc35c7">easynav::navmap::AMCLLocalizer::weights_tau_</a></div><div class="ttdeci">double weights_tau_</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:213</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_a8bc0a3a44daea956a34af9f6c1389ee3"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#a8bc0a3a44daea956a34af9f6c1389ee3">easynav::navmap::AMCLLocalizer::noise_translation_to_rotation_</a></div><div class="ttdeci">double noise_translation_to_rotation_</div><div class="ttdoc">Coupling noise between translation and rotation.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:199</div></div>
-<div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_a8d78c2fe273fbcae8f6df9f50090e0fe"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#a8d78c2fe273fbcae8f6df9f50090e0fe">easynav::navmap::AMCLLocalizer::publishTF</a></div><div class="ttdeci">void publishTF(const tf2::Transform &amp;map2bf)</div><div class="ttdoc">Publishes a TF transform between map and base footprint.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:967</div></div>
+<div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_a8d78c2fe273fbcae8f6df9f50090e0fe"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#a8d78c2fe273fbcae8f6df9f50090e0fe">easynav::navmap::AMCLLocalizer::publishTF</a></div><div class="ttdeci">void publishTF(const tf2::Transform &amp;map2bf)</div><div class="ttdoc">Publishes a TF transform between map and base footprint.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:947</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_a8f66995a9092fc5d648cc498634192ff"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#a8f66995a9092fc5d648cc498634192ff">easynav::navmap::AMCLLocalizer::odom_callback</a></div><div class="ttdeci">void odom_callback(nav_msgs::msg::Odometry::UniquePtr msg)</div><div class="ttdoc">Callback for receiving odometry updates.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:475</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_a97ddd7ceb3734455180865a16bd1e1a5"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#a97ddd7ceb3734455180865a16bd1e1a5">easynav::navmap::AMCLLocalizer::odom_</a></div><div class="ttdeci">tf2::Transform odom_</div><div class="ttdoc">Last odometry transform received.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:219</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_a9fed33e11517278eab40fa7fd968e3c6"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#a9fed33e11517278eab40fa7fd968e3c6">easynav::navmap::AMCLLocalizer::last_odom_</a></div><div class="ttdeci">tf2::Transform last_odom_</div><div class="ttdoc">Previous odometry transform (used to compute deltas).</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:222</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_aa09f4316ce265b452c96e6d74101cd76"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#aa09f4316ce265b452c96e6d74101cd76">easynav::navmap::AMCLLocalizer::on_initialize</a></div><div class="ttdeci">virtual std::expected&lt; void, std::string &gt; on_initialize() override</div><div class="ttdoc">Initializes the localization method.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:369</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_aa0fd40c9b04f1973022337313300358b"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#aa0fd40c9b04f1973022337313300358b">easynav::navmap::AMCLLocalizer::predict</a></div><div class="ttdeci">void predict(NavState &amp;nav_state)</div><div class="ttdoc">Applies the motion model to update particle poses.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:525</div></div>
-<div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_aa17636dbb413eb197d60fa3949549f69"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#aa17636dbb413eb197d60fa3949549f69">easynav::navmap::AMCLLocalizer::get_pose</a></div><div class="ttdeci">nav_msgs::msg::Odometry get_pose()</div><div class="ttdoc">Gets the current estimated pose as an Odometry message.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:1099</div></div>
+<div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_aa17636dbb413eb197d60fa3949549f69"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#aa17636dbb413eb197d60fa3949549f69">easynav::navmap::AMCLLocalizer::get_pose</a></div><div class="ttdeci">nav_msgs::msg::Odometry get_pose()</div><div class="ttdoc">Gets the current estimated pose as an Odometry message.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:1079</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_aa1f6ee3755f6f4894e07062270349ae3"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#aa1f6ee3755f6f4894e07062270349ae3">easynav::navmap::AMCLLocalizer::noise_rotation_</a></div><div class="ttdeci">double noise_rotation_</div><div class="ttdoc">Rotational noise standard deviation.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:196</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_aa223ca5cf6a240bd2321641c8e264c87"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#aa223ca5cf6a240bd2321641c8e264c87">easynav::navmap::AMCLLocalizer::correct_max_points_</a></div><div class="ttdeci">std::size_t correct_max_points_</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:212</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_aa9fae34d3ffbf0d868ded27d7db35133"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#aa9fae34d3ffbf0d868ded27d7db35133">easynav::navmap::AMCLLocalizer::rng_</a></div><div class="ttdeci">std::default_random_engine rng_</div><div class="ttdoc">Random number generator used for sampling noise.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:187</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_abb43a457167565fa4aea8b9484362016"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#abb43a457167565fa4aea8b9484362016">easynav::navmap::AMCLLocalizer::particles_pub_</a></div><div class="ttdeci">rclcpp::Publisher&lt; geometry_msgs::msg::PoseArray &gt;::SharedPtr particles_pub_</div><div class="ttdoc">Publisher for visualization of the particle cloud.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:162</div></div>
-<div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_abc347ec0b4f3507fb683b1592afd716b"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#abc347ec0b4f3507fb683b1592afd716b">easynav::navmap::AMCLLocalizer::publishParticles</a></div><div class="ttdeci">void publishParticles()</div><div class="ttdoc">Publishes the current set of particles.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:982</div></div>
+<div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_abc347ec0b4f3507fb683b1592afd716b"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#abc347ec0b4f3507fb683b1592afd716b">easynav::navmap::AMCLLocalizer::publishParticles</a></div><div class="ttdeci">void publishParticles()</div><div class="ttdoc">Publishes the current set of particles.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:962</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_ac4869678cd620e3e637c6f2d0b928f0c"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#ac4869678cd620e3e637c6f2d0b928f0c">easynav::navmap::AMCLLocalizer::last_cid_</a></div><div class="ttdeci">::navmap::NavCelId last_cid_</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:238</div></div>
-<div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_aca0e63564e9178ee829d71b954f99780"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#aca0e63564e9178ee829d71b954f99780">easynav::navmap::AMCLLocalizer::getEstimatedPose</a></div><div class="ttdeci">tf2::Transform getEstimatedPose() const</div><div class="ttdoc">Gets the current estimated pose as a transform.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:1000</div></div>
+<div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_aca0e63564e9178ee829d71b954f99780"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#aca0e63564e9178ee829d71b954f99780">easynav::navmap::AMCLLocalizer::getEstimatedPose</a></div><div class="ttdeci">tf2::Transform getEstimatedPose() const</div><div class="ttdoc">Gets the current estimated pose as a transform.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:980</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_acbae5b57413b3ef8b003701570f1a732"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#acbae5b57413b3ef8b003701570f1a732">easynav::navmap::AMCLLocalizer::noise_translation_</a></div><div class="ttdeci">double noise_translation_</div><div class="ttdoc">Translational noise standard deviation.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:193</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_acc1c5cb0da6a8b6073ecad5ac33b130b"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#acc1c5cb0da6a8b6073ecad5ac33b130b">easynav::navmap::AMCLLocalizer::initialized_odom_</a></div><div class="ttdeci">bool initialized_odom_</div><div class="ttdoc">Flag indicating if the odometry has been initialized.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:225</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_ad07a1a4e34d8d253f4c7273ea52091c0"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#ad07a1a4e34d8d253f4c7273ea52091c0">easynav::navmap::AMCLLocalizer::downsampled_cloud_size_</a></div><div class="ttdeci">double downsampled_cloud_size_</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:216</div></div>
-<div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_ad1552f34167a8937969cb640dd00634c"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#ad1552f34167a8937969cb640dd00634c">easynav::navmap::AMCLLocalizer::reseed</a></div><div class="ttdeci">void reseed()</div><div class="ttdoc">Re-initializes the particle cloud if necessary.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:819</div></div>
-<div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_ae20b8e2b2e973d61a18b0cb2cece99c8"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#ae20b8e2b2e973d61a18b0cb2cece99c8">easynav::navmap::AMCLLocalizer::correct</a></div><div class="ttdeci">void correct(NavState &amp;nav_state)</div><div class="ttdoc">Applies the sensor model to update particle weights.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:700</div></div>
+<div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_ad1552f34167a8937969cb640dd00634c"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#ad1552f34167a8937969cb640dd00634c">easynav::navmap::AMCLLocalizer::reseed</a></div><div class="ttdeci">void reseed()</div><div class="ttdoc">Re-initializes the particle cloud if necessary.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:799</div></div>
+<div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_ae20b8e2b2e973d61a18b0cb2cece99c8"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#ae20b8e2b2e973d61a18b0cb2cece99c8">easynav::navmap::AMCLLocalizer::correct</a></div><div class="ttdeci">void correct(NavState &amp;nav_state)</div><div class="ttdoc">Applies the sensor model to update particle weights.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:688</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_ae325fac6966548d975775ab2b4d451e6"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#ae325fac6966548d975775ab2b4d451e6">easynav::navmap::AMCLLocalizer::inflation_prob_min_</a></div><div class="ttdeci">double inflation_prob_min_</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:211</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_ae43acada46bbf822e12270e8adc71468"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#ae43acada46bbf822e12270e8adc71468">easynav::navmap::AMCLLocalizer::AMCLLocalizer</a></div><div class="ttdeci">AMCLLocalizer()</div><div class="ttdoc">Default constructor.</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.cpp:352</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AMCLLocalizer_html_ae5c386506724415ae342a25c9af77b92"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AMCLLocalizer.html#ae5c386506724415ae342a25c9af77b92">easynav::navmap::AMCLLocalizer::inflation_stddev_</a></div><div class="ttdeci">double inflation_stddev_</div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:210</div></div>