#include <localization_node.hpp>

Inheritance diagram for autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >:

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Collaboration diagram for autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >:

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Public Types
using	PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped

using	TransformStamped = geometry_msgs::msg::TransformStamped

using	RegistrationSummary = localization_common::OptimizedRegistrationSummary

Public Member Functions
	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 PoseInitializerT &pose_initializer, LocalizerPublishMode publish_tf=LocalizerPublishMode::NO_PUBLISH_TF)

	RelativeLocalizerNode (const std::string &node_name, const rclcpp::NodeOptions &options, const PoseInitializerT &pose_initializer)

	RelativeLocalizerNode (const std::string &node_name, const std::string &name_space, const PoseInitializerT &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...

Protected Member Functions
void	set_localizer (std::unique_ptr< LocalizerT > &&localizer_ptr)

void	set_map (std::unique_ptr< MapT > &&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 ObservationMsgT::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)

Detailed Description

template<typename ObservationMsgT, typename MapMsgT, typename MapT, typename LocalizerT, typename PoseInitializerT, Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>
class autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >

Base relative localizer node that publishes map->base_link relative transform messages for a given observation source and map.

Template Parameters

ObservationMsgT	Message type to register against a map.
MapMsgT	Map type
LocalizerT	Localizer type.
PoseInitializerT	Pose initializer type.

Member Typedef Documentation

◆ PoseWithCovarianceStamped

template<typename ObservationMsgT , typename MapMsgT , typename MapT , typename LocalizerT , typename PoseInitializerT , Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>

using autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >::PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped

◆ RegistrationSummary

template<typename ObservationMsgT , typename MapMsgT , typename MapT , typename LocalizerT , typename PoseInitializerT , Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>

using autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >::RegistrationSummary = localization_common::OptimizedRegistrationSummary

◆ TransformStamped

template<typename ObservationMsgT , typename MapMsgT , typename MapT , typename LocalizerT , typename PoseInitializerT , Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>

using autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >::TransformStamped = geometry_msgs::msg::TransformStamped

Constructor & Destructor Documentation

◆ RelativeLocalizerNode() [1/3]

template<typename ObservationMsgT , typename MapMsgT , typename MapT , typename LocalizerT , typename PoseInitializerT , Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>

autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >::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 PoseInitializerT &	pose_initializer,
		LocalizerPublishMode	publish_tf = `LocalizerPublishMode::NO_PUBLISH_TF`
	)

inline

Constructor

Parameters

node_name	Name of node
name_space	Namespace of node
observation_sub_config	topic and QoS setting for the observation subscription.
map_sub_config	topic and QoS setting for the map subscription.
pose_pub_config	topic and QoS setting for the output pose publisher.
initial_pose_sub_config	topic and QoS setting for the initialpose subscription.
pose_initializer	Pose initializer.
publish_tf	Whether to publish to the `tf` topic. This can be used to publish transform messages when the relative localizer is the only source of localization.

◆ RelativeLocalizerNode() [2/3]

template<typename ObservationMsgT , typename MapMsgT , typename MapT , typename LocalizerT , typename PoseInitializerT , Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>

autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >::RelativeLocalizerNode	(	const std::string &	node_name,
		const rclcpp::NodeOptions &	options,
		const PoseInitializerT &	pose_initializer
	)

inline

◆ RelativeLocalizerNode() [3/3]

template<typename ObservationMsgT , typename MapMsgT , typename MapT , typename LocalizerT , typename PoseInitializerT , Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>

autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >::RelativeLocalizerNode	(	const std::string &	node_name,
		const std::string &	name_space,
		const PoseInitializerT &	pose_initializer
	)

inline

Constructor using ros parameters

Parameters

node_name	Node name
name_space	Node namespace
pose_initializer	Pose initializer

Member Function Documentation

◆ get_publisher()

template<typename ObservationMsgT , typename MapMsgT , typename MapT , typename LocalizerT , typename PoseInitializerT , Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>

const rclcpp::Publisher<PoseWithCovarianceStamped>::ConstSharedPtr autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >::get_publisher ( )

inline

Get a const pointer of the output publisher. Can be used for matching against subscriptions.

◆ on_bad_map()

template<typename ObservationMsgT , typename MapMsgT , typename MapT , typename LocalizerT , typename PoseInitializerT , Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>

virtual void autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >::on_bad_map ( std::exception_ptr eptr )

inlineprotectedvirtual

Handle the exceptions during map setting.

◆ on_bad_registration()

template<typename ObservationMsgT , typename MapMsgT , typename MapT , typename LocalizerT , typename PoseInitializerT , Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>

virtual void autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >::on_bad_registration ( std::exception_ptr eptr )

inlineprotectedvirtual

Handle the exceptions during registration.

◆ on_exception()

template<typename ObservationMsgT , typename MapMsgT , typename MapT , typename LocalizerT , typename PoseInitializerT , Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>

void autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >::on_exception	(	std::exception_ptr	eptr,
		const std::string &	error_source
	)

inlineprotected

◆ on_invalid_output()

template<typename ObservationMsgT , typename MapMsgT , typename MapT , typename LocalizerT , typename PoseInitializerT , Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>

virtual void autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >::on_invalid_output ( const PoseWithCovarianceStamped & pose )

inlineprotectedvirtual

Default behavior when hte pose output is evaluated to be invalid.

Parameters

pose	Pose output.

◆ on_observation_with_invalid_map()

template<typename ObservationMsgT , typename MapMsgT , typename MapT , typename LocalizerT , typename PoseInitializerT , Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>

virtual void autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >::on_observation_with_invalid_map ( typename ObservationMsgT::ConstSharedPtr )

inlineprotectedvirtual

Default behavior when an observation is received with no valid existing map.

◆ set_localizer()

template<typename ObservationMsgT , typename MapMsgT , typename MapT , typename LocalizerT , typename PoseInitializerT , Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>

void autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >::set_localizer ( std::unique_ptr< LocalizerT > && localizer_ptr )

inlineprotected

Set the localizer.

Parameters

localizer_ptr rvalue to the localizer to set.

◆ set_map()

template<typename ObservationMsgT , typename MapMsgT , typename MapT , typename LocalizerT , typename PoseInitializerT , Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>

void autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >::set_map ( std::unique_ptr< MapT > && map_ptr )

inlineprotected

◆ validate_output()

template<typename ObservationMsgT , typename MapMsgT , typename MapT , typename LocalizerT , typename PoseInitializerT , Requires = traits::LocalizerConstraint<LocalizerT, ObservationMsgT, MapT>::value, Requires = traits::MapConstraint<MapT, MapMsgT>::value>

virtual bool autoware::localization::localization_nodes::RelativeLocalizerNode< ObservationMsgT, MapMsgT, MapT, LocalizerT, PoseInitializerT, Requires, Requires >::validate_output	(	const RegistrationSummary &	summary,
		const PoseWithCovarianceStamped &	pose,
		const TransformStamped &	guess
	)

inlineprotectedvirtual

Validate the pose estimate given the registration summary and the initial guess. This function by default returns true.

Parameters

summary	Registration summary.
pose	Pose estimate.
guess	Initial guess.

Returns: True if the estimate is valid and can be published.

The documentation for this class was generated from the following file:

localization_node.hpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ PoseWithCovarianceStamped

◆ RegistrationSummary

◆ TransformStamped

Constructor & Destructor Documentation

◆ RelativeLocalizerNode() [1/3]

◆ RelativeLocalizerNode() [2/3]

◆ RelativeLocalizerNode() [3/3]

Member Function Documentation

◆ get_publisher()

◆ on_bad_map()

◆ on_bad_registration()

◆ on_exception()

◆ on_invalid_output()

◆ on_observation_with_invalid_map()

◆ set_localizer()

◆ set_map()

◆ validate_output()