<<PackageHeader(lj_laser_heading)>>
<<TOC(4)>>

== Overview ==

The `lj_laser_heading` package implements a localizing jockey that computes place dissimilarities based on a <<MsgLink(sensor_msgs/LaserScan)>> and absolute heading.
The behavior and properties are similar to those of the [[lj_laser]] jockey.
The heading is given either as <<MsgLink(geometry_msgs/Pose)>> or <<MsgLink(nav_msgs/Odometry)>>.

The role of this jockey is to get the dissimilarity of the <<MsgLink(sensor_msgs/LaserScan)>> descriptor of all vertices with the current place profile (represented by a <<MsgLink(sensor_msgs/LaserScan)>>).
The action is done when the dissimilarities are computed.
Implemented actions:
  * `GET_VERTEX_DESCRIPTOR`: return the ids of the <<MsgLink(sensor_msgs/LaserScan)>> descriptor and the computed <<MsgLink(lama_msgs/Crossing)>> descriptor
  * `GET_SIMILARITY`: return the dissimilarity based on <<MsgLink(sensor_msgs/LaserScan)>>

== Usage ==

=== ROS API ===

==== Interaction with the map (created by this jockey) ====
|| [Getter][/][Setter] || message type || interface default name ||
|| Getter/Setter || !VectorLaserScan || jockey_name + "_laser" ||
|| Setter || <<MsgLink(lama_msgs/Crossing)>> || jockey_name + "_crossing" ||

{{{
#!clearsilver CS/NodeAPI
sub {
  0.name= ~<name>/base_scan
  0.type= sensor_msgs/LaserScan
  0.desc= 360-degree laser-scan
  1.name= ~<name>/pose
  1.type= geometry_msgs/Pose
  1.type= heading is read from it
  2.name= ~<name>/odom
  2.type= nav_msgs/Odometry
  2.type= heading is read from it
}
srv {
  0.name= ~<name>/dissimilarity_server
  0.type= polygon_matcher/PolygonDissimilarity
  0.desc= used to compare all known places (as polygons) with the current place.
}
param {
  0.name= ~<name>/laser_interface_name
  0.default= jockey_name + "_laser"
  0.type= String
  0.desc= Name of the map interface for laser-scans.
  1.name= ~<name>/crossing_interface_name
  1.default= jockey_name + "_crossing"
  1.type= String
  1.desc= Name of the map interface for crossings.
  2.name= ~<name>/dissimilarity_server_name
  2.default= "dissimilarity_server"
  2.type= String
  2.desc= Name of the dissimilarity server.
}
}}}


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