#include <pointcloud_octomap_updater.h>

Inheritance diagram for occupancy_map_monitor::PointCloudOctomapUpdater:

Public Member Functions
ShapeHandle	excludeShape (const shapes::ShapeConstPtr &shape) override

void	forgetShape (ShapeHandle handle) override

bool	initialize () override

	PointCloudOctomapUpdater ()

bool	setParams (XmlRpc::XmlRpcValue &params) override

void	start () override

void	stop () override

	~PointCloudOctomapUpdater () override

Public Member Functions inherited from occupancy_map_monitor::OccupancyMapUpdater
const std::string &	getType () const

	OccupancyMapUpdater (const std::string &type)

void	publishDebugInformation (bool flag)

void	setMonitor (OccupancyMapMonitor *monitor)

void	setTransformCacheCallback (const TransformCacheProvider &transform_callback)

virtual	~OccupancyMapUpdater ()

Protected Member Functions
virtual void	updateMask (const sensor_msgs::PointCloud2 &cloud, const Eigen::Vector3d &sensor_origin, std::vector< int > &mask)

Protected Member Functions inherited from occupancy_map_monitor::OccupancyMapUpdater
bool	updateTransformCache (const std::string &target_frame, const ros::Time &target_time)

Private Member Functions
void	cloudMsgCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)

bool	getShapeTransform (ShapeHandle h, Eigen::Isometry3d &transform) const

void	stopHelper ()

Private Attributes
ros::Publisher	filtered_cloud_publisher_

std::string	filtered_cloud_topic_

octomap::KeyRay	key_ray_

ros::Time	last_update_time_

std::vector< int >	mask_

double	max_range_

double	max_update_rate_

std::string	ns_

double	padding_

tf2_ros::MessageFilter< sensor_msgs::PointCloud2 > *	point_cloud_filter_

message_filters::Subscriber< sensor_msgs::PointCloud2 > *	point_cloud_subscriber_

std::string	point_cloud_topic_

unsigned int	point_subsample_

ros::NodeHandle	private_nh_

ros::NodeHandle	root_nh_

double	scale_

std::unique_ptr< point_containment_filter::ShapeMask >	shape_mask_

std::shared_ptr< tf2_ros::Buffer >	tf_buffer_

std::shared_ptr< tf2_ros::TransformListener >	tf_listener_

Additional Inherited Members
Static Protected Member Functions inherited from occupancy_map_monitor::OccupancyMapUpdater
static void	readXmlParam (XmlRpc::XmlRpcValue &params, const std::string &param_name, double *value)

static void	readXmlParam (XmlRpc::XmlRpcValue &params, const std::string &param_name, unsigned int *value)

Protected Attributes inherited from occupancy_map_monitor::OccupancyMapUpdater
bool	debug_info_

OccupancyMapMonitor *	monitor_

ShapeTransformCache	transform_cache_

TransformCacheProvider	transform_provider_callback_

collision_detection::OccMapTreePtr	tree_

std::string	type_

Detailed Description

Definition at line 83 of file pointcloud_octomap_updater.h.

Constructor & Destructor Documentation

◆ PointCloudOctomapUpdater()

occupancy_map_monitor::PointCloudOctomapUpdater::PointCloudOctomapUpdater ( )

Definition at line 83 of file pointcloud_octomap_updater.cpp.

◆ ~PointCloudOctomapUpdater()

occupancy_map_monitor::PointCloudOctomapUpdater::~PointCloudOctomapUpdater ( )

override

Definition at line 96 of file pointcloud_octomap_updater.cpp.

Member Function Documentation

◆ cloudMsgCallback()

void occupancy_map_monitor::PointCloudOctomapUpdater::cloudMsgCallback ( const sensor_msgs::PointCloud2::ConstPtr & cloud_msg )

private

Definition at line 213 of file pointcloud_octomap_updater.cpp.

◆ excludeShape()

ShapeHandle occupancy_map_monitor::PointCloudOctomapUpdater::excludeShape ( const shapes::ShapeConstPtr & shape )

overridevirtual

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 182 of file pointcloud_octomap_updater.cpp.

◆ forgetShape()

void occupancy_map_monitor::PointCloudOctomapUpdater::forgetShape ( ShapeHandle handle )

overridevirtual

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 192 of file pointcloud_octomap_updater.cpp.

◆ getShapeTransform()

bool occupancy_map_monitor::PointCloudOctomapUpdater::getShapeTransform	(	ShapeHandle	h,
		Eigen::Isometry3d &	transform
	)		const

private

Definition at line 198 of file pointcloud_octomap_updater.cpp.

◆ initialize()

bool occupancy_map_monitor::PointCloudOctomapUpdater::initialize ( )

overridevirtual

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 129 of file pointcloud_octomap_updater.cpp.

◆ setParams()

bool occupancy_map_monitor::PointCloudOctomapUpdater::setParams ( XmlRpc::XmlRpcValue & params )

overridevirtual

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 101 of file pointcloud_octomap_updater.cpp.

◆ start()

void occupancy_map_monitor::PointCloudOctomapUpdater::start ( )

overridevirtual

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 146 of file pointcloud_octomap_updater.cpp.

◆ stop()

void occupancy_map_monitor::PointCloudOctomapUpdater::stop ( )

overridevirtual

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 175 of file pointcloud_octomap_updater.cpp.

◆ stopHelper()

void occupancy_map_monitor::PointCloudOctomapUpdater::stopHelper ( )

private

Definition at line 169 of file pointcloud_octomap_updater.cpp.

◆ updateMask()

void occupancy_map_monitor::PointCloudOctomapUpdater::updateMask	(	const sensor_msgs::PointCloud2 &	cloud,
		const Eigen::Vector3d &	sensor_origin,
		std::vector< int > &	mask
	)