laser_slam::PointCloudSnapshotter Class Reference

Collects laser scans and transforms them into a point cloud w.r.t the base frame at a fixed point in time. Also publishes a 2d occupancy grid based on the scans. More...

#include <point_cloud_snapshotter.h>

List of all members.

Public Member Functions
	PointCloudSnapshotter (boost::shared_ptr< tf::TransformListener > tf, ros::NodeHandle param_nh)
boost::optional< ros::Time >	recentScanTime (const ros::Time &t1, const ros::Time &t2) const
Private Member Functions
void	diffCallback (boost::optional< const graph_mapping_msgs::ConstraintGraphDiff & > diff, const pose_graph::ConstraintGraph &graph)
tf::Pose	ffPoseAt (const ros::Time &t)
void	locCallback (graph_mapping_msgs::LocalizationDistribution::ConstPtr m)
void	processAndSaveScan (sensor_msgs::LaserScan::ConstPtr scan, const geometry_msgs::PoseStamped &pos)
void	processAndSaveScan (sensor_msgs::LaserScan::ConstPtr scan, const ros::Time &t, const unsigned n)
laser_slam::LocalizedScan::Ptr	processScan (sensor_msgs::LaserScan::ConstPtr scan, const geometry_msgs::Pose &sensor_pose) const
void	publishMap (const ros::TimerEvent &e)
bool	recentScanTimeCallback (RecentScanTime::Request &req, RecentScanTime::Response &resp)
void	scanCallback (const sensor_msgs::LaserScan::ConstPtr &scan)
void	storeOptPoses (graph_mapping_msgs::NodePoses::ConstPtr m)
Private Attributes
const std::string	base_frame_
const bool	cleanup_grid_
warehouse::WarehouseClient	db_
pose_graph::DiffSubscriber	diff_sub_
const pose_graph::CachedNodeMap < geometry_msgs::Pose >	ff_poses_
const std::string	fixed_frame_
ros::ServiceClient	get_poses_client_
const std::string	global_frame_
const double	grid_resolution_
ros::Subscriber	laser_sub_
boost::optional < geometry_msgs::PoseStamped >	last_loc_
ros::Subscriber	loc_sub_
ros::Publisher	map_pub_
ros::Timer	map_pub_timer_
boost::mutex	mutex_
ros::NodeHandle	nh_
pose_graph::NodePoseMap	opt_poses_
bool	optimize_flag_
ros::NodeHandle	param_nh_
ros::ServiceServer	recent_scan_time_server_
boost::circular_buffer < sensor_msgs::LaserScan::ConstPtr >	recent_scans_
boost::optional< unsigned >	ref_node_
const double	robot_radius_
const ros::Duration	scan_save_min_gap_
const double	scan_time_tol_
pose_graph::CachedNodeMap < laser_slam::LocalizedScan >	scans_
const std::string	sensor_frame_
geometry_msgs::Pose	sensor_pose_
boost::shared_ptr < tf::TransformListener >	tf_
const ros::Duration	transform_wait_duration_

Detailed Description

Collects laser scans and transforms them into a point cloud w.r.t the base frame at a fixed point in time. Also publishes a 2d occupancy grid based on the scans.

Definition at line 56 of file point_cloud_snapshotter.h.

Constructor & Destructor Documentation

laser_slam::PointCloudSnapshotter::PointCloudSnapshotter	(	boost::shared_ptr< tf::TransformListener >	tf,
		ros::NodeHandle	param_nh
	)

Definition at line 57 of file point_cloud_snapshotter.cpp.

Member Function Documentation

void laser_slam::PointCloudSnapshotter::diffCallback	(	boost::optional< const graph_mapping_msgs::ConstraintGraphDiff & >	diff,
		const pose_graph::ConstraintGraph &	graph
	)			`[private]`

tf::Pose laser_slam::PointCloudSnapshotter::ffPoseAt ( const ros::Time & t ) [private]

Definition at line 221 of file point_cloud_snapshotter.cpp.

void laser_slam::PointCloudSnapshotter::locCallback ( graph_mapping_msgs::LocalizationDistribution::ConstPtr m ) [private]

void laser_slam::PointCloudSnapshotter::processAndSaveScan	(	sensor_msgs::LaserScan::ConstPtr	scan,
		const geometry_msgs::PoseStamped &	pos
	)			`[private]`

void laser_slam::PointCloudSnapshotter::processAndSaveScan	(	sensor_msgs::LaserScan::ConstPtr	scan,
		const ros::Time &	t,
		const unsigned	n
	)			`[private]`

laser_slam::LocalizedScan::Ptr laser_slam::PointCloudSnapshotter::processScan	(	sensor_msgs::LaserScan::ConstPtr	scan,
		const geometry_msgs::Pose &	sensor_pose
	)			const `[private]`

void laser_slam::PointCloudSnapshotter::publishMap ( const ros::TimerEvent & e ) [private]

Definition at line 343 of file point_cloud_snapshotter.cpp.

MaybeTime laser_slam::PointCloudSnapshotter::recentScanTime	(	const ros::Time &	t1,
		const ros::Time &	t2
	)			const

Returns:: A time between t1 and t2 corresponding to a recent scan, or uninitialized if no such scan exists

Precondition:: t2 >= t1

Definition at line 102 of file point_cloud_snapshotter.cpp.

bool laser_slam::PointCloudSnapshotter::recentScanTimeCallback	(	RecentScanTime::Request &	req,
		RecentScanTime::Response &	resp
	)			`[private]`

Definition at line 121 of file point_cloud_snapshotter.cpp.

void laser_slam::PointCloudSnapshotter::scanCallback ( const sensor_msgs::LaserScan::ConstPtr & scan ) [private]

void laser_slam::PointCloudSnapshotter::storeOptPoses ( graph_mapping_msgs::NodePoses::ConstPtr m ) [private]

Member Data Documentation

const std::string laser_slam::PointCloudSnapshotter::base_frame_ [private]

Definition at line 85 of file point_cloud_snapshotter.h.

const bool laser_slam::PointCloudSnapshotter::cleanup_grid_ [private]

Definition at line 91 of file point_cloud_snapshotter.h.

warehouse::WarehouseClient laser_slam::PointCloudSnapshotter::db_ [private]

Definition at line 114 of file point_cloud_snapshotter.h.

pose_graph::DiffSubscriber laser_slam::PointCloudSnapshotter::diff_sub_ [private]

Definition at line 118 of file point_cloud_snapshotter.h.

const pose_graph::CachedNodeMap<geometry_msgs::Pose> laser_slam::PointCloudSnapshotter::ff_poses_ [private]

Definition at line 116 of file point_cloud_snapshotter.h.

const std::string laser_slam::PointCloudSnapshotter::fixed_frame_ [private]

Definition at line 85 of file point_cloud_snapshotter.h.

ros::ServiceClient laser_slam::PointCloudSnapshotter::get_poses_client_ [private]

Definition at line 120 of file point_cloud_snapshotter.h.

const std::string laser_slam::PointCloudSnapshotter::global_frame_ [private]

Definition at line 85 of file point_cloud_snapshotter.h.

const double laser_slam::PointCloudSnapshotter::grid_resolution_ [private]

Definition at line 87 of file point_cloud_snapshotter.h.

ros::Subscriber laser_slam::PointCloudSnapshotter::laser_sub_ [private]

Definition at line 117 of file point_cloud_snapshotter.h.

boost::optional<geometry_msgs::PoseStamped> laser_slam::PointCloudSnapshotter::last_loc_ [private]

Definition at line 100 of file point_cloud_snapshotter.h.

ros::Subscriber laser_slam::PointCloudSnapshotter::loc_sub_ [private]

Definition at line 117 of file point_cloud_snapshotter.h.

ros::Publisher laser_slam::PointCloudSnapshotter::map_pub_ [private]

Definition at line 119 of file point_cloud_snapshotter.h.

ros::Timer laser_slam::PointCloudSnapshotter::map_pub_timer_ [private]

Definition at line 121 of file point_cloud_snapshotter.h.

boost::mutex laser_slam::PointCloudSnapshotter::mutex_ [mutable, private]

Definition at line 111 of file point_cloud_snapshotter.h.

ros::NodeHandle laser_slam::PointCloudSnapshotter::nh_ [private]

Definition at line 112 of file point_cloud_snapshotter.h.

pose_graph::NodePoseMap laser_slam::PointCloudSnapshotter::opt_poses_ [private]

Definition at line 98 of file point_cloud_snapshotter.h.

bool laser_slam::PointCloudSnapshotter::optimize_flag_ [private]

Definition at line 105 of file point_cloud_snapshotter.h.

ros::NodeHandle laser_slam::PointCloudSnapshotter::param_nh_ [private]

Definition at line 84 of file point_cloud_snapshotter.h.

ros::ServiceServer laser_slam::PointCloudSnapshotter::recent_scan_time_server_ [private]

Definition at line 122 of file point_cloud_snapshotter.h.

boost::circular_buffer<sensor_msgs::LaserScan::ConstPtr> laser_slam::PointCloudSnapshotter::recent_scans_ [private]

Definition at line 99 of file point_cloud_snapshotter.h.

boost::optional<unsigned> laser_slam::PointCloudSnapshotter::ref_node_ [private]

Definition at line 103 of file point_cloud_snapshotter.h.

const double laser_slam::PointCloudSnapshotter::robot_radius_ [private]

Definition at line 92 of file point_cloud_snapshotter.h.

const ros::Duration laser_slam::PointCloudSnapshotter::scan_save_min_gap_ [private]

Definition at line 88 of file point_cloud_snapshotter.h.

const double laser_slam::PointCloudSnapshotter::scan_time_tol_ [private]

Definition at line 90 of file point_cloud_snapshotter.h.

pose_graph::CachedNodeMap<laser_slam::LocalizedScan> laser_slam::PointCloudSnapshotter::scans_ [private]

Definition at line 115 of file point_cloud_snapshotter.h.

const std::string laser_slam::PointCloudSnapshotter::sensor_frame_ [private]

Definition at line 85 of file point_cloud_snapshotter.h.

geometry_msgs::Pose laser_slam::PointCloudSnapshotter::sensor_pose_ [private]

Definition at line 89 of file point_cloud_snapshotter.h.

boost::shared_ptr<tf::TransformListener> laser_slam::PointCloudSnapshotter::tf_ [private]

Definition at line 113 of file point_cloud_snapshotter.h.

const ros::Duration laser_slam::PointCloudSnapshotter::transform_wait_duration_ [private]

Definition at line 86 of file point_cloud_snapshotter.h.

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

laser_slam::PointCloudSnapshotter Class Reference

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation