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LaneObservations Class Reference

#include <lane_observations.h>

List of all members.

Public Member Functions
	LaneObservations (ros::NodeHandle &node, ros::NodeHandle &priv_nh)
	Run lane observers, publish their observations.
void	spin ()
	Handle incoming data.
	~LaneObservations ()
	Deconstructor.
Private Types
typedef pcl::PointCloud < pcl::PointXYZ >	PtCloud
	short name for PCL PointCloud
Private Member Functions
void	addObserver (observers::Observer &obs)
	Add an entry to the observer vector.
void	calcRobotPolygon ()
	Calculate which polygon currently contains the robot.
void	filterPointsInLocalMap ()
	Filter obstacle points to those in a road map polygon.
bool	isPointInAPolygon (float x, float y)
void	processLocalMap (const art_msgs::ArtLanes::ConstPtr &msg)
	Local road map callback.
void	processObstacles (void)
	Obstacles point cloud processing. Starts all the observers.
void	processPointCloud (const sensor_msgs::PointCloud::ConstPtr &msg)
	PointCloud callback.
void	processPointCloud2 (const sensor_msgs::PointCloud2::ConstPtr &msg)
	PointCloud2 callback.
void	processPose (const nav_msgs::Odometry &odom)
	process the pose of the map
void	publishObstacleVisualization ()
	Publish rviz markers for obstacles in the road.
void	runObservers ()
	Run all registered observers and publish their observations.
void	transformPointCloud (const PtCloud &msg)
	Transform obstacle points into the map frame of reference.
Private Attributes
std::tr1::unordered_set< int >	added_quads_
	set of obstacle quads
observers::AdjacentLeft	adjacent_left_observer_
observers::AdjacentRight	adjacent_right_observer_
Config	config_
	configuration parameters
art_msgs::ArtLanes	local_map_
	local road map
visualization_msgs::MarkerArray	marks_msg_
observers::NearestBackward	nearest_backward_observer_
observers::NearestForward	nearest_forward_observer_
ros::NodeHandle	node_
	node handle
std::vector < art_msgs::ArtQuadrilateral > ::iterator	obs_it_
art_msgs::ArtLanes	obs_quads_
	vector of obstacle quads
art_msgs::ObservationArray	observations_
	current observations from the observers
ros::Publisher	observations_pub_
std::vector < observers::Observer * >	observers_
	vector of observers, in order of the observations they publish
PtCloud	obstacles_
	current obstacle data
ros::Subscriber	odom_sub_
ros::Subscriber	pc2_sub_
	PointCloud2 input.
ros::Subscriber	pc_sub_
	deprecated PointCloud input
MapPose	pose_
ros::NodeHandle	priv_nh_
	private node handle
ros::Subscriber	road_map_sub_
art_msgs::ArtQuadrilateral	robot_polygon_
	robot's current polygon
boost::shared_ptr < tf::TransformListener >	tf_listener_
ros::Publisher	viz_pub_

Detailed Description

Definition at line 46 of file lane_observations.h.

Member Typedef Documentation

typedef pcl::PointCloud<pcl::PointXYZ> LaneObservations::PtCloud [private]

short name for PCL PointCloud

Definition at line 58 of file lane_observations.h.

Constructor & Destructor Documentation

LaneObservations::LaneObservations	(	ros::NodeHandle &	node,
		ros::NodeHandle &	priv_nh
	)

Run lane observers, publish their observations.

Definition at line 26 of file lane_observations.cc.

LaneObservations::~LaneObservations ( )

Deconstructor.

Definition at line 74 of file lane_observations.cc.

Member Function Documentation

void LaneObservations::addObserver ( observers::Observer & obs ) [inline, private]

Add an entry to the observer vector.

Parameters:

obs

observer to add

Definition at line 64 of file lane_observations.h.

void LaneObservations::calcRobotPolygon ( ) [private]

Calculate which polygon currently contains the robot.

Definition at line 214 of file lane_observations.cc.

void LaneObservations::filterPointsInLocalMap ( ) [private]

Filter obstacle points to those in a road map polygon.

Definition at line 127 of file lane_observations.cc.

bool LaneObservations::isPointInAPolygon	(	float	x,
		float	y
	)			`[private]`

Point in polygon predicate.

Returns:: true if (X, Y) is within a road map polygon.

Postcondition:: added_quads contains polygon ID, if found. obstacle_quads contains polygon, if found.

Definition at line 168 of file lane_observations.cc.

void LaneObservations::processLocalMap ( const art_msgs::ArtLanes::ConstPtr & msg ) [private]

Local road map callback.

Definition at line 115 of file lane_observations.cc.

void LaneObservations::processObstacles ( void ) [private]

Obstacles point cloud processing. Starts all the observers.

Precondition:: obstacles_ contains the point cloud data received

Definition at line 80 of file lane_observations.cc.

void LaneObservations::processPointCloud ( const sensor_msgs::PointCloud::ConstPtr & msg ) [private]

PointCloud callback.

Definition at line 96 of file lane_observations.cc.

void LaneObservations::processPointCloud2 ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

PointCloud2 callback.

Definition at line 105 of file lane_observations.cc.

void LaneObservations::processPose ( const nav_msgs::Odometry & odom ) [private]

process the pose of the map

Definition at line 121 of file lane_observations.cc.

void LaneObservations::publishObstacleVisualization ( ) [private]

Publish rviz markers for obstacles in the road.

Definition at line 250 of file lane_observations.cc.

void LaneObservations::runObservers ( ) [private]

Run all registered observers and publish their observations.

Definition at line 200 of file lane_observations.cc.

void LaneObservations::spin ( void )

Handle incoming data.

Definition at line 323 of file lane_observations.cc.

void LaneObservations::transformPointCloud ( const PtCloud & msg ) [private]

Transform obstacle points into the map frame of reference.

Definition at line 140 of file lane_observations.cc.

Member Data Documentation

std::tr1::unordered_set<int> LaneObservations::added_quads_ [private]

set of obstacle quads

Definition at line 112 of file lane_observations.h.

observers::AdjacentLeft LaneObservations::adjacent_left_observer_ [private]

Definition at line 90 of file lane_observations.h.

observers::AdjacentRight LaneObservations::adjacent_right_observer_ [private]

Definition at line 91 of file lane_observations.h.

Config LaneObservations::config_ [private]

configuration parameters

Definition at line 85 of file lane_observations.h.

art_msgs::ArtLanes LaneObservations::local_map_ [private]

local road map

Definition at line 104 of file lane_observations.h.

visualization_msgs::MarkerArray LaneObservations::marks_msg_ [private]

Only used within LaneObservations::publishObstacleVisualization(), a class variable only to avoid memory allocation on every cycle.

Definition at line 120 of file lane_observations.h.

observers::NearestBackward LaneObservations::nearest_backward_observer_ [private]

Definition at line 89 of file lane_observations.h.

observers::NearestForward LaneObservations::nearest_forward_observer_ [private]

Definition at line 88 of file lane_observations.h.

ros::NodeHandle LaneObservations::node_ [private]

node handle

Definition at line 82 of file lane_observations.h.

std::vector<art_msgs::ArtQuadrilateral>::iterator LaneObservations::obs_it_ [private]

Definition at line 114 of file lane_observations.h.

art_msgs::ArtLanes LaneObservations::obs_quads_ [private]

vector of obstacle quads

Definition at line 113 of file lane_observations.h.

art_msgs::ObservationArray LaneObservations::observations_ [private]

current observations from the observers

Definition at line 110 of file lane_observations.h.

ros::Publisher LaneObservations::observations_pub_ [private]

Definition at line 100 of file lane_observations.h.

std::vector<observers::Observer *> LaneObservations::observers_ [private]

vector of observers, in order of the observations they publish

Definition at line 107 of file lane_observations.h.

PtCloud LaneObservations::obstacles_ [private]

current obstacle data

Definition at line 103 of file lane_observations.h.

ros::Subscriber LaneObservations::odom_sub_ [private]

Definition at line 99 of file lane_observations.h.

ros::Subscriber LaneObservations::pc2_sub_ [private]

PointCloud2 input.

Definition at line 97 of file lane_observations.h.

ros::Subscriber LaneObservations::pc_sub_ [private]

deprecated PointCloud input

Definition at line 96 of file lane_observations.h.

MapPose LaneObservations::pose_ [private]

Definition at line 116 of file lane_observations.h.

ros::NodeHandle LaneObservations::priv_nh_ [private]

private node handle

Definition at line 83 of file lane_observations.h.

ros::Subscriber LaneObservations::road_map_sub_ [private]

Definition at line 98 of file lane_observations.h.

art_msgs::ArtQuadrilateral LaneObservations::robot_polygon_ [private]

robot's current polygon

Definition at line 115 of file lane_observations.h.

boost::shared_ptr<tf::TransformListener> LaneObservations::tf_listener_ [private]

Definition at line 93 of file lane_observations.h.

ros::Publisher LaneObservations::viz_pub_ [private]

Definition at line 101 of file lane_observations.h.

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

All Classes Namespaces Files Functions Variables Typedefs Enumerations Properties Friends Defines

art_observers
Author(s): Michael Quinlan, Jack O'Quin, Corbyn Salisbury
autogenerated on Fri Mar 1 14:13:59 2013