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Collider Class Reference

#include <collider.h>

List of all members.

Classes

struct  BoxInfo
struct  CloudInfo
 Struct to hold config options for subscribed PointClouds. More...

Public Types

typedef octomap::OcTreeStamped OcTreeType

Public Member Functions

 Collider ()
 ~Collider ()

Protected Member Functions

void attachedObjectCallback (const arm_navigation_msgs::AttachedCollisionObjectConstPtr &attached_object)
void cameraInfoCallback (const sensor_msgs::CameraInfo::ConstPtr &cam_info)
void cloudCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud, const std::string topic_name)
void cloudCombinedCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud, const sensor_msgs::PointCloud2::ConstPtr &cloud_raw, const std::string topic_name)
void computeBBX (const std_msgs::Header &sensor_header, octomap::point3d &bbx_min, octomap::point3d &bbx_max)
void degradeOutdatedRaw (const std_msgs::Header &sensor_header, const tf::Point &sensor_origin, const std::string &other_stereo_frame, const pcl::PointCloud< pcl::PointXYZ > &pcl_cloud_raw)
void degradeOutdatedRaycasting (const std_msgs::Header &sensor_header, const octomap::point3d &sensor_origin, octomap::OcTreeStamped &tree)
void degradeSingleSpeckles ()
bool dummyReset (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void getFreePoints (std::vector< geometry_msgs::Point > &pointlist) const
void getOccupiedPoints (std::vector< geometry_msgs::Point > &pointlist) const
octomap::point3d getSensorOrigin (const std_msgs::Header &sensor_header)
bool inSensorCone (const cv::Point2d &uv) const
bool isOccludedMap (const octomap::point3d &sensor_origin, const octomap::point3d &p) const
bool isOccludedRaw (const cv::Point2d &uv, double range, const pcl::PointCloud< pcl::PointXYZ > &pcl_cloud_raw)
void makeStaticCollisionMap (const arm_navigation_msgs::MakeStaticCollisionMapGoalConstPtr &goal)
void objectCallback (const arm_navigation_msgs::CollisionObjectConstPtr &object)
bool occupancyBBXSizeSrv (collider::OccupancyBBXSizeQuery::Request &req, collider::OccupancyBBXSizeQuery::Response &res)
bool occupancyBBXSrv (collider::OccupancyBBXQuery::Request &req, collider::OccupancyBBXQuery::Response &res)
bool occupancyPointSrv (collider::OccupancyPointQuery::Request &req, collider::OccupancyPointQuery::Response &res)
bool octomapSrv (octomap_ros::GetOctomap::Request &req, octomap_ros::GetOctomap::Response &res)
void publishCollisionMap (const std::vector< geometry_msgs::Point > &pointlist, const std_msgs::Header &header, ros::Publisher &pub)
void publishMarkerArray (const std::vector< geometry_msgs::Point > &pointlist, const std_msgs::Header &header, const std_msgs::ColorRGBA &color, ros::Publisher &pub)
void publishPointCloud (const std::vector< geometry_msgs::Point > &pointlist, const std_msgs::Header &header, ros::Publisher &pub)
bool reset (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

Protected Attributes

boost::shared_ptr
< actionlib::SimpleActionServer
< arm_navigation_msgs::MakeStaticCollisionMapAction > > 
action_server_
message_filters::Subscriber
< arm_navigation_msgs::AttachedCollisionObject > * 
attached_collision_object_subscriber_
std_msgs::ColorRGBA attached_color_
image_geometry::PinholeCameraModel cam_model_
bool cam_model_initialized_
cv::Size cam_size_
ros::Subscribercamera_info_subscriber_
int camera_stereo_offset_left_
int camera_stereo_offset_right_
std::map< std::string, CloudInfocloud_sources_
planning_environment::CollisionModelscm_
ros::Publisher cmap_publisher_
message_filters::Subscriber
< arm_navigation_msgs::CollisionObject > * 
collision_object_subscriber_
OcTreeTypecollision_octree_
std_msgs::ColorRGBA color_free_
std_msgs::ColorRGBA color_occupied_
ros::ServiceServer dummy_reset_service_
std::string fixed_frame_
ros::ServiceServer get_octomap_service_
ros::Publisher marker_pub_
double max_range_
std::vector
< message_filters::Subscriber
< sensor_msgs::PointCloud2 > * > 
message_filter_subscribers_
std::vector< tf::MessageFilter
< sensor_msgs::PointCloud2 > * > 
message_filters_
ros::ServiceServer occupancy_bbx_service_
ros::ServiceServer occupancy_bbx_size_service_
ros::ServiceServer occupancy_point_service_
ros::Publisher octomap_visualization_attached_array_pub_
ros::Publisher octomap_visualization_attached_pub_
ros::Publisher octomap_visualization_free_pub_
ros::Publisher octomap_visualization_pub_
ros::Publisher pointcloud_publisher_
int pruning_counter_
int pruning_period_
bool publish_over_dynamic_map_
ros::ServiceServer reset_service_
double resolution_
robot_self_filter::SelfMaskrobot_mask_left_
robot_self_filter::SelfMaskrobot_mask_right_
ros::NodeHandle root_handle_
double self_filter_min_dist_
ros::Publisher static_map_publisher_
std::vector
< message_filters::Subscriber
< sensor_msgs::PointCloud2 > * > 
sub_filtered_clouds_
std::vector
< message_filters::Subscriber
< sensor_msgs::PointCloud2 > * > 
sub_raw_clouds_
std::vector
< message_filters::Synchronizer
< message_filters::sync_policies::ApproximateTime
< sensor_msgs::PointCloud2,
sensor_msgs::PointCloud2 > > * > 
sync_vector_
tf::TransformListener tf_
bool transparent_freespace_
ros::ServiceServer transparent_service_
BoxInfo workspace_box_

Detailed Description

Definition at line 81 of file collider.h.


Member Typedef Documentation

typedef octomap::OcTreeStamped Collider::OcTreeType

Definition at line 90 of file collider.h.


Constructor & Destructor Documentation

Collider::Collider (  ) 

Definition at line 42 of file collider.cpp.

Collider::~Collider (  ) 

Definition at line 342 of file collider.cpp.


Member Function Documentation

void Collider::attachedObjectCallback ( const arm_navigation_msgs::AttachedCollisionObjectConstPtr attached_object  )  [protected]

Definition at line 361 of file collider.cpp.

void Collider::cameraInfoCallback ( const sensor_msgs::CameraInfo::ConstPtr cam_info  )  [protected]

Definition at line 369 of file collider.cpp.

void Collider::cloudCallback ( const sensor_msgs::PointCloud2::ConstPtr cloud,
const std::string  topic_name 
) [protected]

Definition at line 541 of file collider.cpp.

void Collider::cloudCombinedCallback ( const sensor_msgs::PointCloud2::ConstPtr cloud,
const sensor_msgs::PointCloud2::ConstPtr cloud_raw,
const std::string  topic_name 
) [protected]

Definition at line 377 of file collider.cpp.

void Collider::computeBBX ( const std_msgs::Header &  sensor_header,
octomap::point3d &  bbx_min,
octomap::point3d &  bbx_max 
) [protected]

Definition at line 888 of file collider.cpp.

void Collider::degradeOutdatedRaw ( const std_msgs::Header &  sensor_header,
const tf::Point sensor_origin,
const std::string &  other_stereo_frame,
const pcl::PointCloud< pcl::PointXYZ > &  pcl_cloud_raw 
) [protected]

Definition at line 679 of file collider.cpp.

void Collider::degradeOutdatedRaycasting ( const std_msgs::Header &  sensor_header,
const octomap::point3d &  sensor_origin,
octomap::OcTreeStamped &  tree 
) [protected]

Definition at line 783 of file collider.cpp.

void Collider::degradeSingleSpeckles (  )  [protected]

Definition at line 821 of file collider.cpp.

bool Collider::dummyReset ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
) [protected]

Definition at line 1125 of file collider.cpp.

void Collider::getFreePoints ( std::vector< geometry_msgs::Point > &  pointlist  )  const [inline, protected]

Definition at line 235 of file collider.h.

void Collider::getOccupiedPoints ( std::vector< geometry_msgs::Point > &  pointlist  )  const [inline, protected]

Definition at line 221 of file collider.h.

octomap::point3d Collider::getSensorOrigin ( const std_msgs::Header &  sensor_header  )  [protected]

Definition at line 853 of file collider.cpp.

bool Collider::inSensorCone ( const cv::Point2d &  uv  )  const [protected]

Definition at line 997 of file collider.cpp.

bool Collider::isOccludedMap ( const octomap::point3d &  sensor_origin,
const octomap::point3d &  p 
) const [protected]

Definition at line 1022 of file collider.cpp.

bool Collider::isOccludedRaw ( const cv::Point2d &  uv,
double  range,
const pcl::PointCloud< pcl::PointXYZ > &  pcl_cloud_raw 
) [protected]

Definition at line 1010 of file collider.cpp.

void Collider::makeStaticCollisionMap ( const arm_navigation_msgs::MakeStaticCollisionMapGoalConstPtr goal  )  [protected]

Definition at line 1133 of file collider.cpp.

void Collider::objectCallback ( const arm_navigation_msgs::CollisionObjectConstPtr object  )  [protected]

Definition at line 365 of file collider.cpp.

bool Collider::occupancyBBXSizeSrv ( collider::OccupancyBBXSizeQuery::Request req,
collider::OccupancyBBXSizeQuery::Response res 
) [protected]

Definition at line 1217 of file collider.cpp.

bool Collider::occupancyBBXSrv ( collider::OccupancyBBXQuery::Request req,
collider::OccupancyBBXQuery::Response res 
) [protected]

Definition at line 1193 of file collider.cpp.

bool Collider::occupancyPointSrv ( collider::OccupancyPointQuery::Request req,
collider::OccupancyPointQuery::Response res 
) [protected]

Definition at line 1177 of file collider.cpp.

bool Collider::octomapSrv ( octomap_ros::GetOctomap::Request req,
octomap_ros::GetOctomap::Response res 
) [protected]

Definition at line 1167 of file collider.cpp.

void Collider::publishCollisionMap ( const std::vector< geometry_msgs::Point > &  pointlist,
const std_msgs::Header &  header,
ros::Publisher pub 
) [protected]

Definition at line 1042 of file collider.cpp.

void Collider::publishMarkerArray ( const std::vector< geometry_msgs::Point > &  pointlist,
const std_msgs::Header &  header,
const std_msgs::ColorRGBA &  color,
ros::Publisher pub 
) [protected]

Definition at line 1090 of file collider.cpp.

void Collider::publishPointCloud ( const std::vector< geometry_msgs::Point > &  pointlist,
const std_msgs::Header &  header,
ros::Publisher pub 
) [protected]

Definition at line 1066 of file collider.cpp.

bool Collider::reset ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
) [protected]

Definition at line 1118 of file collider.cpp.


Member Data Documentation

Definition at line 252 of file collider.h.

Definition at line 183 of file collider.h.

std_msgs::ColorRGBA Collider::attached_color_ [protected]

Definition at line 192 of file collider.h.

Definition at line 205 of file collider.h.

Definition at line 206 of file collider.h.

cv::Size Collider::cam_size_ [protected]

Definition at line 217 of file collider.h.

Definition at line 198 of file collider.h.

Definition at line 214 of file collider.h.

Definition at line 215 of file collider.h.

std::map<std::string,CloudInfo> Collider::cloud_sources_ [protected]

Definition at line 201 of file collider.h.

Definition at line 182 of file collider.h.

Definition at line 188 of file collider.h.

Definition at line 184 of file collider.h.

Definition at line 200 of file collider.h.

std_msgs::ColorRGBA Collider::color_free_ [protected]

Definition at line 216 of file collider.h.

std_msgs::ColorRGBA Collider::color_occupied_ [protected]

Definition at line 216 of file collider.h.

Definition at line 194 of file collider.h.

std::string Collider::fixed_frame_ [protected]

Definition at line 210 of file collider.h.

Definition at line 194 of file collider.h.

Definition at line 188 of file collider.h.

double Collider::max_range_ [protected]

Definition at line 211 of file collider.h.

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Definition at line 188 of file collider.h.

int Collider::pruning_counter_ [protected]

Definition at line 212 of file collider.h.

int Collider::pruning_period_ [protected]

Definition at line 212 of file collider.h.

Definition at line 208 of file collider.h.

Definition at line 194 of file collider.h.

double Collider::resolution_ [protected]

Definition at line 211 of file collider.h.

Definition at line 203 of file collider.h.

Definition at line 202 of file collider.h.

Definition at line 186 of file collider.h.

double Collider::self_filter_min_dist_ [protected]

Definition at line 211 of file collider.h.

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The documentation for this class was generated from the following files:
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collider
Author(s): Adam Harmat, Gil E. Jones, Kai M. Wurm, Armin Hornung. Maintained by Gil E. Jones
autogenerated on Fri Mar 1 14:29:28 2013