CollisionMapper Class Reference

List of all members.

Public Member Functions
void	cloud_cb (const sensor_msgs::PointCloudConstPtr &msg)
	CollisionMapper (ros::NodeHandle &anode)
void	computeCollisionMap (sensor_msgs::PointCloud *points, vector< Leaf > &leaves, CollisionMap &cmap)
void	getRotatedBoxBounds (OrientedBoundingBox *box, Eigen::Matrix3d rotation, Eigen::Vector3d &minB, Eigen::Vector3d &maxB)
bool	isBoxInsideBounds (geometry_msgs::Point32 *center, geometry_msgs::Point32 *extents, Eigen::Vector3d minB, Eigen::Vector3d maxB)
void	subtract_cb (const OrientedBoundingBoxConstPtr &msg)
void	subtractCollisionMap (vector< Leaf > *prev_model, vector< Leaf > *cur_model, CollisionMap &map)
void	updateParametersFromServer ()
virtual	~CollisionMapper ()
Public Attributes
OrientedBoundingBox	box_sub_obj_
CollisionMap	c_map_
sensor_msgs::PointCloud	cloud_
ros::Subscriber	cloud_subscriber_
ros::Publisher	collision_map_publisher_
geometry_msgs::Point	leaf_width_
vector< Leaf >	leaves_
boost::mutex	m_lock_
int	min_nr_points_
bool	only_updates_
geometry_msgs::Point	robot_max_
bool	subtract_object_
ros::Subscriber	subtract_object_subscriber_
tf::TransformListener	tf_
Protected Attributes
ros::NodeHandle &	node_

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Detailed Description

Definition at line 95 of file collision_map.cpp.

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Constructor & Destructor Documentation

CollisionMapper::CollisionMapper

(

ros::NodeHandle &

anode

)

[inline]

Definition at line 123 of file collision_map.cpp.

virtual CollisionMapper::~CollisionMapper

(

)

[inline, virtual]

Definition at line 169 of file collision_map.cpp.

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Member Function Documentation

void CollisionMapper::cloud_cb

(

const sensor_msgs::PointCloudConstPtr &

msg

)

[inline]

Definition at line 355 of file collision_map.cpp.

void CollisionMapper::computeCollisionMap	(	sensor_msgs::PointCloud *	points,
		vector< Leaf > &	leaves,
		CollisionMap &	cmap
	)			[inline]

Definition at line 204 of file collision_map.cpp.

void CollisionMapper::getRotatedBoxBounds	(	OrientedBoundingBox *	box,
		Eigen::Matrix3d	rotation,
		Eigen::Vector3d &	minB,
		Eigen::Vector3d &	maxB
	)			[inline]

Definition at line 406 of file collision_map.cpp.

bool CollisionMapper::isBoxInsideBounds	(	geometry_msgs::Point32 *	center,
		geometry_msgs::Point32 *	extents,
		Eigen::Vector3d	minB,
		Eigen::Vector3d	maxB
	)			[inline]

Definition at line 423 of file collision_map.cpp.

void CollisionMapper::subtract_cb

(

const OrientedBoundingBoxConstPtr &

msg

)

[inline]

Definition at line 460 of file collision_map.cpp.

void CollisionMapper::subtractCollisionMap	(	vector< Leaf > *	prev_model,
		vector< Leaf > *	cur_model,
		CollisionMap &	map
	)			[inline]

Definition at line 324 of file collision_map.cpp.

void CollisionMapper::updateParametersFromServer

(

)

[inline]

Definition at line 173 of file collision_map.cpp.

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Member Data Documentation

OrientedBoundingBox CollisionMapper::box_sub_obj_

Definition at line 104 of file collision_map.cpp.

CollisionMap CollisionMapper::c_map_

Definition at line 103 of file collision_map.cpp.

sensor_msgs::PointCloud CollisionMapper::cloud_

Definition at line 102 of file collision_map.cpp.

ros::Subscriber CollisionMapper::cloud_subscriber_

Definition at line 119 of file collision_map.cpp.

ros::Publisher CollisionMapper::collision_map_publisher_

Definition at line 118 of file collision_map.cpp.

geometry_msgs::Point CollisionMapper::leaf_width_

Definition at line 111 of file collision_map.cpp.

vector<Leaf> CollisionMapper::leaves_

Definition at line 108 of file collision_map.cpp.

boost::mutex CollisionMapper::m_lock_

Definition at line 116 of file collision_map.cpp.

int CollisionMapper::min_nr_points_

Definition at line 114 of file collision_map.cpp.

ros::NodeHandle& CollisionMapper::node_ [protected]

Definition at line 98 of file collision_map.cpp.

bool CollisionMapper::only_updates_

Definition at line 112 of file collision_map.cpp.

geometry_msgs::Point CollisionMapper::robot_max_

Definition at line 111 of file collision_map.cpp.

bool CollisionMapper::subtract_object_

Definition at line 112 of file collision_map.cpp.

ros::Subscriber CollisionMapper::subtract_object_subscriber_

Definition at line 120 of file collision_map.cpp.

tf::TransformListener CollisionMapper::tf_

Definition at line 106 of file collision_map.cpp.

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

• collision_map.cpp