CollisionMapperBuffer Class Reference

List of all members.

Public Member Functions
void	cloudCb (const sensor_msgs::PointCloudConstPtr &msg, const CloudProcSettings &settings)
	Pointcloud callback function.
void	cloudCb0 (const sensor_msgs::PointCloudConstPtr &msg)
void	cloudCb1 (const sensor_msgs::PointCloudConstPtr &msg)
void	cloudCb2 (const sensor_msgs::PointCloudConstPtr &msg)
	CollisionMapperBuffer (ros::NodeHandle &anode)
void	computeCollisionMapFromLeaves (vector< Leaf > *leaves, CollisionMap &cmap)
	Compute a CollisionMap from a Leaf vector.
void	computeLeaves (sensor_msgs::PointCloud *points, vector< Leaf > &leaves, sensor_msgs::PointCloud &centers)
	Compute a Leaf vector from an unorganized PointCloud.
double	determineDecayingMapDuration () const
void	discardOutOfTimeWindowScans ()
bool	getEndEffectorPosition (string tgt_frame, ros::Time stamp, geometry_msgs::Point32 &center)
	Obtain the position of the end effector (center of the two fingers) in the required target frame.
bool	getStaticMap (RecordStaticMapTrigger::Request &req, RecordStaticMapTrigger::Response &resp)
	CollisionMapBuffer "record_static_map" service callback.
void	pruneLeaves (vector< Leaf > &leaves, sensor_msgs::PointCloud points, geometry_msgs::Point32 center, string source_frame, string target_frame, geometry_msgs::Point32 min_b, geometry_msgs::Point32 max_b)
	Prune the leaves inside a given bounding box.
void	sendMarker (geometry_msgs::Point32 pt, const std::string &frame_id, double radius=0.02)
void	subsampleCloudPoints (const sensor_msgs::PointCloudConstPtr &msg, sensor_msgs::PointCloud &myMsg, unsigned int subsampleNum)
bool	subtractObject (SubtractObjectFromCollisionMap::Request &req, SubtractObjectFromCollisionMap::Response &resp)
	CollisionMapBuffer "subtract_object" service callback.
void	updateParametersFromServer ()
virtual	~CollisionMapperBuffer ()
Public Attributes
bool	acquire_static_map_
ros::Time	acquire_static_map_time_
sensor_msgs::PointCloud	cloud_
unsigned int	cloud_counter_ [MAX_CLOUD_SOURCES]
string	cloud_frame_
boost::mutex	cloud_frame_lock_
CloudProcSettings	cloud_source_ [MAX_CLOUD_SOURCES]
ros::Subscriber	cloud_subscriber_ [MAX_CLOUD_SOURCES]
ros::Publisher	collision_map_publisher_
vector< Leaf >	cur_leaves_
list< std::pair< vector< Leaf > , ros::Time > >	decaying_maps_
string	end_effector_frame_l_
string	end_effector_frame_r_
CollisionMap	final_collision_map_
vector< Leaf >	final_leaves_
geometry_msgs::PoseStamped	gripper_orientation_link_
geometry_msgs::Point	leaf_width_
int	m_id_
boost::mutex	m_lock_
geometry_msgs::Point32	max_object_b_
int	min_nr_points_
geometry_msgs::Point32	min_object_b_
unsigned int	num_actual_sources_
boost::mutex	object_subtract_lock_
ros::ServiceServer	record_static_map_service_
geometry_msgs::Point	robot_max_
string	shared_frame_
vector< Leaf >	static_leaves_
boost::mutex	static_map_lock_
bool	subtract_object_
ros::ServiceServer	subtract_object_service_
tf::TransformListener	tf_
ros::Publisher	visualization_publisher_
double	window_time_
Protected Attributes
ros::NodeHandle &	node_

Detailed Description

Definition at line 103 of file collision_map_buffer.cpp.

Constructor & Destructor Documentation

CollisionMapperBuffer::CollisionMapperBuffer ( ros::NodeHandle & anode ) [inline]

Definition at line 155 of file collision_map_buffer.cpp.

virtual CollisionMapperBuffer::~CollisionMapperBuffer ( ) [inline, virtual]

Definition at line 256 of file collision_map_buffer.cpp.

Member Function Documentation

void CollisionMapperBuffer::cloudCb	(	const sensor_msgs::PointCloudConstPtr &	msg,
		const CloudProcSettings &	settings
	)			`[inline]`

Pointcloud callback function.

Definition at line 712 of file collision_map_buffer.cpp.

void CollisionMapperBuffer::cloudCb0 ( const sensor_msgs::PointCloudConstPtr & msg ) [inline]

Definition at line 683 of file collision_map_buffer.cpp.

void CollisionMapperBuffer::cloudCb1 ( const sensor_msgs::PointCloudConstPtr & msg ) [inline]

Definition at line 692 of file collision_map_buffer.cpp.

void CollisionMapperBuffer::cloudCb2 ( const sensor_msgs::PointCloudConstPtr & msg ) [inline]

Definition at line 701 of file collision_map_buffer.cpp.

void CollisionMapperBuffer::computeCollisionMapFromLeaves	(	vector< Leaf > *	leaves,
		CollisionMap &	cmap
	)			`[inline]`

Compute a CollisionMap from a Leaf vector.

Parameters:

	leaves	the Leaf vector
	cmap	the resultant collision map

Definition at line 301 of file collision_map_buffer.cpp.

void CollisionMapperBuffer::computeLeaves	(	sensor_msgs::PointCloud *	points,
		vector< Leaf > &	leaves,
		sensor_msgs::PointCloud &	centers
	)			`[inline]`

Compute a Leaf vector from an unorganized PointCloud.

Parameters:

	points	the PointCloud message
	leaves	the resultant Leaf vector
	centers	a resultant PointCloud message containing the centers of the leaves

Definition at line 331 of file collision_map_buffer.cpp.

double CollisionMapperBuffer::determineDecayingMapDuration ( ) const [inline]

Definition at line 609 of file collision_map_buffer.cpp.

void CollisionMapperBuffer::discardOutOfTimeWindowScans ( ) [inline]

Definition at line 628 of file collision_map_buffer.cpp.

bool CollisionMapperBuffer::getEndEffectorPosition	(	string	tgt_frame,
		ros::Time	stamp,
		geometry_msgs::Point32 &	center
	)			`[inline]`

Obtain the position of the end effector (center of the two fingers) in the required target frame.

Parameters:

	tgt_frame	the target TF frame
	stamp	the time stamp
	center	the resultant center position

Definition at line 475 of file collision_map_buffer.cpp.

bool CollisionMapperBuffer::getStaticMap	(	RecordStaticMapTrigger::Request &	req,
		RecordStaticMapTrigger::Response &	resp
	)			`[inline]`

CollisionMapBuffer "record_static_map" service callback.

Definition at line 827 of file collision_map_buffer.cpp.

void CollisionMapperBuffer::pruneLeaves	(	vector< Leaf > &	leaves,
		sensor_msgs::PointCloud *	points,
		geometry_msgs::Point32 *	center,
		string	source_frame,
		string	target_frame,
		geometry_msgs::Point32 *	min_b,
		geometry_msgs::Point32 *	max_b
	)			`[inline]`

Prune the leaves inside a given bounding box.

Parameters:

	leaves	the set of leaves to prune data from
	points	the point cloud representing the centers of the leaves
	center	a point in the center of the gripper
	source_frame	the TF frame in which the points are represented
	target_frame	the TF frame in which the bounds are represented
	min_b	the minimum bounds of the box
	max_b	the maximum bounds of the box

Definition at line 529 of file collision_map_buffer.cpp.

void CollisionMapperBuffer::sendMarker	(	geometry_msgs::Point32	pt,
		const std::string &	frame_id,
		double	radius = `0.02`
	)			`[inline]`

Definition at line 441 of file collision_map_buffer.cpp.

void CollisionMapperBuffer::subsampleCloudPoints	(	const sensor_msgs::PointCloudConstPtr &	msg,
		sensor_msgs::PointCloud &	myMsg,
		unsigned int	subsampleNum
	)			`[inline]`