global_map.h File Reference

#include <pose_graph/constraint_graph.h>
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"
#include "geometry_msgs/Pose.h"
#include <tf/transform_datatypes.h>
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/graph_traits.hpp>
#include <pose_graph/constraint_graph.h>
#include <boost/format.hpp>
#include <stdexcept>
#include "parser.h"
#include "node.h"
#include "stlnode.h"
#include "iterator.h"
#include "emitter.h"
#include "stlemitter.h"
#include "exceptions.h"
#include "ros/service_traits.h"
#include <boost/iterator/iterator_facade.hpp>
#include <boost/utility.hpp>
#include <boost/thread.hpp>
#include <ros/ros.h>
#include "../../src/result_iterator_impl.h"
#include <ros/callback_queue.h>
#include <boost/shared_ptr.hpp>
#include <boost/scoped_ptr.hpp>
#include "../../src/collection_impl.h"
#include <warehouse/message_with_metadata.h>
#include <warehouse/result_iterator.h>
#include <warehouse/UpdateNotification.h>
#include <boost/optional.hpp>
#include "../../src/warehouse_client_impl.h"
#include <yaml-cpp/yaml.h>
#include "../../src/graph_db_impl.h"
#include "std_msgs/Header.h"
#include "sensor_msgs/PointCloud.h"
#include "geometry_msgs/Point.h"
#include <sensor_msgs/PointCloud2.h>

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Namespaces
namespace	laser_slam
Typedefs
typedef pose_graph::CachedNodeMap < sensor_msgs::PointCloud2 >	laser_slam::CloudMap
typedef pose_graph::CachedNodeMap < laser_slam::LocalizedScan >	laser_slam::ScanMap
Functions
sensor_msgs::PointCloud2::ConstPtr	laser_slam::generateGlobalCloud (const pose_graph::ConstraintGraph &graph, const CloudMap &db, const std::string &global_frame)
	Generate a global cloud from a graph and saved node clouds.
nav_msgs::OccupancyGrid::ConstPtr	laser_slam::generateGlobalMap (const pose_graph::ConstraintGraph &graph, const ScanMap &db, const double resolution, const std::string &global_frame, bool cleanup_grid, const pose_graph::NodePoseMap &poses, const double robot_radius)
	Generate a global grid corresponding to graph.
Variables
const double	laser_slam::PADDING = 10.0
	We'll create the grid with this much padding around the provided poses.

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Detailed Description

Generate a global occupancy grid given optimized poses and pose graph with laser data

Author:

Bhaskara Marthi

Definition in file global_map.h.