point_cloud_snapshotter.h File Reference

#include <laser_slam/RecentScanTime.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 "ros/service_traits.h"
#include <laser_slam/LocalizedScan.h>
#include <pose_graph/constraint_graph.h>
#include "graph_mapping_msgs/Node.h"
#include "graph_mapping_msgs/Edge.h"
#include <ros/ros.h>
#include <boost/thread.hpp>
#include <boost/optional.hpp>
#include <pose_graph/graph_db.h>
#include <graph_mapping_msgs/ConstraintGraphDiff.h>
#include "geometry_msgs/Pose.h"
#include <graph_mapping_msgs/LocalizationDistribution.h>
#include <tf/transform_listener.h>
#include <boost/circular_buffer.hpp>

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Classes
class	laser_slam::PointCloudSnapshotter
	Collects laser scans and transforms them into a point cloud w.r.t the base frame at a fixed point in time. Also publishes a 2d occupancy grid based on the scans. More...
Namespaces
namespace	laser_slam
Variables
const double	laser_slam::SCAN_BUFFER_SIZE = 100

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Detailed Description

Defines the PointCloudSnapshotter class, which saves laser scans and associated information (see the LocalizedScan message) at each node of the graph

Author:

Bhaskara Marthi

Definition in file point_cloud_snapshotter.h.