Classes | |
| class | OctomapROS |
| ROS wrapper class for OctoMap Octrees, providing the most important functionality with ROS / PCL types. The class is templated over the Octree type. Any OcTree derived from octomap::OccupancyOcTreeBase should work. For most cases, OcTreeROS should work best for occupancy maps. More... | |
Typedefs | |
| typedef OctomapROS< OcTree > | OcTreeROS |
| The default octomap::OcTree wrapped in ROS. OcTree provides a 3D occupancy map which stores log-odds in OcTreeNodes of floats. | |
Functions | |
| template<class OctomapT > | |
| static void | octomapMapToMsg (const OctomapT &octomap, octomap_ros::OctomapBinary &mapMsg) |
| Converts an octomap map structure to a ROS octomap msg as binary data. This will fill the timestamp of the header with the current time, but will not fill in the frame_id. | |
| template<class OctomapT > | |
| static void | octomapMapToMsgData (const OctomapT &octomap, std::vector< int8_t > &mapData) |
| Converts an octomap map structure to a ROS binary data, which can be put into a dedicated octomap msg. | |
| template<class OctomapT > | |
| static void | octomapMsgDataToMap (const std::vector< int8_t > &mapData, OctomapT &octomap) |
| Converts ROS binary data to an octomap map structure, e.g. coming from an octomap msg. | |
| template<class OctomapT > | |
| static void | octomapMsgToMap (const octomap_ros::OctomapBinary &mapMsg, OctomapT &octomap) |
| Converts a ROS octomap msg (binary data) to an octomap map structure. | |
| static template void | pointcloudPCLToOctomap (const pcl::PointCloud< pcl::PointXYZ > &pclCloud, Pointcloud &octomapCloud) |
| template<class PointT > | |
| static void | pointcloudPCLToOctomap (const pcl::PointCloud< PointT > &pclCloud, Pointcloud &octomapCloud) |
| Conversion from a PCL pointcloud to octomap::Pointcloud, used internally in OctoMap. | |
| static octomap::point3d | pointMsgToOctomap (const geometry_msgs::Point &ptMsg) |
| Conversion from geometry_msgs::Point to octomap::point3d. | |
| static geometry_msgs::Point | pointOctomapToMsg (const point3d &octomapPt) |
| Conversion from octomap::point3d to geometry_msgs::Point. | |
| template<class PointT > | |
| static PointT | pointOctomapToPCL (const point3d &octomapPt) |
| static tf::Point | pointOctomapToTf (const point3d &octomapPt) |
| Conversion from octomap::point3d to tf::Point. | |
| template<class PointT > | |
| static octomap::point3d | pointPCLToOctomap (const PointT &p) |
| Conversion from pcl::PointT to octomap::point3d. | |
| static template void | pointsOctomapToPCL (const point3d_list &points, pcl::PointCloud< pcl::PointXYZ > &cloud) |
| template<class PointT > | |
| static void | pointsOctomapToPCL (const point3d_list &points, pcl::PointCloud< PointT > &cloud) |
| Conversion from octomap::point3d_list (e.g. all occupied nodes from getOccupied()) to pcl PointCloud. | |
| static octomap::point3d | pointTfToOctomap (const tf::Point &ptTf) |
| Conversion from tf::Point to octomap::point3d. | |
| static tf::Pose | poseOctomapToTf (const octomap::pose6d &octomapPose) |
| Conversion from octomap::pose6f to tf::Pose. | |
| static octomap::pose6d | poseTfToOctomap (const tf::Pose &poseTf) |
| Conversion from tf::Pose to octomap::pose6d. | |
| static tf::Quaternion | quaternionOctomapToTf (const octomath::Quaternion &octomapQ) |
| Conversion from octomap Quaternion to tf::Quaternion. | |
| static octomath::Quaternion | quaternionTfToOctomap (const tf::Quaternion &qTf) |
| Conversion from tf::Quaternion to octomap Quaternion. | |
OctoMap ROS integration
| typedef OctomapROS<OcTree> octomap::OcTreeROS |
The default octomap::OcTree wrapped in ROS. OcTree provides a 3D occupancy map which stores log-odds in OcTreeNodes of floats.
Definition at line 174 of file OctomapROS.h.
| static void octomap::octomapMapToMsg | ( | const OctomapT & | octomap, | |
| octomap_ros::OctomapBinary & | mapMsg | |||
| ) | [inline, static] |
Converts an octomap map structure to a ROS octomap msg as binary data. This will fill the timestamp of the header with the current time, but will not fill in the frame_id.
| octomap | input OcTree | |
| mapMsg | output msg |
Definition at line 59 of file conversions.h.
| static void octomap::octomapMapToMsgData | ( | const OctomapT & | octomap, | |
| std::vector< int8_t > & | mapData | |||
| ) | [inline, static] |
Converts an octomap map structure to a ROS binary data, which can be put into a dedicated octomap msg.
| octomap | input OcTree | |
| mapData | binary output data as int8[] |
Definition at line 73 of file conversions.h.
| static void octomap::octomapMsgDataToMap | ( | const std::vector< int8_t > & | mapData, | |
| OctomapT & | octomap | |||
| ) | [inline, static] |
Converts ROS binary data to an octomap map structure, e.g. coming from an octomap msg.
| mapData | input binary data | |
| octomap | output OcTree |
Definition at line 104 of file conversions.h.
| static void octomap::octomapMsgToMap | ( | const octomap_ros::OctomapBinary & | mapMsg, | |
| OctomapT & | octomap | |||
| ) | [inline, static] |
Converts a ROS octomap msg (binary data) to an octomap map structure.
| mapMsg | ||
| octomap |
Definition at line 92 of file conversions.h.
| static template void octomap::pointcloudPCLToOctomap | ( | const pcl::PointCloud< pcl::PointXYZ > & | pclCloud, | |
| Pointcloud & | octomapCloud | |||
| ) | [inline, static] |
| static void octomap::pointcloudPCLToOctomap | ( | const pcl::PointCloud< PointT > & | pclCloud, | |
| Pointcloud & | octomapCloud | |||
| ) | [inline, static] |
Conversion from a PCL pointcloud to octomap::Pointcloud, used internally in OctoMap.
| pclCloud | ||
| octomapCloud |
Definition at line 135 of file conversions.h.
| static octomap::point3d octomap::pointMsgToOctomap | ( | const geometry_msgs::Point & | ptMsg | ) | [inline, static] |
Conversion from geometry_msgs::Point to octomap::point3d.
Definition at line 158 of file conversions.h.
| static geometry_msgs::Point octomap::pointOctomapToMsg | ( | const point3d & | octomapPt | ) | [inline, static] |
Conversion from octomap::point3d to geometry_msgs::Point.
Definition at line 148 of file conversions.h.
| static PointT octomap::pointOctomapToPCL | ( | const point3d & | octomapPt | ) | [inline, static] |
Conversion from octomap::point3d to pcl::PointT, templated over pcl::PointT You might have to call this like "pointOctomapToPCL<pcl::PointXYZ>(point3d)"
Definition at line 181 of file conversions.h.
| static tf::Point octomap::pointOctomapToTf | ( | const point3d & | octomapPt | ) | [inline, static] |
Conversion from octomap::point3d to tf::Point.
Definition at line 163 of file conversions.h.
| static octomap::point3d octomap::pointPCLToOctomap | ( | const PointT & | p | ) | [inline, static] |
Conversion from pcl::PointT to octomap::point3d.
Definition at line 174 of file conversions.h.
| static template void octomap::pointsOctomapToPCL | ( | const point3d_list & | points, | |
| pcl::PointCloud< pcl::PointXYZ > & | cloud | |||
| ) | [inline, static] |
| static void octomap::pointsOctomapToPCL | ( | const point3d_list & | points, | |
| pcl::PointCloud< PointT > & | cloud | |||
| ) | [inline, static] |
Conversion from octomap::point3d_list (e.g. all occupied nodes from getOccupied()) to pcl PointCloud.
| points | ||
| scan |
Definition at line 119 of file conversions.h.
| static octomap::point3d octomap::pointTfToOctomap | ( | const tf::Point & | ptTf | ) | [inline, static] |
Conversion from tf::Point to octomap::point3d.
Definition at line 168 of file conversions.h.
| static tf::Pose octomap::poseOctomapToTf | ( | const octomap::pose6d & | octomapPose | ) | [inline, static] |
Conversion from octomap::pose6f to tf::Pose.
Definition at line 196 of file conversions.h.
| static octomap::pose6d octomap::poseTfToOctomap | ( | const tf::Pose & | poseTf | ) | [inline, static] |
Conversion from tf::Pose to octomap::pose6d.
Definition at line 201 of file conversions.h.
| static tf::Quaternion octomap::quaternionOctomapToTf | ( | const octomath::Quaternion & | octomapQ | ) | [inline, static] |
Conversion from octomap Quaternion to tf::Quaternion.
Definition at line 186 of file conversions.h.
| static octomath::Quaternion octomap::quaternionTfToOctomap | ( | const tf::Quaternion & | qTf | ) | [inline, static] |
Conversion from tf::Quaternion to octomap Quaternion.
Definition at line 191 of file conversions.h.
