octomap_server::TrackingOctomapServer Class Reference

#include <TrackingOctomapServer.h>

Inheritance diagram for octomap_server::TrackingOctomapServer:

[legend]

List of all members.

Public Member Functions
void	insertScan (const tf::Point &sensorOrigin, const PCLPointCloud &ground, const PCLPointCloud &nonground)
	update occupancy map with a scan labeled as ground and nonground. The scans should be in the global map frame.
void	trackCallback (sensor_msgs::PointCloud2Ptr cloud)
	TrackingOctomapServer (const std::string &filename="")
virtual	~TrackingOctomapServer ()
Protected Member Functions
void	trackChanges ()
Protected Attributes
bool	listen_changes
ros::Publisher	pubChangeSet
ros::Publisher	pubFreeChangeSet
ros::Subscriber	subChangeSet
ros::Subscriber	subFreeChanges
bool	track_changes

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Detailed Description

Definition at line 36 of file TrackingOctomapServer.h.

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Constructor & Destructor Documentation

octomap_server::TrackingOctomapServer::TrackingOctomapServer

(

const std::string &

filename = ""

)

Definition at line 37 of file TrackingOctomapServer.cpp.

octomap_server::TrackingOctomapServer::~TrackingOctomapServer

(

)

[virtual]

Definition at line 83 of file TrackingOctomapServer.cpp.

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Member Function Documentation

void octomap_server::TrackingOctomapServer::insertScan	(	const tf::Point &	sensorOrigin,
		const PCLPointCloud &	ground,
		const PCLPointCloud &	nonground
	)			[virtual]

update occupancy map with a scan labeled as ground and nonground. The scans should be in the global map frame.

Parameters:

	sensorOrigin	origin of the measurements for raycasting
	ground	scan endpoints on the ground plane (only clear space)
	nonground	all other endpoints (clear up to occupied endpoint)

Reimplemented from octomap_server::OctomapServer.

Definition at line 86 of file TrackingOctomapServer.cpp.

void octomap_server::TrackingOctomapServer::trackCallback

(

sensor_msgs::PointCloud2Ptr

cloud

)

Definition at line 133 of file TrackingOctomapServer.cpp.

void octomap_server::TrackingOctomapServer::trackChanges

(

)

[protected]

Definition at line 94 of file TrackingOctomapServer.cpp.

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Member Data Documentation

bool octomap_server::TrackingOctomapServer::listen_changes [protected]

Definition at line 45 of file TrackingOctomapServer.h.

ros::Publisher octomap_server::TrackingOctomapServer::pubChangeSet [protected]

Definition at line 48 of file TrackingOctomapServer.h.

ros::Publisher octomap_server::TrackingOctomapServer::pubFreeChangeSet [protected]

Definition at line 47 of file TrackingOctomapServer.h.

ros::Subscriber octomap_server::TrackingOctomapServer::subChangeSet [protected]

Definition at line 49 of file TrackingOctomapServer.h.

ros::Subscriber octomap_server::TrackingOctomapServer::subFreeChanges [protected]

Definition at line 50 of file TrackingOctomapServer.h.

bool octomap_server::TrackingOctomapServer::track_changes [protected]

Definition at line 46 of file TrackingOctomapServer.h.

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

• TrackingOctomapServer.h
• TrackingOctomapServer.cpp