Classes | Public Member Functions | Private Types | Private Member Functions | Private Attributes
CollisionMapperOcc Class Reference

List of all members.

Classes

struct  BoxInfo
struct  CollisionPoint
struct  CollisionPointOrder
struct  StampedCMap

Public Member Functions

 CollisionMapperOcc (void)
void run (void)
 ~CollisionMapperOcc (void)

Private Types

typedef std::set
< CollisionPoint,
CollisionPointOrder
CMap

Private Member Functions

void cloudCallback (const sensor_msgs::PointCloudConstPtr &cloud, const std::string topic_name)
void cloudIncrementalCallback (const sensor_msgs::PointCloudConstPtr &cloud)
void composeMapUnion (std::map< std::string, std::list< StampedCMap * > > &maps, CMap &uni)
void constructCollisionMap (const sensor_msgs::PointCloud &cloud, CMap &map)
void makeStaticCollisionMap (const arm_navigation_msgs::MakeStaticCollisionMapGoalConstPtr &goal)
void publishCollisionMap (const CMap &map, const std::string &frame_id, const ros::Time &stamp, ros::Publisher &pub) const
bool reset (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void subsampleCloudPoints (const sensor_msgs::PointCloud &msg, sensor_msgs::PointCloud &myMsg, int subsampleNum)
bool transformMap (CMap &map, const std::string &from_frame_id, const ros::Time &from_stamp, const std::string &to_frame_id, const ros::Time &to_stamp)
void updateBuffer (std::list< StampedCMap * > &buffer, const unsigned int buffer_size, const ros::Duration buffer_duration, const std::string sensor_frame)
void updateMap (CMap *currentMap, CMap &obstacles, std::string &frame_id, ros::Time &stamp, std::string to_frame_id, std::string cloud_name)

Private Attributes

boost::shared_ptr
< actionlib::SimpleActionServer
< arm_navigation_msgs::MakeStaticCollisionMapAction > > 
action_server_
BoxInfo bi_
int cloud_count_
std::map< std::string, CloudInfocloud_source_map_
ros::Publisher cmapPublisher_
ros::Publisher cmapUpdPublisher_
std::map< std::string,
std::list< StampedCMap * > > 
currentMaps_
bool disregard_first_message_
std::string fixedFrame_
ros::ServiceServer get_settings_server_
bool making_static_collision_map_
boost::recursive_mutex mapProcessing_
std::vector< tf::MessageFilter
< sensor_msgs::PointCloud > * > 
mn_cloud_tf_fil_vector_
std::vector
< message_filters::Subscriber
< sensor_msgs::PointCloud > * > 
mn_cloud_tf_sub_vector_
std::map< std::string,
ros::Publisher
occPublisherMap_
bool publish_over_dynamic_map_
bool publishOcclusion_
ros::ServiceServer resetService_
std::string robotFrame_
ros::NodeHandle root_handle_
ros::ServiceServer set_settings_server_
arm_navigation_msgs::MakeStaticCollisionMapGoalstatic_map_goal_
std::map< std::string, boolstatic_map_published_
ros::Publisher static_map_publisher_
std::map< std::string,
StampedCMap * > 
tempMaps_
tf::TransformListener tf_

Detailed Description

Definition at line 83 of file collision_map_self_occ.cpp.


Member Typedef Documentation

Definition at line 299 of file collision_map_self_occ.cpp.


Constructor & Destructor Documentation

Definition at line 87 of file collision_map_self_occ.cpp.

Definition at line 236 of file collision_map_self_occ.cpp.


Member Function Documentation

void CollisionMapperOcc::cloudCallback ( const sensor_msgs::PointCloudConstPtr cloud,
const std::string  topic_name 
) [inline, private]

Definition at line 424 of file collision_map_self_occ.cpp.

Definition at line 321 of file collision_map_self_occ.cpp.

void CollisionMapperOcc::composeMapUnion ( std::map< std::string, std::list< StampedCMap * > > &  maps,
CMap uni 
) [inline, private]

Definition at line 407 of file collision_map_self_occ.cpp.

void CollisionMapperOcc::constructCollisionMap ( const sensor_msgs::PointCloud cloud,
CMap map 
) [inline, private]

Construct an axis-aligned collision map from a point cloud assumed to be in the robot frame

Definition at line 735 of file collision_map_self_occ.cpp.

Definition at line 780 of file collision_map_self_occ.cpp.

void CollisionMapperOcc::publishCollisionMap ( const CMap map,
const std::string &  frame_id,
const ros::Time stamp,
ros::Publisher pub 
) const [inline, private]

Definition at line 753 of file collision_map_self_occ.cpp.

bool CollisionMapperOcc::reset ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
) [inline, private]

Definition at line 632 of file collision_map_self_occ.cpp.

void CollisionMapperOcc::run ( void  ) [inline]

Definition at line 264 of file collision_map_self_occ.cpp.

void CollisionMapperOcc::subsampleCloudPoints ( const sensor_msgs::PointCloud msg,
sensor_msgs::PointCloud myMsg,
int  subsampleNum 
) [inline, private]

Definition at line 357 of file collision_map_self_occ.cpp.

bool CollisionMapperOcc::transformMap ( CMap map,
const std::string &  from_frame_id,
const ros::Time from_stamp,
const std::string &  to_frame_id,
const ros::Time to_stamp 
) [inline, private]

Definition at line 661 of file collision_map_self_occ.cpp.

void CollisionMapperOcc::updateBuffer ( std::list< StampedCMap * > &  buffer,
const unsigned int  buffer_size,
const ros::Duration  buffer_duration,
const std::string  sensor_frame 
) [inline, private]

Definition at line 370 of file collision_map_self_occ.cpp.

void CollisionMapperOcc::updateMap ( CMap currentMap,
CMap obstacles,
std::string &  frame_id,
ros::Time stamp,
std::string  to_frame_id,
std::string  cloud_name 
) [inline, private]

Definition at line 554 of file collision_map_self_occ.cpp.


Member Data Documentation

Definition at line 870 of file collision_map_self_occ.cpp.

Definition at line 864 of file collision_map_self_occ.cpp.

Definition at line 858 of file collision_map_self_occ.cpp.

std::map<std::string,CloudInfo> CollisionMapperOcc::cloud_source_map_ [private]

Definition at line 868 of file collision_map_self_occ.cpp.

Definition at line 847 of file collision_map_self_occ.cpp.

Definition at line 848 of file collision_map_self_occ.cpp.

std::map<std::string, std::list<StampedCMap*> > CollisionMapperOcc::currentMaps_ [private]

Definition at line 861 of file collision_map_self_occ.cpp.

Definition at line 857 of file collision_map_self_occ.cpp.

std::string CollisionMapperOcc::fixedFrame_ [private]

Definition at line 865 of file collision_map_self_occ.cpp.

Definition at line 872 of file collision_map_self_occ.cpp.

Definition at line 855 of file collision_map_self_occ.cpp.

boost::recursive_mutex CollisionMapperOcc::mapProcessing_ [private]

Definition at line 838 of file collision_map_self_occ.cpp.

Definition at line 844 of file collision_map_self_occ.cpp.

Definition at line 843 of file collision_map_self_occ.cpp.

std::map<std::string, ros::Publisher> CollisionMapperOcc::occPublisherMap_ [private]

Definition at line 850 of file collision_map_self_occ.cpp.

Definition at line 856 of file collision_map_self_occ.cpp.

Definition at line 852 of file collision_map_self_occ.cpp.

Definition at line 851 of file collision_map_self_occ.cpp.

std::string CollisionMapperOcc::robotFrame_ [private]

Definition at line 866 of file collision_map_self_occ.cpp.

Definition at line 846 of file collision_map_self_occ.cpp.

Definition at line 873 of file collision_map_self_occ.cpp.

Definition at line 854 of file collision_map_self_occ.cpp.

std::map<std::string,bool> CollisionMapperOcc::static_map_published_ [private]

Definition at line 869 of file collision_map_self_occ.cpp.

Definition at line 849 of file collision_map_self_occ.cpp.

std::map<std::string, StampedCMap*> CollisionMapperOcc::tempMaps_ [private]

Definition at line 862 of file collision_map_self_occ.cpp.

Definition at line 840 of file collision_map_self_occ.cpp.


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


collision_map
Author(s): Radu Bogdan Rusu, Ioan Sucan
autogenerated on Thu Dec 12 2013 11:10:51