Inheritance diagram for starmac_kinect_estimator::KinectEstimator:

Public Types
typedef sensor_msgs::PointCloud2	PointCloud2
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	KinectEstimator ()
Private Member Functions
int	appendToMask (vector< int32_t > &indices, int x, int y, int w, int h, int x_incr=1, int y_incr=1)
void	calcVelocity (const double &current_z, const double dt, double &new_vz)
void	cloudIndicesModelCallback (const sensor_msgs::PointCloud2ConstPtr &cloud_msg, const PointIndicesConstPtr &indices, const pcl::ModelCoefficientsConstPtr &model)
bool	detectObstacle (const sensor_msgs::PointCloud2ConstPtr &cloud_msg, const PointIndicesConstPtr &indices, const pcl::ModelCoefficientsConstPtr &model, pcl::PointXYZ &obstacle_location)
void	estOdomCallback (const nav_msgs::OdometryConstPtr &odom_msg)
void	onInit ()
void	publishDebug (const double est_z, const double output_z, const bool using_est)
void	publishObstacle (const bool obstacle_found, const pcl::PointXYZ &location)
void	publishObstacleMarker (const pcl::PointXYZ &obstacle_location)
void	publishOdom ()
double	reject_outliers (double x)
void	updateMask ()
Private Attributes
boost::mutex	callback_mutex
ros::Publisher	debug_pub
double	debug_throttle_rate
ros::Subscriber	est_odom_sub
ros::Publisher	findplane_indices_pub
bool	first
double	imu_to_kinect_offset
double	kinect_vz
double	kinect_z
nav_msgs::Odometry	latest_est_odom_msg
ros::Publisher	marker_pub
ros::Publisher	mask_indices_pub
double	max_est_kinect_delta_alt
int	max_queue_size
ros::NodeHandle	nh
ros::NodeHandle	nh_priv
double	obstacle_height_threshold
ros::Publisher	obstacle_pub
nav_msgs::Odometry	odom_msg_output
ros::Publisher	odom_pub
ros::Time	prev_cloud_time
message_filters::Subscriber < PointIndices >	sub_indices_filter
message_filters::Subscriber < PointCloud2 >	sub_input_filter
message_filters::Subscriber < ModelCoefficients >	sub_model_filter
boost::shared_ptr < Synchronizer< ExactTime < PointCloud2, PointIndices, ModelCoefficients > > >	sync_input_indices_e
bool	use_backup_estimator_alt
double	z_vel_filt_a
double	z_vel_filt_b

Detailed Description

Definition at line 65 of file kinect_estimation.cpp.

Member Typedef Documentation

typedef sensor_msgs::PointCloud2 starmac_kinect_estimator::KinectEstimator::PointCloud2

Definition at line 69 of file kinect_estimation.cpp.

typedef PointIndices::ConstPtr starmac_kinect_estimator::KinectEstimator::PointIndicesConstPtr

Definition at line 68 of file kinect_estimation.cpp.

Constructor & Destructor Documentation

starmac_kinect_estimator::KinectEstimator::KinectEstimator ( ) [inline]

Definition at line 109 of file kinect_estimation.cpp.

Member Function Documentation

int starmac_kinect_estimator::KinectEstimator::appendToMask	(	vector< int32_t > &	indices,
		int	x,
		int	y,
		int	w,
		int	h,
		int	x_incr = `1`,
		int	y_incr = `1`
	)		`[inline, private]`

Definition at line 371 of file kinect_estimation.cpp.

void starmac_kinect_estimator::KinectEstimator::calcVelocity	(	const double &	current_z,
		const double	dt,
		double &	new_vz
	)		`[inline, private]`

Definition at line 434 of file kinect_estimation.cpp.

void starmac_kinect_estimator::KinectEstimator::cloudIndicesModelCallback	(	const sensor_msgs::PointCloud2ConstPtr &	cloud_msg,
		const PointIndicesConstPtr &	indices,
		const pcl::ModelCoefficientsConstPtr &	model
	)		`[inline, private]`

Definition at line 167 of file kinect_estimation.cpp.

bool starmac_kinect_estimator::KinectEstimator::detectObstacle	(	const sensor_msgs::PointCloud2ConstPtr &	cloud_msg,
		const PointIndicesConstPtr &	indices,
		const pcl::ModelCoefficientsConstPtr &	model,
		pcl::PointXYZ &	obstacle_location
	)		`[inline, private]`