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, CloudInfo >	cloud_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::MakeStaticCollisionMapGoal *	static_map_goal_
std::map< std::string, bool >	static_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

typedef std::set<CollisionPoint, CollisionPointOrder> CollisionMapperOcc::CMap [private]

Definition at line 299 of file collision_map_self_occ.cpp.

Constructor & Destructor Documentation

CollisionMapperOcc::CollisionMapperOcc ( void ) [inline]

Definition at line 87 of file collision_map_self_occ.cpp.

CollisionMapperOcc::~CollisionMapperOcc ( void ) [inline]

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.

void CollisionMapperOcc::cloudIncrementalCallback ( const sensor_msgs::PointCloudConstPtr & cloud ) [inline, private]

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.

void CollisionMapperOcc::makeStaticCollisionMap ( const arm_navigation_msgs::MakeStaticCollisionMapGoalConstPtr & goal ) [inline, private]

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]`