Class OctomapServerMultilayer

• Defined in File octomap_server_multilayer.hpp

Nested Relationships

Nested Types

• Struct OctomapServerMultilayer::ProjectedMap

Inheritance Relationships

Base Type

• public octomap_server::OctomapServer (Class OctomapServer)

Class Documentation

class OctomapServerMultilayer : public octomap_server::OctomapServer

Public Functions

explicit OctomapServerMultilayer(const rclcpp::NodeOptions &node_options)

Protected Types

using MultilevelGrid = std::vector<ProjectedMap>

Protected Functions

virtual void handlePreNodeTraversal(const rclcpp::Time &rostime)

hook that is called after traversing all nodes

virtual void update2DMap(const OcTreeT::iterator &it, bool occupied)

updates the downprojected 2D map as either occupied or free

virtual void handlePostNodeTraversal(const rclcpp::Time &rostime)

hook that is called after traversing all nodes

Protected Attributes

std::vector<rclcpp::Publisher<OccupancyGrid>::SharedPtr> multi_map_pub_

std::vector<std::string> arm_links_

std::vector<double> arm_link_offsets_

MultilevelGrid multi_gridmap_

struct ProjectedMap

Public Members

double min_z

double max_z

double z

std::string name

OccupancyGrid map