Takes in point clouds from sensors, transforms them to the desired frame, and stores them. More...

#include <observation_buffer.h>

Public Member Functions
void	bufferCloud (const sensor_msgs::PointCloud2 &cloud)
	Transforms a PointCloud to the global frame and buffers it Note: The burden is on the user to make sure the transform is available... ie they should use a MessageNotifier
void	bufferCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud)
	Transforms a PointCloud to the global frame and buffers it Note: The burden is on the user to make sure the transform is available... ie they should use a MessageNotifier
void	getObservations (std::vector< Observation > &observations)
	Pushes copies of all current observations onto the end of the vector passed in.
bool	isCurrent () const
	Check if the observation buffer is being update at its expected rate.
void	lock ()
	Lock the observation buffer.
	ObservationBuffer (std::string topic_name, double observation_keep_time, double expected_update_rate, double min_obstacle_height, double max_obstacle_height, double obstacle_range, double raytrace_range, tf::TransformListener &tf, std::string global_frame, std::string sensor_frame, double tf_tolerance)
	Constructs an observation buffer.
void	resetLastUpdated ()
	Reset last updated timestamp.
bool	setGlobalFrame (const std::string new_global_frame)
	Sets the global frame of an observation buffer. This will transform all the currently cached observations to the new global frame.
void	unlock ()
	Lock the observation buffer.
	~ObservationBuffer ()
	Destructor... cleans up.
Private Member Functions
void	purgeStaleObservations ()
	Removes any stale observations from the buffer list.
Private Attributes
const ros::Duration	expected_update_rate_
std::string	global_frame_
ros::Time	last_updated_
boost::recursive_mutex	lock_
	A lock for accessing data in callbacks safely.
double	max_obstacle_height_
double	min_obstacle_height_
const ros::Duration	observation_keep_time_
std::list< Observation >	observation_list_
double	obstacle_range_
double	raytrace_range_
std::string	sensor_frame_
tf::TransformListener &	tf_
double	tf_tolerance_
std::string	topic_name_

Detailed Description

Takes in point clouds from sensors, transforms them to the desired frame, and stores them.

Definition at line 61 of file observation_buffer.h.

Constructor & Destructor Documentation

costmap_2d::ObservationBuffer::ObservationBuffer	(	std::string	topic_name,
		double	observation_keep_time,
		double	expected_update_rate,
		double	min_obstacle_height,
		double	max_obstacle_height,
		double	obstacle_range,
		double	raytrace_range,
		tf::TransformListener &	tf,
		std::string	global_frame,
		std::string	sensor_frame,
		double	tf_tolerance
	)

Constructs an observation buffer.

Parameters:

topic_name	The topic of the observations, used as an identifier for error and warning messages
observation_keep_time	Defines the persistence of observations in seconds, 0 means only keep the latest
expected_update_rate	How often this buffer is expected to be updated, 0 means there is no limit
min_obstacle_height	The minimum height of a hitpoint to be considered legal
max_obstacle_height	The minimum height of a hitpoint to be considered legal
obstacle_range	The range to which the sensor should be trusted for inserting obstacles
raytrace_range	The range to which the sensor should be trusted for raytracing to clear out space
tf	A reference to a TransformListener
global_frame	The frame to transform PointClouds into
sensor_frame	The frame of the origin of the sensor, can be left blank to be read from the messages
tf_tolerance	The amount of time to wait for a transform to be available when setting a new global frame

Definition at line 51 of file observation_buffer.cpp.

costmap_2d::ObservationBuffer::~ObservationBuffer ( )

Destructor... cleans up.

Definition at line 62 of file observation_buffer.cpp.

Member Function Documentation

void costmap_2d::ObservationBuffer::bufferCloud ( const sensor_msgs::PointCloud2 & cloud )

Transforms a PointCloud to the global frame and buffers it Note: The burden is on the user to make sure the transform is available... ie they should use a MessageNotifier

Parameters:

cloud The cloud to be buffered

Definition at line 112 of file observation_buffer.cpp.

void costmap_2d::ObservationBuffer::bufferCloud ( const pcl::PointCloud< pcl::PointXYZ > & cloud )

Transforms a PointCloud to the global frame and buffers it Note: The burden is on the user to make sure the transform is available... ie they should use a MessageNotifier

Parameters:

cloud The cloud to be buffered

Definition at line 130 of file observation_buffer.cpp.

void costmap_2d::ObservationBuffer::getObservations ( std::vector< Observation > & observations )

Pushes copies of all current observations onto the end of the vector passed in.

Parameters:

observations The vector to be filled

Definition at line 199 of file observation_buffer.cpp.

bool costmap_2d::ObservationBuffer::isCurrent ( ) const

Check if the observation buffer is being update at its expected rate.