#include <CoreWrapper.h>

Public Member Functions
	CoreWrapper (bool deleteDbOnStart)
virtual	~CoreWrapper ()
Private Types
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan >	MyDepthScanSyncPolicy
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan >	MyDepthScanTFSyncPolicy
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo >	MyDepthSyncPolicy
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo >	MyDepthTFSyncPolicy
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, nav_msgs::Odometry >	MyStereoApproxSyncPolicy
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	MyStereoApproxTFSyncPolicy
typedef message_filters::sync_policies::ExactTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, nav_msgs::Odometry >	MyStereoExactSyncPolicy
typedef message_filters::sync_policies::ExactTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	MyStereoExactTFSyncPolicy
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, nav_msgs::Odometry >	MyStereoScanSyncPolicy
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, sensor_msgs::LaserScan >	MyStereoScanTFSyncPolicy
Private Member Functions
bool	backupDatabaseCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	commonDepthCallback (const std::string &odomFrameId, const sensor_msgs::ImageConstPtr &imageMsg, const sensor_msgs::ImageConstPtr &imageDepthMsg, const sensor_msgs::CameraInfoConstPtr &camInfoMsg, const sensor_msgs::LaserScanConstPtr &scanMsg)
bool	commonOdomTFUpdate (const ros::Time &stamp)
bool	commonOdomUpdate (const nav_msgs::OdometryConstPtr &odomMsg)
void	commonStereoCallback (const std::string &odomFrameId, const sensor_msgs::ImageConstPtr &leftImageMsg, const sensor_msgs::ImageConstPtr &rightImageMsg, const sensor_msgs::CameraInfoConstPtr &leftCamInfoMsg, const sensor_msgs::CameraInfoConstPtr &rightCamInfoMsg, const sensor_msgs::LaserScanConstPtr &scanMsg)
void	defaultCallback (const sensor_msgs::ImageConstPtr &imageMsg)
void	depthCallback (const sensor_msgs::ImageConstPtr &imageMsg, const nav_msgs::OdometryConstPtr &odomMsg, const sensor_msgs::ImageConstPtr &imageDepthMsg, const sensor_msgs::CameraInfoConstPtr &camInfoMsg)
void	depthScanCallback (const sensor_msgs::ImageConstPtr &imageMsg, const nav_msgs::OdometryConstPtr &odomMsg, const sensor_msgs::ImageConstPtr &imageDepthMsg, const sensor_msgs::CameraInfoConstPtr &camInfoMsg, const sensor_msgs::LaserScanConstPtr &scanMsg)
void	depthScanTFCallback (const sensor_msgs::ImageConstPtr &imageMsg, const sensor_msgs::ImageConstPtr &imageDepthMsg, const sensor_msgs::CameraInfoConstPtr &camInfoMsg, const sensor_msgs::LaserScanConstPtr &scanMsg)
void	depthTFCallback (const sensor_msgs::ImageConstPtr &imageMsg, const sensor_msgs::ImageConstPtr &imageDepthMsg, const sensor_msgs::CameraInfoConstPtr &camInfoMsg)
bool	getGridMapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
bool	getMapCallback (rtabmap_ros::GetMap::Request &req, rtabmap_ros::GetMap::Response &res)
bool	getProjMapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
rtabmap::Transform	getTransform (const std::string &fromFrameId, const std::string &toFrameId, const ros::Time &stamp) const
void	goalActiveCb ()
void	goalCallback (const geometry_msgs::PoseStampedConstPtr &msg)
void	goalCommonCallback (const std::vector< std::pair< int, rtabmap::Transform > > &poses)
void	goalDoneCb (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
void	goalFeedbackCb (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
void	goalGlobalCallback (const geometry_msgs::PoseStampedConstPtr &msg)
bool	listLabelsCallback (rtabmap_ros::ListLabels::Request &req, rtabmap_ros::ListLabels::Response &res)
rtabmap::ParametersMap	loadParameters (const std::string &configFile)
bool	pauseRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	process (int id, const ros::Time &stamp, const cv::Mat &image, const rtabmap::Transform &odom=rtabmap::Transform(), const std::string &odomFrameId="", float odomRotationalVariance=1.0f, float odomTransitionalVariance=1.0f, const cv::Mat &depthOrRightImage=cv::Mat(), float fx=0.0f, float fyOrBaseline=0.0f, float cx=0.0f, float cy=0.0f, const rtabmap::Transform &localTransform=rtabmap::Transform(), const cv::Mat &scan=cv::Mat(), int scanMaxPts=0)
void	publishCurrentGoal (const ros::Time &stamp)
void	publishLocalPath (const ros::Time &stamp)
void	publishLoop (double tfDelay)
bool	publishMapCallback (rtabmap_ros::PublishMap::Request &, rtabmap_ros::PublishMap::Response &)
void	publishMaps (const std::map< int, rtabmap::Transform > &poses, const ros::Time &stamp)
void	publishStats (const ros::Time &stamp)
bool	resetRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	resumeRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	saveParameters (const std::string &configFile)
bool	setGoalCallback (rtabmap_ros::SetGoal::Request &req, rtabmap_ros::SetGoal::Response &res)
bool	setLabelCallback (rtabmap_ros::SetLabel::Request &req, rtabmap_ros::SetLabel::Response &res)
bool	setModeLocalizationCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setModeMappingCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	setupCallbacks (bool subscribeDepth, bool subscribeLaserScan, bool subscribeStereo, int queueSize, bool stereoApproxSync)
void	stereoCallback (const sensor_msgs::ImageConstPtr &leftImageMsg, const sensor_msgs::ImageConstPtr &rightImageMsg, const sensor_msgs::CameraInfoConstPtr &leftCamInfoMsg, const sensor_msgs::CameraInfoConstPtr &rightCamInfoMsg, const nav_msgs::OdometryConstPtr &odomMsg)
void	stereoScanCallback (const sensor_msgs::ImageConstPtr &leftImageMsg, const sensor_msgs::ImageConstPtr &rightImageMsg, const sensor_msgs::CameraInfoConstPtr &leftCamInfoMsg, const sensor_msgs::CameraInfoConstPtr &rightCamInfoMsg, const sensor_msgs::LaserScanConstPtr &scanMsg, const nav_msgs::OdometryConstPtr &odomMsg)
void	stereoScanTFCallback (const sensor_msgs::ImageConstPtr &leftImageMsg, const sensor_msgs::ImageConstPtr &rightImageMsg, const sensor_msgs::CameraInfoConstPtr &leftCamInfoMsg, const sensor_msgs::CameraInfoConstPtr &rightCamInfoMsg, const sensor_msgs::LaserScanConstPtr &scanMsg)
void	stereoTFCallback (const sensor_msgs::ImageConstPtr &leftImageMsg, const sensor_msgs::ImageConstPtr &rightImageMsg, const sensor_msgs::CameraInfoConstPtr &leftCamInfoMsg, const sensor_msgs::CameraInfoConstPtr &rightCamInfoMsg)
bool	triggerNewMapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	updateGoal (const ros::Time &stamp)
std::map< int, rtabmap::Transform >	updateMapCaches (const std::map< int, rtabmap::Transform > &poses, bool updateCloud, bool updateProj, bool updateGrid, const std::map< int, rtabmap::Signature > &signatures=std::map< int, rtabmap::Signature >())
bool	updateRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
Private Attributes
ros::ServiceServer	backupDatabase_
message_filters::Subscriber < sensor_msgs::CameraInfo >	cameraInfoLeft_
message_filters::Subscriber < sensor_msgs::CameraInfo >	cameraInfoRight_
message_filters::Subscriber < sensor_msgs::CameraInfo >	cameraInfoSub_
int	cloudDecimation_
ros::Publisher	cloudMapPub_
double	cloudMaxDepth_
bool	cloudOutputVoxelized_
std::map< int, pcl::PointCloud < pcl::PointXYZRGB >::Ptr >	clouds_
double	cloudVoxelSize_
std::string	configPath_
rtabmap::Transform	currentMetricGoal_
std::string	databasePath_
image_transport::Subscriber	defaultSub_
message_filters::Synchronizer < MyDepthScanSyncPolicy > *	depthScanSync_
message_filters::Synchronizer < MyDepthScanTFSyncPolicy > *	depthScanTFSync_
message_filters::Synchronizer < MyDepthSyncPolicy > *	depthSync_
message_filters::Synchronizer < MyDepthTFSyncPolicy > *	depthTFSync_
std::string	frameId_
ros::ServiceServer	getGridMapSrv_
ros::ServiceServer	getMapDataSrv_
ros::ServiceServer	getProjMapSrv_
ros::Publisher	globalPathPub_
ros::Subscriber	goalGlobalSub_
ros::Publisher	goalReachedPub_
ros::Subscriber	goalSub_
double	gridCellSize_
bool	gridEroded_
ros::Publisher	gridMapPub_
std::map< int, std::pair < cv::Mat, cv::Mat > >	gridMaps_
double	gridSize_
image_transport::SubscriberFilter	imageDepthSub_
image_transport::SubscriberFilter	imageRectLeft_
image_transport::SubscriberFilter	imageRectRight_
image_transport::SubscriberFilter	imageSub_
ros::Publisher	infoPub_
ros::Publisher	labelsPub_
rtabmap::Transform	lastPose_
ros::Time	lastPoseStamp_
bool	latestNodeWasReached_
ros::ServiceServer	listLabelsSrv_
ros::Publisher	localPathPub_
bool	mapCacheCleanup_
ros::Publisher	mapDataPub_
double	mapFilterAngle_
double	mapFilterRadius_
std::string	mapFrameId_
ros::Publisher	mapGraphPub_
tf::Transform	mapToOdom_
boost::mutex	mapToOdomMutex_
MoveBaseClient	mbClient_
ros::Publisher	nextMetricGoalPub_
std::string	odomFrameId_
message_filters::Subscriber < nav_msgs::Odometry >	odomSub_
rtabmap::ParametersMap	parameters_
bool	paused_
ros::ServiceServer	pauseSrv_
ros::Publisher	projMapPub_
std::map< int, std::pair < cv::Mat, cv::Mat > >	projMaps_
double	projMaxGroundAngle_
double	projMaxHeight_
int	projMinClusterSize_
ros::ServiceServer	publishMapDataSrv_
float	rate_
ros::ServiceServer	resetSrv_
ros::ServiceServer	resumeSrv_
float	rotVariance_
rtabmap::Rtabmap	rtabmap_
message_filters::Subscriber < sensor_msgs::LaserScan >	scanSub_
ros::ServiceServer	setGoalSrv_
ros::ServiceServer	setLabelSrv_
ros::ServiceServer	setModeLocalizationSrv_
ros::ServiceServer	setModeMappingSrv_
message_filters::Synchronizer < MyStereoApproxSyncPolicy > *	stereoApproxSync_
message_filters::Synchronizer < MyStereoApproxTFSyncPolicy > *	stereoApproxTFSync_
message_filters::Synchronizer < MyStereoExactSyncPolicy > *	stereoExactSync_
message_filters::Synchronizer < MyStereoExactTFSyncPolicy > *	stereoExactTFSync_
message_filters::Synchronizer < MyStereoScanSyncPolicy > *	stereoScanSync_
message_filters::Synchronizer < MyStereoScanTFSyncPolicy > *	stereoScanTFSync_
tf::TransformBroadcaster	tfBroadcaster_
tf::TransformListener	tfListener_
ros::Time	time_
boost::thread *	transformThread_
float	transVariance_
ros::ServiceServer	triggerNewMapSrv_
ros::ServiceServer	updateSrv_
bool	useActionForGoal_
bool	waitForTransform_

Detailed Description

Definition at line 88 of file CoreWrapper.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan> CoreWrapper::MyDepthScanSyncPolicy [private]

Definition at line 308 of file CoreWrapper.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan> CoreWrapper::MyDepthScanTFSyncPolicy [private]

Definition at line 348 of file CoreWrapper.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo> CoreWrapper::MyDepthSyncPolicy [private]

Definition at line 315 of file CoreWrapper.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> CoreWrapper::MyDepthTFSyncPolicy [private]

Definition at line 354 of file CoreWrapper.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, nav_msgs::Odometry> CoreWrapper::MyStereoApproxSyncPolicy [private]

Definition at line 332 of file CoreWrapper.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> CoreWrapper::MyStereoApproxTFSyncPolicy [private]

Definition at line 369 of file CoreWrapper.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, nav_msgs::Odometry> CoreWrapper::MyStereoExactSyncPolicy [private]

Definition at line 340 of file CoreWrapper.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> CoreWrapper::MyStereoExactTFSyncPolicy [private]

Definition at line 376 of file CoreWrapper.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, nav_msgs::Odometry> CoreWrapper::MyStereoScanSyncPolicy [private]

Definition at line 324 of file CoreWrapper.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, sensor_msgs::LaserScan> CoreWrapper::MyStereoScanTFSyncPolicy [private]

Definition at line 362 of file CoreWrapper.h.

Constructor & Destructor Documentation

CoreWrapper::CoreWrapper ( bool deleteDbOnStart )

Definition at line 84 of file CoreWrapper.cpp.

CoreWrapper::~CoreWrapper ( ) [virtual]

Definition at line 406 of file CoreWrapper.cpp.

Member Function Documentation

bool CoreWrapper::backupDatabaseCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)		`[private]`

Definition at line 1431 of file CoreWrapper.cpp.

void CoreWrapper::commonDepthCallback	(	const std::string &	odomFrameId,
		const sensor_msgs::ImageConstPtr &	imageMsg,
		const sensor_msgs::ImageConstPtr &	imageDepthMsg,
		const sensor_msgs::CameraInfoConstPtr &	camInfoMsg,
		const sensor_msgs::LaserScanConstPtr &	scanMsg
	)		`[private]`

Definition at line 692 of file CoreWrapper.cpp.

bool CoreWrapper::commonOdomTFUpdate ( const ros::Time & stamp ) [private]

Definition at line 615 of file CoreWrapper.cpp.

bool CoreWrapper::commonOdomUpdate ( const nav_msgs::OdometryConstPtr & odomMsg ) [private]

Definition at line 575 of file CoreWrapper.cpp.

void CoreWrapper::commonStereoCallback	(	const std::string &	odomFrameId,
		const sensor_msgs::ImageConstPtr &	leftImageMsg,
		const sensor_msgs::ImageConstPtr &	rightImageMsg,
		const sensor_msgs::CameraInfoConstPtr &	leftCamInfoMsg,
		const sensor_msgs::CameraInfoConstPtr &	rightCamInfoMsg,
		const sensor_msgs::LaserScanConstPtr &	scanMsg
	)		`[private]`

Definition at line 810 of file CoreWrapper.cpp.

void CoreWrapper::defaultCallback ( const sensor_msgs::ImageConstPtr & imageMsg ) [private]

Definition at line 513 of file CoreWrapper.cpp.

void CoreWrapper::depthCallback	(	const sensor_msgs::ImageConstPtr &	imageMsg,
		const nav_msgs::OdometryConstPtr &	odomMsg,
		const sensor_msgs::ImageConstPtr &	imageDepthMsg,
		const sensor_msgs::CameraInfoConstPtr &	camInfoMsg
	)		`[private]`

Definition at line 931 of file CoreWrapper.cpp.

void CoreWrapper::depthScanCallback	(	const sensor_msgs::ImageConstPtr &	imageMsg,
		const nav_msgs::OdometryConstPtr &	odomMsg,
		const sensor_msgs::ImageConstPtr &	imageDepthMsg,
		const sensor_msgs::CameraInfoConstPtr &	camInfoMsg,
		const sensor_msgs::LaserScanConstPtr &	scanMsg
	)		`[private]`

Definition at line 945 of file CoreWrapper.cpp.

void CoreWrapper::depthScanTFCallback	(	const sensor_msgs::ImageConstPtr &	imageMsg,
		const sensor_msgs::ImageConstPtr &	imageDepthMsg,
		const sensor_msgs::CameraInfoConstPtr &	camInfoMsg,
		const sensor_msgs::LaserScanConstPtr &	scanMsg
	)		`[private]`

Definition at line 1001 of file CoreWrapper.cpp.

void CoreWrapper::depthTFCallback	(	const sensor_msgs::ImageConstPtr &	imageMsg,
		const sensor_msgs::ImageConstPtr &	imageDepthMsg,
		const sensor_msgs::CameraInfoConstPtr &	camInfoMsg
	)		`[private]`

Definition at line 989 of file CoreWrapper.cpp.

bool CoreWrapper::getGridMapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)		`[private]`

Definition at line 1592 of file CoreWrapper.cpp.

bool CoreWrapper::getMapCallback	(	rtabmap_ros::GetMap::Request &	req,
		rtabmap_ros::GetMap::Response &	res
	)		`[private]`

Definition at line 1472 of file CoreWrapper.cpp.

bool CoreWrapper::getProjMapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)		`[private]`

Definition at line 1542 of file CoreWrapper.cpp.

Transform CoreWrapper::getTransform	(	const std::string &	fromFrameId,
		const std::string &	toFrameId,
		const ros::Time &	stamp
	)		const `[private]`

Definition at line 666 of file CoreWrapper.cpp.

void CoreWrapper::goalActiveCb ( ) [private]

Definition at line 2558 of file CoreWrapper.cpp.

void CoreWrapper::goalCallback ( const geometry_msgs::PoseStampedConstPtr & msg ) [private]

Definition at line 1306 of file CoreWrapper.cpp.

void CoreWrapper::goalCommonCallback ( const std::vector< std::pair< int, rtabmap::Transform > > & poses ) [private]

Definition at line 1228 of file CoreWrapper.cpp.

void CoreWrapper::goalDoneCb	(	const actionlib::SimpleClientGoalState &	state,
		const move_base_msgs::MoveBaseResultConstPtr &	result
	)		`[private]`

Definition at line 2514 of file CoreWrapper.cpp.

void CoreWrapper::goalFeedbackCb ( const move_base_msgs::MoveBaseFeedbackConstPtr & feedback ) [private]

Definition at line 2564 of file CoreWrapper.cpp.

void CoreWrapper::goalGlobalCallback ( const geometry_msgs::PoseStampedConstPtr & msg ) [private]

Definition at line 1321 of file CoreWrapper.cpp.

bool CoreWrapper::listLabelsCallback	(	rtabmap_ros::ListLabels::Request &	req,
		rtabmap_ros::ListLabels::Response &	res
	)		`[private]`

Definition at line 1916 of file CoreWrapper.cpp.

ParametersMap CoreWrapper::loadParameters ( const std::string & configFile ) [private]

Definition at line 448 of file CoreWrapper.cpp.

bool CoreWrapper::pauseRtabmapCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)		`[private]`

Definition at line 1392 of file CoreWrapper.cpp.

void CoreWrapper::process	(	int	id,
		const ros::Time &	stamp,
		const cv::Mat &	image,
		const rtabmap::Transform &	odom = `rtabmap::Transform()`,
		const std::string &	odomFrameId = `""`,
		float	odomRotationalVariance = `1.0f`,
		float	odomTransitionalVariance = `1.0f`,
		const cv::Mat &	depthOrRightImage = `cv::Mat()`,
		float	fx = `0.0f`,
		float	fyOrBaseline = `0.0f`,
		float	cx = `0.0f`,
		float	cy = `0.0f`,
		const rtabmap::Transform &	localTransform = `rtabmap::Transform()`,
		const cv::Mat &	scan = `cv::Mat()`,
		int	scanMaxPts = `0`
	)		`[private]`

Definition at line 1041 of file CoreWrapper.cpp.

void CoreWrapper::publishCurrentGoal ( const ros::Time & stamp ) [private]

Definition at line 2471 of file CoreWrapper.cpp.

void CoreWrapper::publishLocalPath ( const ros::Time & stamp ) [private]

Definition at line 2570 of file CoreWrapper.cpp.

void CoreWrapper::publishLoop ( double tfDelay ) [private]

Definition at line 495 of file CoreWrapper.cpp.

bool CoreWrapper::publishMapCallback	(	rtabmap_ros::PublishMap::Request &	req,
		rtabmap_ros::PublishMap::Response &	res
	)		`[private]`

Definition at line 1642 of file CoreWrapper.cpp.

void CoreWrapper::publishMaps	(	const std::map< int, rtabmap::Transform > &	poses,
		const ros::Time &	stamp
	)		`[private]`

Definition at line 2338 of file CoreWrapper.cpp.

void CoreWrapper::publishStats ( const ros::Time & stamp ) [private]

Definition at line 1927 of file CoreWrapper.cpp.

bool CoreWrapper::resetRtabmapCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)		`[private]`

Definition at line 1377 of file CoreWrapper.cpp.

bool CoreWrapper::resumeRtabmapCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)		`[private]`

Definition at line 1408 of file CoreWrapper.cpp.

void CoreWrapper::saveParameters ( const std::string & configFile ) [private]

Definition at line 465 of file CoreWrapper.cpp.

bool CoreWrapper::setGoalCallback	(	rtabmap_ros::SetGoal::Request &	req,
		rtabmap_ros::SetGoal::Response &	res
	)		`[private]`

Definition at line 1858 of file CoreWrapper.cpp.

bool CoreWrapper::setLabelCallback	(	rtabmap_ros::SetLabel::Request &	req,
		rtabmap_ros::SetLabel::Response &	res
	)		`[private]`

Definition at line 1889 of file CoreWrapper.cpp.

bool CoreWrapper::setModeLocalizationCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)		`[private]`

Definition at line 1454 of file CoreWrapper.cpp.

bool CoreWrapper::setModeMappingCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)		`[private]`

Definition at line 1463 of file CoreWrapper.cpp.

void CoreWrapper::setupCallbacks	(	bool	subscribeDepth,
		bool	subscribeLaserScan,
		bool	subscribeStereo,
		int	queueSize,
		bool	stereoApproxSync
	)		`[private]`

exclusive callbacks: image image + depth image + scan image + depth + scan Which callback is called depends on the combination of these options: bool subscribe_laserScan bool subscribe_depth

subscribeLaserScan

Definition at line 2699 of file CoreWrapper.cpp.

void CoreWrapper::stereoCallback	(	const sensor_msgs::ImageConstPtr &	leftImageMsg,
		const sensor_msgs::ImageConstPtr &	rightImageMsg,
		const sensor_msgs::CameraInfoConstPtr &	leftCamInfoMsg,
		const sensor_msgs::CameraInfoConstPtr &	rightCamInfoMsg,
		const nav_msgs::OdometryConstPtr &	odomMsg
	)		`[private]`

Definition at line 958 of file CoreWrapper.cpp.

void CoreWrapper::stereoScanCallback	(	const sensor_msgs::ImageConstPtr &	leftImageMsg,
		const sensor_msgs::ImageConstPtr &	rightImageMsg,
		const sensor_msgs::CameraInfoConstPtr &	leftCamInfoMsg,
		const sensor_msgs::CameraInfoConstPtr &	rightCamInfoMsg,
		const sensor_msgs::LaserScanConstPtr &	scanMsg,
		const nav_msgs::OdometryConstPtr &	odomMsg
	)		`[private]`

Definition at line 973 of file CoreWrapper.cpp.

void CoreWrapper::stereoScanTFCallback	(	const sensor_msgs::ImageConstPtr &	leftImageMsg,
		const sensor_msgs::ImageConstPtr &	rightImageMsg,
		const sensor_msgs::CameraInfoConstPtr &	leftCamInfoMsg,
		const sensor_msgs::CameraInfoConstPtr &	rightCamInfoMsg,
		const sensor_msgs::LaserScanConstPtr &	scanMsg
	)		`[private]`

Definition at line 1027 of file CoreWrapper.cpp.

void CoreWrapper::stereoTFCallback	(	const sensor_msgs::ImageConstPtr &	leftImageMsg,
		const sensor_msgs::ImageConstPtr &	rightImageMsg,
		const sensor_msgs::CameraInfoConstPtr &	leftCamInfoMsg,
		const sensor_msgs::CameraInfoConstPtr &	rightCamInfoMsg
	)		`[private]`

Definition at line 1013 of file CoreWrapper.cpp.

bool CoreWrapper::triggerNewMapCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)		`[private]`

Definition at line 1424 of file CoreWrapper.cpp.

void CoreWrapper::updateGoal ( const ros::Time & stamp ) [private]

std::map< int, rtabmap::Transform > CoreWrapper::updateMapCaches	(	const std::map< int, rtabmap::Transform > &	poses,
		bool	updateCloud,
		bool	updateProj,
		bool	updateGrid,
		const std::map< int, rtabmap::Signature > &	signatures = `std::map<int, rtabmap::Signature>()`
	)		`[private]`