Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
jsk_pcl_ros::EnvironmentPlaneModeling Class Reference

Nodelet implementation of jsk_pcl/EnvironmentPlaneModeling. More...

#include <environment_plane_modeling.h>

List of all members.

Public Types

typedef
EnvironmentPlaneModelingConfig 
Config
typedef
message_filters::sync_policies::ExactTime
< sensor_msgs::PointCloud2,
sensor_msgs::PointCloud2,
jsk_recognition_msgs::PolygonArray,
jsk_recognition_msgs::ModelCoefficientsArray,
jsk_recognition_msgs::ClusterPointIndices > 
SyncPolicy

Public Member Functions

 EnvironmentPlaneModeling ()

Protected Member Functions

virtual void boundingBoxCallback (const jsk_recognition_msgs::BoundingBox::ConstPtr &box_array)
virtual std::vector
< GridPlane::Ptr
buildGridPlanes (pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > convexes, std::set< int > &non_plane_indices)
 make GridPlane from jsk_recognition_utils::ConvexPolygon and PointCloud
virtual std::vector
< GridPlane::Ptr
completeFootprintRegion (const std_msgs::Header &header, std::vector< GridPlane::Ptr > &grid_maps)
virtual GridPlane::Ptr completeGridMapByBoundingBox (const jsk_recognition_msgs::BoundingBox::ConstPtr &box, const std_msgs::Header &header, GridPlane::Ptr grid_map)
virtual void configCallback (Config &config, uint32_t level)
 Callback method of dynamic reconfigure.
virtual std::vector
< jsk_recognition_utils::ConvexPolygon::Ptr
convertToConvexPolygons (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &indices_msg, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &coefficients_msg)
virtual std::vector
< GridPlane::Ptr
erodeFiltering (std::vector< GridPlane::Ptr > &grid_maps)
virtual void inputCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const sensor_msgs::PointCloud2::ConstPtr &full_cloud_msg, const jsk_recognition_msgs::PolygonArray::ConstPtr &polygon_msg, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &coefficients_msg, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &indices_msg)
 main callback function
virtual bool isValidFrameIds (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const sensor_msgs::PointCloud2::ConstPtr &full_cloud_msg, const jsk_recognition_msgs::PolygonArray::ConstPtr &polygon_msg, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &coefficients_msg, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &indices_msg)
virtual int lookupGroundPlaneForFootprint (const std::string &footprint_frame_id, const std_msgs::Header &header, const std::vector< GridPlane::Ptr > &grid_maps)
virtual int lookupGroundPlaneForFootprint (const Eigen::Affine3f &pose, const std::vector< GridPlane::Ptr > &grid_maps)
virtual std::vector
< jsk_recognition_utils::ConvexPolygon::Ptr
magnifyConvexes (std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &convexes)
 Magnify jsk_recognition_utils::ConvexPolygons according to maginify_distance_ parameter.
virtual std::vector
< GridPlane::Ptr
morphologicalFiltering (std::vector< GridPlane::Ptr > &raw_grid_maps)
virtual void moveBaseSimpleGoalCallback (const geometry_msgs::PoseStamped::ConstPtr &msg)
virtual void onInit ()
virtual void printInputData (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const sensor_msgs::PointCloud2::ConstPtr &full_cloud_msg, const jsk_recognition_msgs::PolygonArray::ConstPtr &polygon_msg, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &coefficients_msg, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &indices_msg)
virtual void publishConvexPolygons (ros::Publisher &pub, const std_msgs::Header &header, std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &convexes)
 Publish array of jsk_recognition_utils::ConvexPolygon::Ptr by using specified publisher.
virtual void publishConvexPolygonsBoundaries (ros::Publisher &pub, const std_msgs::Header &header, std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &convexes)
virtual void publishGridMaps (ros::Publisher &pub, const std_msgs::Header &header, std::vector< GridPlane::Ptr > &grids)
 Publish array of GridPlane::Ptr by using specified publisher.
virtual void subscribe ()
 subscription callback function of jsk_topic_tools::DiagnosticNodelet. This method is empty method because EnvironmentPlaneModeling needs to always run
virtual void unsubscribe ()
 unsubscription callback function of jsk_topic_tools::DiagnosticNodelet. This method is empty method because EnvironmentPlaneModeling needs to always run

Protected Attributes

bool complete_footprint_region_
double distance_threshold_
int erode_filter_size_
std::vector< std::stringfootprint_frames_
double footprint_plane_angular_threshold_
double footprint_plane_distance_threshold_
std_msgs::Header latest_global_header_
std::vector< GridPlane::Ptrlatest_grid_maps_
jsk_recognition_msgs::BoundingBox::ConstPtr latest_leg_bounding_box_
double magnify_distance_
int morphological_filter_size_
boost::mutex mutex_
double normal_threshold_
ros::Publisher pub_debug_convex_point_cloud_
ros::Publisher pub_debug_magnified_plane_coords_
ros::Publisher pub_debug_magnified_polygons_
ros::Publisher pub_debug_noeroded_grid_map_
ros::Publisher pub_debug_plane_coords_
ros::Publisher pub_debug_raw_grid_map_
ros::Publisher pub_grid_map_
ros::Publisher pub_non_plane_indices_
ros::Publisher pub_snapped_move_base_simple_goal_
double resolution_
boost::shared_ptr
< dynamic_reconfigure::Server
< Config > > 
srv_
message_filters::Subscriber
< sensor_msgs::PointCloud2 > 
sub_cloud_
message_filters::Subscriber
< jsk_recognition_msgs::ModelCoefficientsArray > 
sub_coefficients_
message_filters::Subscriber
< sensor_msgs::PointCloud2 > 
sub_full_cloud_
message_filters::Subscriber
< jsk_recognition_msgs::ClusterPointIndices > 
sub_indices_
ros::Subscriber sub_leg_bbox_
ros::Subscriber sub_move_base_simple_goal_
message_filters::Subscriber
< jsk_recognition_msgs::PolygonArray > 
sub_polygons_
boost::shared_ptr
< message_filters::Synchronizer
< SyncPolicy > > 
sync_
tf::TransformListenertf_listener_

Detailed Description

Nodelet implementation of jsk_pcl/EnvironmentPlaneModeling.

Definition at line 80 of file environment_plane_modeling.h.


Member Typedef Documentation

typedef EnvironmentPlaneModelingConfig jsk_pcl_ros::EnvironmentPlaneModeling::Config

Definition at line 83 of file environment_plane_modeling.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray, jsk_recognition_msgs::ClusterPointIndices > jsk_pcl_ros::EnvironmentPlaneModeling::SyncPolicy

Definition at line 90 of file environment_plane_modeling.h.


Constructor & Destructor Documentation

Definition at line 91 of file environment_plane_modeling.h.


Member Function Documentation

void jsk_pcl_ros::EnvironmentPlaneModeling::boundingBoxCallback ( const jsk_recognition_msgs::BoundingBox::ConstPtr &  box_array) [protected, virtual]

Definition at line 236 of file environment_plane_modeling_nodelet.cpp.

std::vector< GridPlane::Ptr > jsk_pcl_ros::EnvironmentPlaneModeling::buildGridPlanes ( pcl::PointCloud< pcl::PointNormal >::Ptr &  cloud,
std::vector< jsk_recognition_utils::ConvexPolygon::Ptr convexes,
std::set< int > &  non_plane_indices 
) [protected, virtual]

make GridPlane from jsk_recognition_utils::ConvexPolygon and PointCloud

Definition at line 516 of file environment_plane_modeling_nodelet.cpp.

Definition at line 431 of file environment_plane_modeling_nodelet.cpp.

GridPlane::Ptr jsk_pcl_ros::EnvironmentPlaneModeling::completeGridMapByBoundingBox ( const jsk_recognition_msgs::BoundingBox::ConstPtr &  box,
const std_msgs::Header header,
GridPlane::Ptr  grid_map 
) [protected, virtual]

Definition at line 402 of file environment_plane_modeling_nodelet.cpp.

void jsk_pcl_ros::EnvironmentPlaneModeling::configCallback ( Config config,
uint32_t  level 
) [protected, virtual]

Callback method of dynamic reconfigure.

Definition at line 118 of file environment_plane_modeling_nodelet.cpp.

std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > jsk_pcl_ros::EnvironmentPlaneModeling::convertToConvexPolygons ( const pcl::PointCloud< pcl::PointNormal >::Ptr &  cloud,
const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &  indices_msg,
const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &  coefficients_msg 
) [protected, virtual]

Definition at line 569 of file environment_plane_modeling_nodelet.cpp.

Definition at line 342 of file environment_plane_modeling_nodelet.cpp.

void jsk_pcl_ros::EnvironmentPlaneModeling::inputCallback ( const sensor_msgs::PointCloud2::ConstPtr &  cloud_msg,
const sensor_msgs::PointCloud2::ConstPtr &  full_cloud_msg,
const jsk_recognition_msgs::PolygonArray::ConstPtr &  polygon_msg,
const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &  coefficients_msg,
const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &  indices_msg 
) [protected, virtual]

main callback function

Definition at line 243 of file environment_plane_modeling_nodelet.cpp.

bool jsk_pcl_ros::EnvironmentPlaneModeling::isValidFrameIds ( const sensor_msgs::PointCloud2::ConstPtr &  cloud_msg,
const sensor_msgs::PointCloud2::ConstPtr &  full_cloud_msg,
const jsk_recognition_msgs::PolygonArray::ConstPtr &  polygon_msg,
const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &  coefficients_msg,
const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &  indices_msg 
) [protected, virtual]

Definition at line 146 of file environment_plane_modeling_nodelet.cpp.

int jsk_pcl_ros::EnvironmentPlaneModeling::lookupGroundPlaneForFootprint ( const std::string footprint_frame_id,
const std_msgs::Header header,
const std::vector< GridPlane::Ptr > &  grid_maps 
) [protected, virtual]

Definition at line 386 of file environment_plane_modeling_nodelet.cpp.

int jsk_pcl_ros::EnvironmentPlaneModeling::lookupGroundPlaneForFootprint ( const Eigen::Affine3f &  pose,
const std::vector< GridPlane::Ptr > &  grid_maps 
) [protected, virtual]

Definition at line 353 of file environment_plane_modeling_nodelet.cpp.

Magnify jsk_recognition_utils::ConvexPolygons according to maginify_distance_ parameter.

Definition at line 553 of file environment_plane_modeling_nodelet.cpp.

Definition at line 467 of file environment_plane_modeling_nodelet.cpp.

void jsk_pcl_ros::EnvironmentPlaneModeling::moveBaseSimpleGoalCallback ( const geometry_msgs::PoseStamped::ConstPtr &  msg) [protected, virtual]

Definition at line 184 of file environment_plane_modeling_nodelet.cpp.

void jsk_pcl_ros::EnvironmentPlaneModeling::onInit ( void  ) [protected, virtual]

Definition at line 54 of file environment_plane_modeling_nodelet.cpp.

void jsk_pcl_ros::EnvironmentPlaneModeling::printInputData ( const sensor_msgs::PointCloud2::ConstPtr &  cloud_msg,
const sensor_msgs::PointCloud2::ConstPtr &  full_cloud_msg,
const jsk_recognition_msgs::PolygonArray::ConstPtr &  polygon_msg,
const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &  coefficients_msg,
const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &  indices_msg 
) [protected, virtual]

Definition at line 131 of file environment_plane_modeling_nodelet.cpp.

Publish array of jsk_recognition_utils::ConvexPolygon::Ptr by using specified publisher.

Definition at line 537 of file environment_plane_modeling_nodelet.cpp.

Definition at line 480 of file environment_plane_modeling_nodelet.cpp.

void jsk_pcl_ros::EnvironmentPlaneModeling::publishGridMaps ( ros::Publisher pub,
const std_msgs::Header header,
std::vector< GridPlane::Ptr > &  grids 
) [protected, virtual]

Publish array of GridPlane::Ptr by using specified publisher.

Definition at line 500 of file environment_plane_modeling_nodelet.cpp.

virtual void jsk_pcl_ros::EnvironmentPlaneModeling::subscribe ( ) [inline, protected, virtual]

subscription callback function of jsk_topic_tools::DiagnosticNodelet. This method is empty method because EnvironmentPlaneModeling needs to always run

Definition at line 100 of file environment_plane_modeling.h.

virtual void jsk_pcl_ros::EnvironmentPlaneModeling::unsubscribe ( ) [inline, protected, virtual]

unsubscription callback function of jsk_topic_tools::DiagnosticNodelet. This method is empty method because EnvironmentPlaneModeling needs to always run

Definition at line 107 of file environment_plane_modeling.h.


Member Data Documentation

Definition at line 245 of file environment_plane_modeling.h.

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Definition at line 236 of file environment_plane_modeling.h.

Definition at line 235 of file environment_plane_modeling.h.

jsk_recognition_msgs::BoundingBox::ConstPtr jsk_pcl_ros::EnvironmentPlaneModeling::latest_leg_bounding_box_ [protected]

Definition at line 233 of file environment_plane_modeling.h.

Definition at line 240 of file environment_plane_modeling.h.

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Definition at line 243 of file environment_plane_modeling.h.

boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_pcl_ros::EnvironmentPlaneModeling::srv_ [protected]

Definition at line 231 of file environment_plane_modeling.h.

Definition at line 215 of file environment_plane_modeling.h.

message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros::EnvironmentPlaneModeling::sub_coefficients_ [protected]

Definition at line 219 of file environment_plane_modeling.h.

Definition at line 216 of file environment_plane_modeling.h.

message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> jsk_pcl_ros::EnvironmentPlaneModeling::sub_indices_ [protected]

Definition at line 217 of file environment_plane_modeling.h.

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The documentation for this class was generated from the following files:


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:46