#include <mapmerger.h>

Public Member Functions
bool	getHasLocalMap ()
bool	log_output_srv (map_merger::LogMaps::Request &req, map_merger::LogMaps::Response &res)
	Saves progress to log. Saves log information to the hard drive. At this point log information may include * global map * local map.
	MapMerger ()
void	start ()
bool	transformPointSRV (map_merger::TransformPoint::Request &req, map_merger::TransformPoint::Response &res)
void	waitForLocalMetaData ()
void	waitForRobotInformation ()
Private Member Functions
void	callback_ask_other_robots (const ros::TimerEvent &e)
void	callback_control (const adhoc_communication::MmControlConstPtr &msg)
void	callback_global_pub (const ros::TimerEvent &e)
void	callback_got_position (const nav_msgs::Odometry::ConstPtr &msg)
void	callback_got_position_network (const adhoc_communication::MmRobotPosition::ConstPtr &msg)
void	callback_got_robot_for_data (const std_msgs::StringConstPtr &msg)
void	callback_map (const nav_msgs::OccupancyGrid::ConstPtr &msg)
void	callback_map_meta_data_local (const nav_msgs::MapMetaData::ConstPtr &msg)
void	callback_map_other (const adhoc_communication::MmMapUpdateConstPtr &msg)
void	callback_new_robot (const std_msgs::StringConstPtr &msg)
void	callback_recompute_transform (const ros::TimerEvent &e)
void	callback_remove_robot (const std_msgs::StringConstPtr &msg)
void	callback_robot_status (const nav_msgs::MapMetaData::ConstPtr &msg)
void	callback_send_map (const ros::TimerEvent &e)
void	callback_send_position (const ros::TimerEvent &e)
void	callback_write_maps (const ros::TimerEvent &e)
void	computeOffsets ()
void	computeTransform (int mapDataIndex)
bool	createLogPath ()
int	findRobotIndex (int transform_index)
int	findTransformIndex (int robot_index)
nav_msgs::OccupancyGrid *	getMapPart (int map_index, int start_x, int start_y, int width, int height)
void	makeEmptyMapData (string robot_name, int height, int width, float resolution)
cv::Mat	mapToMat (const nav_msgs::OccupancyGrid *map)
nav_msgs::OccupancyGrid *	matToMap (const cv::Mat mat, nav_msgs::OccupancyGrid *forInfo)
void	mergeMaps (nav_msgs::OccupancyGrid *mapToMerge, int min_x=0, int min_y=0, int max_x=-1, int max_y=-1)
void	processLocalMap (nav_msgs::OccupancyGrid *toInsert, int index)
void	processMap (nav_msgs::OccupancyGrid *map, int index_in_mapdata)
void	processPosition (geometry_msgs::PoseStamped *pose)
bool	recomputeTransform (int mapDataIndex)
void	sendBackAskedMapData (string robotName, std::vector< int > missingUpdates)
void	sendControlMessage (std::vector< int > *updateNumbers, std::string dest)
void	sendMapOverNetwork (string destination, std::vector< int > *containedUpdates, int start_row=0, int start_collum=0, int end_row=-1, int end_collum=-1)
void	sendMetaData (float res=0.05)
cv::Mat	transformImage (Mat img1, Mat trans)
void	updateMap (nav_msgs::OccupancyGrid *mapToUpdate, int index_of_transform)
void	updateMapArea (int map_index, nav_msgs::OccupancyGrid *newData, bool clear=false)
Private Attributes
ros::Timer	ask_other_timer
std::string	control_topic
geometry_msgs::PoseStamped *	cur_position
bool	debug
bool	exchange_position
double	first_trans_x
double	first_trans_y
bool	force_recompute_all
std::vector< UpdateEntry > *	formerUpdates
std::string	full_log_path
	log path argument specified by launch file
float	g_start_x
float	g_start_y
nav_msgs::OccupancyGrid *	global_map
bool	global_map_ready
ros::Timer	global_timer_pub
bool	has_local_map
int	laser_range
cv::Mat	lastTrans
ros::Publisher	list_of_positions_publisher
nav_msgs::OccupancyGrid *	local_map
std::string	local_map_frame_id
std::string	local_map_metadata_topic
bool	local_map_new_data
nav_msgs::OccupancyGrid *	local_map_old
std::string	local_map_topic
std::string	log_path
std::vector < nav_msgs::OccupancyGrid * > *	map_data
int	map_height
std::string	map_meta_topic
int	map_width
double	max_rotation_robot
double	max_trans_robot
ros::Publisher	my_pos_pub
std::vector< bool > *	new_data_maps
ros::NodeHandle *	nodeHandle
float	old_middle_distance
visualization_msgs::MarkerArray	pos_array_my
std::vector < visualization_msgs::MarkerArray > *	pos_array_other
std::vector< ros::Publisher > *	pos_pub_other
int	pos_seq_my
std::vector< int > *	pos_seq_other
std::string	position_local_robot_topic
std::string	position_other_robots_topic
adhoc_communication::MmListOfPoints *	positions
ros::Publisher	pub
ros::Timer	recompute_transform_timer
std::string	robot_hostname
std::string	robot_name
std::string	robot_prefix
std::vector< std::string > *	robots
std::vector< std::string > *	robots_in_transform
std::vector< ros::Publisher > *	robots_position_publisher
int	seconds_meta_timer
int	seconds_publish_timer
int	seconds_recompute_transform
int	seconds_send_position
int	seconds_send_timer
ros::Timer	send_map
ros::Timer	send_position
int	size
bool	splitted
ros::Time	time_start
	the full log path where to store files
std::string	topic_over_network
std::vector< cv::Mat > *	transforms
bool	turning
std::vector< UpdateEntry * > *	update_list
int	update_seq
int	updateCount
updateManager *	updateMan

Detailed Description

Definition at line 49 of file mapmerger.h.

Constructor & Destructor Documentation

MapMerger::MapMerger ( )

Definition at line 14 of file mapmerger.cpp.

Member Function Documentation

void MapMerger::callback_ask_other_robots ( const ros::TimerEvent & e ) [private]

Definition at line 1915 of file mapmerger.cpp.

void MapMerger::callback_control ( const adhoc_communication::MmControlConstPtr & msg ) [private]

Definition at line 261 of file mapmerger.cpp.

void MapMerger::callback_global_pub ( const ros::TimerEvent & e ) [private]

Definition at line 374 of file mapmerger.cpp.

void MapMerger::callback_got_position ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

Definition at line 828 of file mapmerger.cpp.

void MapMerger::callback_got_position_network ( const adhoc_communication::MmRobotPosition::ConstPtr & msg ) [private]

Definition at line 657 of file mapmerger.cpp.

void MapMerger::callback_got_robot_for_data ( const std_msgs::StringConstPtr & msg ) [private]

Definition at line 212 of file mapmerger.cpp.

void MapMerger::callback_map ( const nav_msgs::OccupancyGrid::ConstPtr & msg ) [private]

Definition at line 932 of file mapmerger.cpp.

void MapMerger::callback_map_meta_data_local ( const nav_msgs::MapMetaData::ConstPtr & msg ) [private]

Definition at line 343 of file mapmerger.cpp.

void MapMerger::callback_map_other ( const adhoc_communication::MmMapUpdateConstPtr & msg ) [private]

Definition at line 837 of file mapmerger.cpp.

void MapMerger::callback_new_robot ( const std_msgs::StringConstPtr & msg ) [private]

Definition at line 217 of file mapmerger.cpp.

void MapMerger::callback_recompute_transform ( const ros::TimerEvent & e ) [private]

Definition at line 492 of file mapmerger.cpp.

void MapMerger::callback_remove_robot ( const std_msgs::StringConstPtr & msg ) [private]

Definition at line 257 of file mapmerger.cpp.

void MapMerger::callback_robot_status ( const nav_msgs::MapMetaData::ConstPtr & msg ) [private]

Definition at line 1513 of file mapmerger.cpp.

void MapMerger::callback_send_map ( const ros::TimerEvent & e ) [private]

Definition at line 537 of file mapmerger.cpp.

void MapMerger::callback_send_position ( const ros::TimerEvent & e ) [private]

Definition at line 458 of file mapmerger.cpp.

void MapMerger::callback_write_maps ( const ros::TimerEvent & e ) [private]

void MapMerger::computeOffsets ( ) [private]

void MapMerger::computeTransform ( int mapDataIndex ) [private]

Definition at line 1423 of file mapmerger.cpp.

bool MapMerger::createLogPath ( ) [private]

Definition at line 1665 of file mapmerger.cpp.

int MapMerger::findRobotIndex ( int transform_index ) [private]

Definition at line 1654 of file mapmerger.cpp.

int MapMerger::findTransformIndex ( int robot_index ) [private]

Definition at line 1633 of file mapmerger.cpp.

bool MapMerger::getHasLocalMap ( )

Definition at line 1910 of file mapmerger.cpp.

nav_msgs::OccupancyGrid * MapMerger::getMapPart	(	int	map_index,
		int	start_x,
		int	start_y,
		int	width,
		int	height
	)		`[private]`

Definition at line 1275 of file mapmerger.cpp.

bool MapMerger::log_output_srv	(	map_merger::LogMaps::Request &	req,
		map_merger::LogMaps::Response &	res
	)

Saves progress to log. Saves log information to the hard drive. At this point log information may include * global map * local map.

Definition at line 1689 of file mapmerger.cpp.

void MapMerger::makeEmptyMapData	(	string	robot_name,
		int	height,
		int	width,
		float	resolution
	)		`[private]`

Definition at line 1487 of file mapmerger.cpp.

cv::Mat MapMerger::mapToMat ( const nav_msgs::OccupancyGrid * map ) [private]

Definition at line 1182 of file mapmerger.cpp.

nav_msgs::OccupancyGrid * MapMerger::matToMap	(	const cv::Mat	mat,
		nav_msgs::OccupancyGrid *	forInfo
	)		`[private]`

Definition at line 1219 of file mapmerger.cpp.

void MapMerger::mergeMaps	(	nav_msgs::OccupancyGrid *	mapToMerge,
		int	min_x = `0`,
		int	min_y = `0`,
		int	max_x = `-1`,
		int	max_y = `-1`
	)		`[private]`

Definition at line 1135 of file mapmerger.cpp.

void MapMerger::processLocalMap	(	nav_msgs::OccupancyGrid *	toInsert,
		int	index
	)		`[private]`

Definition at line 972 of file mapmerger.cpp.

void MapMerger::processMap	(	nav_msgs::OccupancyGrid *	map,
		int	index_in_mapdata
	)		`[private]`

Definition at line 1022 of file mapmerger.cpp.

void MapMerger::processPosition ( geometry_msgs::PoseStamped * pose ) [private]

Definition at line 1036 of file mapmerger.cpp.

bool MapMerger::recomputeTransform ( int mapDataIndex ) [private]

Definition at line 1365 of file mapmerger.cpp.

void MapMerger::sendBackAskedMapData	(	string	robotName,
		std::vector< int >	missingUpdates
	)		`[private]`

Definition at line 1867 of file mapmerger.cpp.

void MapMerger::sendControlMessage	(	std::vector< int > *	updateNumbers,
		std::string	dest
	)		`[private]`

Definition at line 1892 of file mapmerger.cpp.

void MapMerger::sendMapOverNetwork	(	string	destination,
		std::vector< int > *	containedUpdates,
		int	start_row = `0`,
		int	start_collum = `0`,
		int	end_row = `-1`,
		int	end_collum = `-1`
	)		`[private]`