#include <MapsManager.h>

Public Member Functions
void	backwardCompatibilityParameters (ros::NodeHandle &pnh, rtabmap::ParametersMap &parameters) const
void	clear ()
std::map< int, rtabmap::Transform >	getFilteredPoses (const std::map< int, rtabmap::Transform > &poses)
cv::Mat	getGridMap (float &xMin, float &yMin, float &gridCellSize)
cv::Mat	getGridProbMap (float &xMin, float &yMin, float &gridCellSize)
const rtabmap::OccupancyGrid *	getOccupancyGrid () const
const rtabmap::OctoMap *	getOctomap () const
bool	hasSubscribers () const
void	init (ros::NodeHandle &nh, ros::NodeHandle &pnh, const std::string &name, bool usePublicNamespace)
	MapsManager ()
void	publishMaps (const std::map< int, rtabmap::Transform > &poses, const ros::Time &stamp, const std::string &mapFrameId)
void	set2DMap (const cv::Mat &map, float xMin, float yMin, float cellSize, const std::map< int, rtabmap::Transform > &poses, const rtabmap::Memory *memory=0)
void	setParameters (const rtabmap::ParametersMap &parameters)
std::map< int, rtabmap::Transform >	updateMapCaches (const std::map< int, rtabmap::Transform > &poses, const rtabmap::Memory *memory, bool updateGrid, bool updateOctomap, const std::map< int, rtabmap::Signature > &signatures=std::map< int, rtabmap::Signature >())
virtual	~MapsManager ()
Private Attributes
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	assembledGround_
rtabmap::FlannIndex	assembledGroundIndex_
std::map< int, rtabmap::Transform >	assembledGroundPoses_
rtabmap::FlannIndex	assembledObstacleIndex_
std::map< int, rtabmap::Transform >	assembledObstaclePoses_
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	assembledObstacles_
ros::Publisher	cloudGroundPub_
ros::Publisher	cloudMapPub_
ros::Publisher	cloudObstaclesPub_
bool	cloudOutputVoxelized_
bool	cloudSubtractFiltering_
int	cloudSubtractFilteringMinNeighbors_
cv::Mat	gridMap_
ros::Publisher	gridMapPub_
std::map< int, std::pair < std::pair< cv::Mat, cv::Mat > , cv::Mat > >	gridMaps_
std::map< int, cv::Point3f >	gridMapsViewpoints_
std::map< int, rtabmap::Transform >	gridPoses_
ros::Publisher	gridProbMapPub_
std::map< int, pcl::PointCloud < pcl::PointXYZRGB >::Ptr >	groundClouds_
bool	mapCacheCleanup_
double	mapFilterAngle_
double	mapFilterRadius_
bool	negativePosesIgnored_
bool	negativeScanEmptyRayTracing_
std::map< int, pcl::PointCloud < pcl::PointXYZRGB >::Ptr >	obstacleClouds_
rtabmap::OccupancyGrid *	occupancyGrid_
rtabmap::OctoMap *	octomap_
ros::Publisher	octoMapCloud_
ros::Publisher	octoMapEmptySpace_
ros::Publisher	octoMapGroundCloud_
ros::Publisher	octoMapObstacleCloud_
ros::Publisher	octoMapProj_
ros::Publisher	octoMapPubBin_
ros::Publisher	octoMapPubFull_
int	octomapTreeDepth_
rtabmap::ParametersMap	parameters_
ros::Publisher	projMapPub_
ros::Publisher	scanMapPub_

Detailed Description

Definition at line 46 of file MapsManager.h.

Constructor & Destructor Documentation

MapsManager::MapsManager ( )

Definition at line 59 of file MapsManager.cpp.

MapsManager::~MapsManager ( ) [virtual]

Definition at line 164 of file MapsManager.cpp.

Member Function Documentation

void MapsManager::backwardCompatibilityParameters	(	ros::NodeHandle &	pnh,
		rtabmap::ParametersMap &	parameters
	)		const

Definition at line 233 of file MapsManager.cpp.

void MapsManager::clear ( )

Definition at line 341 of file MapsManager.cpp.

std::map< int, Transform > MapsManager::getFilteredPoses ( const std::map< int, rtabmap::Transform > & poses )

Definition at line 379 of file MapsManager.cpp.

cv::Mat MapsManager::getGridMap	(	float &	xMin,
		float &	yMin,
		float &	gridCellSize
	)

Definition at line 1346 of file MapsManager.cpp.

cv::Mat MapsManager::getGridProbMap	(	float &	xMin,
		float &	yMin,
		float &	gridCellSize
	)

Definition at line 1355 of file MapsManager.cpp.

const rtabmap::OccupancyGrid* MapsManager::getOccupancyGrid ( ) const [inline]

Definition at line 83 of file MapsManager.h.

const rtabmap::OctoMap* MapsManager::getOctomap ( ) const [inline]

Definition at line 82 of file MapsManager.h.

bool MapsManager::hasSubscribers ( ) const

Definition at line 361 of file MapsManager.cpp.

void MapsManager::init	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	pnh,
		const std::string &	name,
		bool	usePublicNamespace
	)

Definition at line 76 of file MapsManager.cpp.

void MapsManager::publishMaps	(	const std::map< int, rtabmap::Transform > &	poses,
		const ros::Time &	stamp,
		const std::string &	mapFrameId
	)

Definition at line 769 of file MapsManager.cpp.

void MapsManager::set2DMap	(	const cv::Mat &	map,
		float	xMin,
		float	yMin,
		float	cellSize,
		const std::map< int, rtabmap::Transform > &	poses,
		const rtabmap::Memory *	memory = `0`
	)

Definition at line 293 of file MapsManager.cpp.

void MapsManager::setParameters ( const rtabmap::ParametersMap & parameters )

Definition at line 276 of file MapsManager.cpp.

std::map< int, rtabmap::Transform > MapsManager::updateMapCaches	(	const std::map< int, rtabmap::Transform > &	poses,
		const rtabmap::Memory *	memory,
		bool	updateGrid,
		bool	updateOctomap,
		const std::map< int, rtabmap::Signature > &	signatures = `std::map<int, rtabmap::Signature>()`
	)