CoreWrapper Class Reference

#include <CoreWrapper.h>

List of all members.

Public Member Functions
	CoreWrapper (bool deleteDbOnStart, const rtabmap::ParametersMap &parameters)
virtual	~CoreWrapper ()
Private Types
typedef message_filters::sync_policies::ApproximateTime < nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo >	MyDepth2SyncPolicy
typedef message_filters::sync_policies::ExactTime < sensor_msgs::Image, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo >	MyDepthExactSyncPolicy
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2 >	MyDepthScan3dSyncPolicy
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2 >	MyDepthScan3dTFSyncPolicy
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::ExactTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo >	MyDepthTFExactSyncPolicy
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::PointCloud2, nav_msgs::Odometry >	MyStereoScan3dSyncPolicy
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2 >	MyStereoScan3dTFSyncPolicy
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 &)
bool	cancelGoalCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	commonDepthCallback (const std::string &odomFrameId, const sensor_msgs::ImageConstPtr &imageMsg, const sensor_msgs::ImageConstPtr &depthMsg, const sensor_msgs::CameraInfoConstPtr &cameraInfoMsg, const sensor_msgs::LaserScanConstPtr &scanMsg, const sensor_msgs::PointCloud2ConstPtr &scan3dMsg)
void	commonDepthCallback (const std::string &odomFrameId, const std::vector< sensor_msgs::ImageConstPtr > &imageMsgs, const std::vector< sensor_msgs::ImageConstPtr > &depthMsgs, const std::vector< sensor_msgs::CameraInfoConstPtr > &cameraInfoMsgs, const sensor_msgs::LaserScanConstPtr &scanMsg, const sensor_msgs::PointCloud2ConstPtr &scan3dMsg)
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, const sensor_msgs::PointCloud2ConstPtr &scan3dMsg)
void	defaultCallback (const sensor_msgs::ImageConstPtr &imageMsg)
void	depth2Callback (const nav_msgs::OdometryConstPtr &odomMsg, const sensor_msgs::ImageConstPtr &image1Msg, const sensor_msgs::ImageConstPtr &imageDepth1Msg, const sensor_msgs::CameraInfoConstPtr &camInfo1Msg, const sensor_msgs::ImageConstPtr &image2Msg, const sensor_msgs::ImageConstPtr &imageDept2hMsg, const sensor_msgs::CameraInfoConstPtr &camInfo2Msg)
void	depthCallback (const sensor_msgs::ImageConstPtr &imageMsg, const nav_msgs::OdometryConstPtr &odomMsg, const sensor_msgs::ImageConstPtr &imageDepthMsg, const sensor_msgs::CameraInfoConstPtr &camInfoMsg)
void	depthScan3dCallback (const sensor_msgs::ImageConstPtr &imageMsg, const nav_msgs::OdometryConstPtr &odomMsg, const sensor_msgs::ImageConstPtr &imageDepthMsg, const sensor_msgs::CameraInfoConstPtr &camInfoMsg, const sensor_msgs::PointCloud2ConstPtr &scanMsg)
void	depthScan3dTFCallback (const sensor_msgs::ImageConstPtr &imageMsg, const sensor_msgs::ImageConstPtr &imageDepthMsg, const sensor_msgs::CameraInfoConstPtr &camInfoMsg, const sensor_msgs::PointCloud2ConstPtr &scanMsg)
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 (int id, const std::string &label, const rtabmap::Transform &pose, const ros::Time &stamp, double *planningTime=0)
void	goalDoneCb (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
void	goalFeedbackCb (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
void	goalNodeCallback (const rtabmap_ros::GoalConstPtr &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 (const ros::Time &stamp, const rtabmap::SensorData &data, const rtabmap::Transform &odom=rtabmap::Transform(), const std::string &odomFrameId="", float odomRotationalVariance=1.0, float odomTransitionalVariance=1.0)
void	publishCurrentGoal (const ros::Time &stamp)
void	publishGlobalPath (const ros::Time &stamp)
void	publishLocalPath (const ros::Time &stamp)
void	publishLoop (double tfDelay, double tfTolerance)
bool	publishMapCallback (rtabmap_ros::PublishMap::Request &, rtabmap_ros::PublishMap::Response &)
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	setLogDebug (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setLogError (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setLogInfo (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setLogWarn (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
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 subscribeScan2d, bool subscribeScan3d, bool subscribeStereo, int queueSize, bool approxSync, int depthCameras)
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	stereoScan3dCallback (const sensor_msgs::ImageConstPtr &leftImageMsg, const sensor_msgs::ImageConstPtr &rightImageMsg, const sensor_msgs::CameraInfoConstPtr &leftCamInfoMsg, const sensor_msgs::CameraInfoConstPtr &rightCamInfoMsg, const sensor_msgs::PointCloud2ConstPtr &scanMsg, const nav_msgs::OdometryConstPtr &odomMsg)
void	stereoScan3dTFCallback (const sensor_msgs::ImageConstPtr &leftImageMsg, const sensor_msgs::ImageConstPtr &rightImageMsg, const sensor_msgs::CameraInfoConstPtr &leftCamInfoMsg, const sensor_msgs::CameraInfoConstPtr &rightCamInfoMsg, const sensor_msgs::PointCloud2ConstPtr &scanMsg)
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)
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_
std::vector < message_filters::Subscriber < sensor_msgs::CameraInfo > * >	cameraInfoSubs_
ros::ServiceServer	cancelGoalSrv_
std::string	configPath_
bool	createIntermediateNodes_
rtabmap::Transform	currentMetricGoal_
std::string	databasePath_
image_transport::Subscriber	defaultSub_
message_filters::Synchronizer < MyDepth2SyncPolicy > *	depth2Sync_
message_filters::Synchronizer < MyDepthExactSyncPolicy > *	depthExactSync_
message_filters::Synchronizer < MyDepthScan3dSyncPolicy > *	depthScan3dSync_
message_filters::Synchronizer < MyDepthScan3dTFSyncPolicy > *	depthScan3dTFSync_
message_filters::Synchronizer < MyDepthScanSyncPolicy > *	depthScanSync_
message_filters::Synchronizer < MyDepthScanTFSyncPolicy > *	depthScanTFSync_
message_filters::Synchronizer < MyDepthSyncPolicy > *	depthSync_
message_filters::Synchronizer < MyDepthTFExactSyncPolicy > *	depthTFExactSync_
message_filters::Synchronizer < MyDepthTFSyncPolicy > *	depthTFSync_
bool	flipScan_
std::string	frameId_
bool	genScan_
double	genScanMaxDepth_
double	genScanMinDepth_
ros::ServiceServer	getGridMapSrv_
ros::ServiceServer	getMapDataSrv_
ros::ServiceServer	getProjMapSrv_
ros::Publisher	globalPathPub_
ros::Subscriber	goalNodeSub_
ros::Publisher	goalReachedPub_
ros::Subscriber	goalSub_
std::string	groundTruthFrameId_
std::vector < image_transport::SubscriberFilter * >	imageDepthSubs_
image_transport::SubscriberFilter	imageRectLeft_
image_transport::SubscriberFilter	imageRectRight_
std::vector < image_transport::SubscriberFilter * >	imageSubs_
ros::Publisher	infoPub_
ros::Publisher	labelsPub_
rtabmap::Transform	lastPose_
bool	lastPoseIntermediate_
ros::Time	lastPoseStamp_
bool	latestNodeWasReached_
ros::ServiceServer	listLabelsSrv_
ros::Publisher	localPathPub_
ros::Publisher	mapDataPub_
std::string	mapFrameId_
ros::Publisher	mapGraphPub_
MapsManager	mapsManager_
rtabmap::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::Time	previousStamp_
ros::ServiceServer	publishMapDataSrv_
float	rate_
ros::ServiceServer	resetSrv_
ros::ServiceServer	resumeSrv_
float	rotVariance_
rtabmap::Rtabmap	rtabmap_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	scan3dSub_
int	scanCloudMaxPoints_
int	scanCloudNormalK_
message_filters::Subscriber < sensor_msgs::LaserScan >	scanSub_
ros::ServiceServer	setGoalSrv_
ros::ServiceServer	setLabelSrv_
ros::ServiceServer	setLogDebugSrv_
ros::ServiceServer	setLogErrorSrv_
ros::ServiceServer	setLogInfoSrv_
ros::ServiceServer	setLogWarnSrv_
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 < MyStereoScan3dSyncPolicy > *	stereoScan3dSync_
message_filters::Synchronizer < MyStereoScan3dTFSyncPolicy > *	stereoScan3dTFSync_
message_filters::Synchronizer < MyStereoScanSyncPolicy > *	stereoScanSync_
message_filters::Synchronizer < MyStereoScanTFSyncPolicy > *	stereoScanTFSync_
tf2_ros::TransformBroadcaster	tfBroadcaster_
tf::TransformListener	tfListener_
ros::Time	time_
boost::thread *	transformThread_
float	transVariance_
ros::ServiceServer	triggerNewMapSrv_
ros::ServiceServer	updateSrv_
bool	useActionForGoal_
bool	waitForTransform_
double	waitForTransformDuration_

---

Detailed Description

Definition at line 80 of file CoreWrapper.h.

---

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime< nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> CoreWrapper::MyDepth2SyncPolicy [private]

Definition at line 389 of file CoreWrapper.h.

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

Definition at line 345 of file CoreWrapper.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2> CoreWrapper::MyDepthScan3dSyncPolicy [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::PointCloud2> CoreWrapper::MyDepthScan3dTFSyncPolicy [private]

Definition at line 404 of file CoreWrapper.h.

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 324 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 397 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 339 of file CoreWrapper.h.

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

Definition at line 415 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 410 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 371 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 438 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 379 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 445 of file CoreWrapper.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, nav_msgs::Odometry> CoreWrapper::MyStereoScan3dSyncPolicy [private]

Definition at line 363 of file CoreWrapper.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2> CoreWrapper::MyStereoScan3dTFSyncPolicy [private]

Definition at line 431 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 354 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 423 of file CoreWrapper.h.

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Constructor & Destructor Documentation

CoreWrapper::CoreWrapper	(	bool	deleteDbOnStart,
		const rtabmap::ParametersMap &	parameters
	)

Definition at line 80 of file CoreWrapper.cpp.

CoreWrapper::~CoreWrapper

(

)

[virtual]

Definition at line 462 of file CoreWrapper.cpp.

---

Member Function Documentation

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

Definition at line 1881 of file CoreWrapper.cpp.

bool CoreWrapper::cancelGoalCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		[private]

Definition at line 2269 of file CoreWrapper.cpp.

void CoreWrapper::commonDepthCallback	(	const std::string &	odomFrameId,
		const sensor_msgs::ImageConstPtr &	imageMsg,
		const sensor_msgs::ImageConstPtr &	depthMsg,
		const sensor_msgs::CameraInfoConstPtr &	cameraInfoMsg,
		const sensor_msgs::LaserScanConstPtr &	scanMsg,
		const sensor_msgs::PointCloud2ConstPtr &	scan3dMsg
	)		[private]

Definition at line 800 of file CoreWrapper.cpp.

void CoreWrapper::commonDepthCallback	(	const std::string &	odomFrameId,
		const std::vector< sensor_msgs::ImageConstPtr > &	imageMsgs,
		const std::vector< sensor_msgs::ImageConstPtr > &	depthMsgs,
		const std::vector< sensor_msgs::CameraInfoConstPtr > &	cameraInfoMsgs,
		const sensor_msgs::LaserScanConstPtr &	scanMsg,
		const sensor_msgs::PointCloud2ConstPtr &	scan3dMsg
	)		[private]

Definition at line 816 of file CoreWrapper.cpp.

bool CoreWrapper::commonOdomTFUpdate

(

const ros::Time &

stamp

)

[private]

Definition at line 718 of file CoreWrapper.cpp.

bool CoreWrapper::commonOdomUpdate

(

const nav_msgs::OdometryConstPtr &

odomMsg

)

[private]

Definition at line 653 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,
		const sensor_msgs::PointCloud2ConstPtr &	scan3dMsg
	)		[private]

Definition at line 1091 of file CoreWrapper.cpp.

void CoreWrapper::defaultCallback

(

const sensor_msgs::ImageConstPtr &

imageMsg

)

[private]

Definition at line 591 of file CoreWrapper.cpp.

void CoreWrapper::depth2Callback	(	const nav_msgs::OdometryConstPtr &	odomMsg,
		const sensor_msgs::ImageConstPtr &	image1Msg,
		const sensor_msgs::ImageConstPtr &	imageDepth1Msg,
		const sensor_msgs::CameraInfoConstPtr &	camInfo1Msg,
		const sensor_msgs::ImageConstPtr &	image2Msg,
		const sensor_msgs::ImageConstPtr &	imageDept2hMsg,
		const sensor_msgs::CameraInfoConstPtr &	camInfo2Msg
	)		[private]

Definition at line 1370 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 1280 of file CoreWrapper.cpp.

void CoreWrapper::depthScan3dCallback	(	const sensor_msgs::ImageConstPtr &	imageMsg,
		const nav_msgs::OdometryConstPtr &	odomMsg,
		const sensor_msgs::ImageConstPtr &	imageDepthMsg,
		const sensor_msgs::CameraInfoConstPtr &	camInfoMsg,
		const sensor_msgs::PointCloud2ConstPtr &	scanMsg
	)		[private]

Definition at line 1309 of file CoreWrapper.cpp.

void CoreWrapper::depthScan3dTFCallback	(	const sensor_msgs::ImageConstPtr &	imageMsg,
		const sensor_msgs::ImageConstPtr &	imageDepthMsg,
		const sensor_msgs::CameraInfoConstPtr &	camInfoMsg,
		const sensor_msgs::PointCloud2ConstPtr &	scanMsg
	)		[private]

Definition at line 1426 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 1295 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 1413 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 1400 of file CoreWrapper.cpp.

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

Definition at line 2034 of file CoreWrapper.cpp.

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

Definition at line 1947 of file CoreWrapper.cpp.

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

Definition at line 1989 of file CoreWrapper.cpp.

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

Definition at line 772 of file CoreWrapper.cpp.

void CoreWrapper::goalActiveCb

(

)

[private]

Definition at line 2542 of file CoreWrapper.cpp.

void CoreWrapper::goalCallback

(

const geometry_msgs::PoseStampedConstPtr &

msg

)

[private]

Definition at line 1752 of file CoreWrapper.cpp.

void CoreWrapper::goalCommonCallback	(	int	id,
		const std::string &	label,
		const rtabmap::Transform &	pose,
		const ros::Time &	stamp,
		double *	planningTime = 0
	)		[private]

Definition at line 1633 of file CoreWrapper.cpp.

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

Definition at line 2498 of file CoreWrapper.cpp.

void CoreWrapper::goalFeedbackCb

(

const move_base_msgs::MoveBaseFeedbackConstPtr &

feedback

)

[private]

Definition at line 2548 of file CoreWrapper.cpp.

void CoreWrapper::goalNodeCallback

(

const rtabmap_ros::GoalConstPtr &

msg

)

[private]

Definition at line 1777 of file CoreWrapper.cpp.

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

Definition at line 2319 of file CoreWrapper.cpp.

ParametersMap CoreWrapper::loadParameters

(

const std::string &

configFile

)

[private]

Definition at line 533 of file CoreWrapper.cpp.

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

Definition at line 1842 of file CoreWrapper.cpp.

void CoreWrapper::process	(	const ros::Time &	stamp,
		const rtabmap::SensorData &	data,
		const rtabmap::Transform &	odom = rtabmap::Transform(),
		const std::string &	odomFrameId = "",
		float	odomRotationalVariance = 1.0,
		float	odomTransitionalVariance = 1.0
	)		[private]

Definition at line 1484 of file CoreWrapper.cpp.

void CoreWrapper::publishCurrentGoal

(

const ros::Time &

stamp

)

[private]

Definition at line 2456 of file CoreWrapper.cpp.

void CoreWrapper::publishGlobalPath

(

const ros::Time &

stamp

)

[private]

Definition at line 2580 of file CoreWrapper.cpp.

void CoreWrapper::publishLocalPath

(

const ros::Time &

stamp

)

[private]

Definition at line 2554 of file CoreWrapper.cpp.

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

Definition at line 568 of file CoreWrapper.cpp.

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

Definition at line 2079 of file CoreWrapper.cpp.

void CoreWrapper::publishStats

(

const ros::Time &

stamp

)

[private]

Definition at line 2330 of file CoreWrapper.cpp.

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

Definition at line 1827 of file CoreWrapper.cpp.

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

Definition at line 1858 of file CoreWrapper.cpp.

void CoreWrapper::saveParameters

(

const std::string &

configFile

)

[private]

Definition at line 550 of file CoreWrapper.cpp.

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

Definition at line 2253 of file CoreWrapper.cpp.

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

Definition at line 2292 of file CoreWrapper.cpp.

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

Definition at line 1922 of file CoreWrapper.cpp.

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

Definition at line 1940 of file CoreWrapper.cpp.

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

Definition at line 1928 of file CoreWrapper.cpp.

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

Definition at line 1934 of file CoreWrapper.cpp.

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

Definition at line 1904 of file CoreWrapper.cpp.

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

Definition at line 1913 of file CoreWrapper.cpp.

void CoreWrapper::setupCallbacks	(	bool	subscribeDepth,
		bool	subscribeScan2d,
		bool	subscribeScan3d,
		bool	subscribeStereo,
		int	queueSize,
		bool	approxSync,
		int	depthCameras
	)		[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

subscribeLaserScan

subscribeLaserScan

subscribeLaserScan

Definition at line 2659 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 1323 of file CoreWrapper.cpp.

void CoreWrapper::stereoScan3dCallback	(	const sensor_msgs::ImageConstPtr &	leftImageMsg,
		const sensor_msgs::ImageConstPtr &	rightImageMsg,
		const sensor_msgs::CameraInfoConstPtr &	leftCamInfoMsg,
		const sensor_msgs::CameraInfoConstPtr &	rightCamInfoMsg,
		const sensor_msgs::PointCloud2ConstPtr &	scanMsg,
		const nav_msgs::OdometryConstPtr &	odomMsg
	)		[private]

Definition at line 1354 of file CoreWrapper.cpp.

void CoreWrapper::stereoScan3dTFCallback	(	const sensor_msgs::ImageConstPtr &	leftImageMsg,
		const sensor_msgs::ImageConstPtr &	rightImageMsg,
		const sensor_msgs::CameraInfoConstPtr &	leftCamInfoMsg,
		const sensor_msgs::CameraInfoConstPtr &	rightCamInfoMsg,
		const sensor_msgs::PointCloud2ConstPtr &	scanMsg
	)		[private]

Definition at line 1469 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 1339 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 1454 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 1439 of file CoreWrapper.cpp.

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

Definition at line 1874 of file CoreWrapper.cpp.

void CoreWrapper::updateGoal

(

const ros::Time &

stamp

)

[private]

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

Definition at line 1787 of file CoreWrapper.cpp.

---

Member Data Documentation

ros::ServiceServer CoreWrapper::backupDatabase_ [private]

Definition at line 456 of file CoreWrapper.h.

message_filters::Subscriber<sensor_msgs::CameraInfo> CoreWrapper::cameraInfoLeft_ [private]

Definition at line 312 of file CoreWrapper.h.

message_filters::Subscriber<sensor_msgs::CameraInfo> CoreWrapper::cameraInfoRight_ [private]

Definition at line 313 of file CoreWrapper.h.

std::vector<message_filters::Subscriber<sensor_msgs::CameraInfo>*> CoreWrapper::cameraInfoSubs_ [private]

Definition at line 307 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::cancelGoalSrv_ [private]

Definition at line 468 of file CoreWrapper.h.

std::string CoreWrapper::configPath_ [private]

Definition at line 271 of file CoreWrapper.h.

bool CoreWrapper::createIntermediateNodes_ [private]

Definition at line 481 of file CoreWrapper.h.

rtabmap::Transform CoreWrapper::currentMetricGoal_ [private]

Definition at line 263 of file CoreWrapper.h.

std::string CoreWrapper::databasePath_ [private]

Definition at line 272 of file CoreWrapper.h.

image_transport::Subscriber CoreWrapper::defaultSub_ [private]

Definition at line 302 of file CoreWrapper.h.

message_filters::Synchronizer<MyDepth2SyncPolicy>* CoreWrapper::depth2Sync_ [private]

Definition at line 390 of file CoreWrapper.h.

message_filters::Synchronizer<MyDepthExactSyncPolicy>* CoreWrapper::depthExactSync_ [private]

Definition at line 346 of file CoreWrapper.h.

message_filters::Synchronizer<MyDepthScan3dSyncPolicy>* CoreWrapper::depthScan3dSync_ [private]

Definition at line 333 of file CoreWrapper.h.

message_filters::Synchronizer<MyDepthScan3dTFSyncPolicy>* CoreWrapper::depthScan3dTFSync_ [private]

Definition at line 405 of file CoreWrapper.h.

message_filters::Synchronizer<MyDepthScanSyncPolicy>* CoreWrapper::depthScanSync_ [private]

Definition at line 325 of file CoreWrapper.h.

message_filters::Synchronizer<MyDepthScanTFSyncPolicy>* CoreWrapper::depthScanTFSync_ [private]

Definition at line 398 of file CoreWrapper.h.

message_filters::Synchronizer<MyDepthSyncPolicy>* CoreWrapper::depthSync_ [private]

Definition at line 340 of file CoreWrapper.h.

message_filters::Synchronizer<MyDepthTFExactSyncPolicy>* CoreWrapper::depthTFExactSync_ [private]

Definition at line 416 of file CoreWrapper.h.

message_filters::Synchronizer<MyDepthTFSyncPolicy>* CoreWrapper::depthTFSync_ [private]

Definition at line 411 of file CoreWrapper.h.

bool CoreWrapper::flipScan_ [private]

Definition at line 281 of file CoreWrapper.h.

std::string CoreWrapper::frameId_ [private]

Definition at line 267 of file CoreWrapper.h.

bool CoreWrapper::genScan_ [private]

Definition at line 276 of file CoreWrapper.h.

double CoreWrapper::genScanMaxDepth_ [private]

Definition at line 277 of file CoreWrapper.h.

double CoreWrapper::genScanMinDepth_ [private]

Definition at line 278 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::getGridMapSrv_ [private]

Definition at line 465 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::getMapDataSrv_ [private]

Definition at line 463 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::getProjMapSrv_ [private]

Definition at line 464 of file CoreWrapper.h.

ros::Publisher CoreWrapper::globalPathPub_ [private]

Definition at line 298 of file CoreWrapper.h.

ros::Subscriber CoreWrapper::goalNodeSub_ [private]

Definition at line 295 of file CoreWrapper.h.

ros::Publisher CoreWrapper::goalReachedPub_ [private]

Definition at line 297 of file CoreWrapper.h.

ros::Subscriber CoreWrapper::goalSub_ [private]

Definition at line 294 of file CoreWrapper.h.

std::string CoreWrapper::groundTruthFrameId_ [private]

Definition at line 270 of file CoreWrapper.h.

std::vector<image_transport::SubscriberFilter*> CoreWrapper::imageDepthSubs_ [private]

Definition at line 306 of file CoreWrapper.h.

image_transport::SubscriberFilter CoreWrapper::imageRectLeft_ [private]

Definition at line 310 of file CoreWrapper.h.

image_transport::SubscriberFilter CoreWrapper::imageRectRight_ [private]

Definition at line 311 of file CoreWrapper.h.

std::vector<image_transport::SubscriberFilter*> CoreWrapper::imageSubs_ [private]

Definition at line 305 of file CoreWrapper.h.

ros::Publisher CoreWrapper::infoPub_ [private]

Definition at line 288 of file CoreWrapper.h.

ros::Publisher CoreWrapper::labelsPub_ [private]

Definition at line 291 of file CoreWrapper.h.

rtabmap::Transform CoreWrapper::lastPose_ [private]

Definition at line 258 of file CoreWrapper.h.

bool CoreWrapper::lastPoseIntermediate_ [private]

Definition at line 260 of file CoreWrapper.h.

ros::Time CoreWrapper::lastPoseStamp_ [private]

Definition at line 259 of file CoreWrapper.h.

bool CoreWrapper::latestNodeWasReached_ [private]

Definition at line 264 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::listLabelsSrv_ [private]

Definition at line 470 of file CoreWrapper.h.

ros::Publisher CoreWrapper::localPathPub_ [private]

Definition at line 299 of file CoreWrapper.h.

ros::Publisher CoreWrapper::mapDataPub_ [private]

Definition at line 289 of file CoreWrapper.h.

std::string CoreWrapper::mapFrameId_ [private]

Definition at line 268 of file CoreWrapper.h.

ros::Publisher CoreWrapper::mapGraphPub_ [private]

Definition at line 290 of file CoreWrapper.h.

MapsManager CoreWrapper::mapsManager_ [private]

Definition at line 286 of file CoreWrapper.h.

rtabmap::Transform CoreWrapper::mapToOdom_ [private]

Definition at line 283 of file CoreWrapper.h.

boost::mutex CoreWrapper::mapToOdomMutex_ [private]

Definition at line 284 of file CoreWrapper.h.

MoveBaseClient CoreWrapper::mbClient_ [private]

Definition at line 476 of file CoreWrapper.h.

ros::Publisher CoreWrapper::nextMetricGoalPub_ [private]

Definition at line 296 of file CoreWrapper.h.

std::string CoreWrapper::odomFrameId_ [private]

Definition at line 269 of file CoreWrapper.h.

message_filters::Subscriber<nav_msgs::Odometry> CoreWrapper::odomSub_ [private]

Definition at line 315 of file CoreWrapper.h.

rtabmap::ParametersMap CoreWrapper::parameters_ [private]

Definition at line 265 of file CoreWrapper.h.

bool CoreWrapper::paused_ [private]

Definition at line 257 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::pauseSrv_ [private]

Definition at line 453 of file CoreWrapper.h.

ros::Time CoreWrapper::previousStamp_ [private]

Definition at line 483 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::publishMapDataSrv_ [private]

Definition at line 466 of file CoreWrapper.h.

float CoreWrapper::rate_ [private]

Definition at line 480 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::resetSrv_ [private]

Definition at line 452 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::resumeSrv_ [private]

Definition at line 454 of file CoreWrapper.h.

float CoreWrapper::rotVariance_ [private]

Definition at line 261 of file CoreWrapper.h.

rtabmap::Rtabmap CoreWrapper::rtabmap_ [private]

Definition at line 256 of file CoreWrapper.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> CoreWrapper::scan3dSub_ [private]

Definition at line 317 of file CoreWrapper.h.

int CoreWrapper::scanCloudMaxPoints_ [private]

Definition at line 279 of file CoreWrapper.h.

int CoreWrapper::scanCloudNormalK_ [private]

Definition at line 280 of file CoreWrapper.h.

message_filters::Subscriber<sensor_msgs::LaserScan> CoreWrapper::scanSub_ [private]

Definition at line 316 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::setGoalSrv_ [private]

Definition at line 467 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::setLabelSrv_ [private]

Definition at line 469 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::setLogDebugSrv_ [private]

Definition at line 459 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::setLogErrorSrv_ [private]

Definition at line 462 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::setLogInfoSrv_ [private]

Definition at line 460 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::setLogWarnSrv_ [private]

Definition at line 461 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::setModeLocalizationSrv_ [private]

Definition at line 457 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::setModeMappingSrv_ [private]

Definition at line 458 of file CoreWrapper.h.

message_filters::Synchronizer<MyStereoApproxSyncPolicy>* CoreWrapper::stereoApproxSync_ [private]

Definition at line 372 of file CoreWrapper.h.

message_filters::Synchronizer<MyStereoApproxTFSyncPolicy>* CoreWrapper::stereoApproxTFSync_ [private]

Definition at line 439 of file CoreWrapper.h.

message_filters::Synchronizer<MyStereoExactSyncPolicy>* CoreWrapper::stereoExactSync_ [private]

Definition at line 380 of file CoreWrapper.h.

message_filters::Synchronizer<MyStereoExactTFSyncPolicy>* CoreWrapper::stereoExactTFSync_ [private]

Definition at line 446 of file CoreWrapper.h.

message_filters::Synchronizer<MyStereoScan3dSyncPolicy>* CoreWrapper::stereoScan3dSync_ [private]

Definition at line 364 of file CoreWrapper.h.

message_filters::Synchronizer<MyStereoScan3dTFSyncPolicy>* CoreWrapper::stereoScan3dTFSync_ [private]

Definition at line 432 of file CoreWrapper.h.

message_filters::Synchronizer<MyStereoScanSyncPolicy>* CoreWrapper::stereoScanSync_ [private]

Definition at line 355 of file CoreWrapper.h.

message_filters::Synchronizer<MyStereoScanTFSyncPolicy>* CoreWrapper::stereoScanTFSync_ [private]

Definition at line 424 of file CoreWrapper.h.

tf2_ros::TransformBroadcaster CoreWrapper::tfBroadcaster_ [private]

Definition at line 448 of file CoreWrapper.h.

tf::TransformListener CoreWrapper::tfListener_ [private]

Definition at line 449 of file CoreWrapper.h.

ros::Time CoreWrapper::time_ [private]

Definition at line 482 of file CoreWrapper.h.

boost::thread* CoreWrapper::transformThread_ [private]

Definition at line 478 of file CoreWrapper.h.

float CoreWrapper::transVariance_ [private]

Definition at line 262 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::triggerNewMapSrv_ [private]

Definition at line 455 of file CoreWrapper.h.

ros::ServiceServer CoreWrapper::updateSrv_ [private]

Definition at line 451 of file CoreWrapper.h.

bool CoreWrapper::useActionForGoal_ [private]

Definition at line 275 of file CoreWrapper.h.

bool CoreWrapper::waitForTransform_ [private]

Definition at line 273 of file CoreWrapper.h.

double CoreWrapper::waitForTransformDuration_ [private]

Definition at line 274 of file CoreWrapper.h.

---

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

• CoreWrapper.h
• CoreWrapper.cpp