Inheritance diagram for MapAccessibilityAnalysisServer:

Public Member Functions
	MapAccessibilityAnalysisServer (ros::NodeHandle nh)

	~MapAccessibilityAnalysisServer ()

Public Member Functions inherited from MapAccessibilityAnalysis
void	checkPerimeter (std::vector< Pose > &accessible_poses_on_perimeter, const Pose &center, const double radius, const double rotational_sampling_step, const cv::Mat &inflated_map, const bool approach_path_accessibility_check, const cv::Point &robot_location)

void	checkPoses (const std::vector< cv::Point > &points_to_check, std::vector< bool > &accessibility_flags, const cv::Mat &inflated_map, const bool approach_path_accessibility_check, const cv::Point &robot_location)

template<class T >
T	convertFromMeterToPixelCoordinates (const Pose &pose, const cv::Point2d &map_origin, const double inverse_map_resolution)

template<class T >
T	convertFromPixelCoordinatesToMeter (const Pose &pose, const cv::Point2d &map_origin, const double map_resolution)

void	inflateMap (const cv::Mat &original_map, cv::Mat &inflated_map, const int robot_radius_pixel)

	MapAccessibilityAnalysis ()

	~MapAccessibilityAnalysis ()

Protected Types
typedef message_filters::sync_policies::ApproximateTime< nav_msgs::GridCells, nav_msgs::GridCells >	InflatedObstaclesSyncPolicy

Protected Member Functions
bool	checkPerimeterCallback (cob_map_accessibility_analysis::CheckPerimeterAccessibility::Request &req, cob_map_accessibility_analysis::CheckPerimeterAccessibility::Response &res)

bool	checkPolygonCallback (cob_3d_mapping_msgs::GetApproachPoseForPolygon::Request &req, cob_3d_mapping_msgs::GetApproachPoseForPolygon::Response &res)

bool	checkPose2DArrayCallback (cob_map_accessibility_analysis::CheckPointAccessibility::Request &req, cob_map_accessibility_analysis::CheckPointAccessibility::Response &res)

void	dynamicObstaclesInit (ros::NodeHandle &nh)

cv::Point	getRobotLocationInPixelCoordinates ()

void	inflatedObstacleDataCallback (const nav_msgs::GridCells::ConstPtr &obstacles_data, const nav_msgs::GridCells::ConstPtr &inflated_obstacles_data)

void	inflationInit (ros::NodeHandle &nh)

std::vector< geometry_msgs::Point >	loadRobotFootprint (XmlRpc::XmlRpcValue &footprint_list)

void	mapDataCallback (const nav_msgs::OccupancyGrid::ConstPtr &map_msg_data)

void	mapInit (ros::NodeHandle &nh_map)

void	obstacleDataCallback (const nav_msgs::GridCells::ConstPtr &obstacles_data)

Protected Member Functions inherited from MapAccessibilityAnalysis
void	computeClosestPointOnPolygon (const cv::Mat &map_with_polygon, const Pose &pose_p, Pose &closest_point_on_polygon)

bool	isApproachPositionAccessible (const cv::Point &robotLocation, const cv::Point &potentialApproachPose, std::vector< std::vector< cv::Point > > contours)

Protected Attributes
bool	approach_path_accessibility_check_

cv::Mat	inflated_map_

image_transport::Publisher	inflated_map_image_pub_

message_filters::Subscriber< nav_msgs::GridCells >	inflated_obstacles_sub_

boost::shared_ptr< message_filters::Synchronizer< InflatedObstaclesSyncPolicy > >	inflated_obstacles_sub_sync_

cv::Mat	inflated_original_map_

double	inverse_map_resolution_

image_transport::ImageTransport *	it_

ros::Time	last_update_time_obstacles_

bool	map_data_recieved_

std::string	map_link_name_

ros::Subscriber	map_msg_sub_

cv::Point2d	map_origin_

ros::ServiceServer	map_perimeter_accessibility_check_server_

ros::ServiceServer	map_points_accessibility_check_server_

ros::ServiceServer	map_polygon_accessibility_check_server_

double	map_resolution_

boost::mutex	mutex_inflated_map_

ros::NodeHandle	node_handle_

ros::Duration	obstacle_topic_update_delay_

double	obstacle_topic_update_rate_

message_filters::Subscriber< nav_msgs::GridCells >	obstacles_sub_

cv::Mat	original_map_

bool	publish_inflated_map_

std::string	robot_base_link_name_

double	robot_radius_

tf::TransformListener	tf_listener_

Detailed Description

Member Typedef Documentation

protected

MapAccessibilityAnalysisServer::MapAccessibilityAnalysisServer ( ros::NodeHandle nh )

MapAccessibilityAnalysisServer::~MapAccessibilityAnalysisServer ( )

bool MapAccessibilityAnalysisServer::checkPerimeterCallback	(	cob_map_accessibility_analysis::CheckPerimeterAccessibility::Request &	req,
		cob_map_accessibility_analysis::CheckPerimeterAccessibility::Response &	res
	)

protected

bool MapAccessibilityAnalysisServer::checkPolygonCallback	(	cob_3d_mapping_msgs::GetApproachPoseForPolygon::Request &	req,
		cob_3d_mapping_msgs::GetApproachPoseForPolygon::Response &	res
	)

protected

bool MapAccessibilityAnalysisServer::checkPose2DArrayCallback	(	cob_map_accessibility_analysis::CheckPointAccessibility::Request &	req,
		cob_map_accessibility_analysis::CheckPointAccessibility::Response &	res
	)

protected

void MapAccessibilityAnalysisServer::dynamicObstaclesInit ( ros::NodeHandle & nh )

protected

cv::Point MapAccessibilityAnalysisServer::getRobotLocationInPixelCoordinates ( )

protected

void MapAccessibilityAnalysisServer::inflatedObstacleDataCallback	(	const nav_msgs::GridCells::ConstPtr &	obstacles_data,
		const nav_msgs::GridCells::ConstPtr &	inflated_obstacles_data
	)