Map Class Reference

#include <map.h>

Public Member Functions
bool	addFiducialCallback (fiducial_slam::AddFiducial::Request &req, fiducial_slam::AddFiducial::Response &res)
void	autoInit (const std::vector< Observation > &obs, const ros::Time &time)
bool	clearCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	drawLine (const tf2::Vector3 &p0, const tf2::Vector3 &p1)
void	handleAddFiducial (const std::vector< Observation > &obs)
bool	loadMap ()
bool	loadMap (std::string filename)
bool	lookupTransform (const std::string &from, const std::string &to, const ros::Time &time, tf2::Transform &T) const
	Map (ros::NodeHandle &nh)
void	publishMap ()
void	publishMarker (Fiducial &fid)
void	publishMarkers ()
void	publishTf ()
bool	saveMap ()
bool	saveMap (std::string filename)
void	update ()
void	update (std::vector< Observation > &obs, const ros::Time &time)
void	updateMap (const std::vector< Observation > &obs, const ros::Time &time, const tf2::Stamped< TransformWithVariance > &cameraPose)
int	updatePose (std::vector< Observation > &obs, const ros::Time &time, tf2::Stamped< TransformWithVariance > &cameraPose)

Public Attributes
ros::ServiceServer	addSrv
std::string	baseFrame
tf2_ros::TransformBroadcaster	broadcaster
std::string	cameraFrame
ros::Publisher	cameraPosePub
ros::ServiceServer	clearSrv
std::vector< double >	covarianceDiagonal
std::map< int, Fiducial >	fiducials
int	fiducialToAdd
int	frameNum
double	future_date_transforms
bool	havePose
int	initialFrameNum
bool	isInitializingMap
std::unique_ptr< tf2_ros::TransformListener >	listener
std::string	mapFilename
std::string	mapFrame
ros::Publisher	mapPub
ros::Publisher	markerPub
double	multiErrorThreshold
std::string	odomFrame
int	originFid
bool	overridePublishedCovariance
geometry_msgs::TransformStamped	poseTf
bool	publish_6dof_pose
bool	publishPoseTf
bool	readOnly
ros::Publisher	robotPosePub
tf2_ros::Buffer	tfBuffer
float	tfPublishInterval
ros::Time	tfPublishTime

Detailed Description

Definition at line 92 of file map.h.

Constructor & Destructor Documentation

Map::Map

(

ros::NodeHandle &

nh

)

Definition at line 78 of file map.cpp.

Member Function Documentation

bool Map::addFiducialCallback	(	fiducial_slam::AddFiducial::Request &	req,
		fiducial_slam::AddFiducial::Response &	res
	)

Definition at line 821 of file map.cpp.

void Map::autoInit	(	const std::vector< Observation > &	obs,
		const ros::Time &	time
	)

Definition at line 436 of file map.cpp.

bool Map::clearCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 809 of file map.cpp.

void Map::drawLine	(	const tf2::Vector3 &	p0,
		const tf2::Vector3 &	p1
	)

Definition at line 779 of file map.cpp.

void Map::handleAddFiducial

(

const std::vector< Observation > &

obs

)

Definition at line 489 of file map.cpp.

bool Map::loadMap

(

)

Definition at line 570 of file map.cpp.

bool Map::loadMap

(

std::string

filename

)

Definition at line 572 of file map.cpp.

bool Map::lookupTransform	(	const std::string &	from,
		const std::string &	to,
		const ros::Time &	time,
		tf2::Transform &	T
	)		const

Definition at line 229 of file map.cpp.

void Map::publishMap

(

)

Definition at line 629 of file map.cpp.

void Map::publishMarker

(

Fiducial &

fid

)

Definition at line 673 of file map.cpp.

void Map::publishMarkers

(

)

Definition at line 659 of file map.cpp.

void Map::publishTf

(

)

Definition at line 395 of file map.cpp.

bool Map::saveMap

(

)

Definition at line 539 of file map.cpp.

bool Map::saveMap

(

std::string

filename

)

Definition at line 541 of file map.cpp.

void Map::update

(

)

Definition at line 403 of file map.cpp.

void Map::update	(	std::vector< Observation > &	obs,
		const ros::Time &	time
	)

Definition at line 152 of file map.cpp.

void Map::updateMap	(	const std::vector< Observation > &	obs,
		const ros::Time &	time,
		const tf2::Stamped< TransformWithVariance > &	cameraPose
	)

Definition at line 181 of file map.cpp.

int Map::updatePose	(	std::vector< Observation > &	obs,
		const ros::Time &	time,
		tf2::Stamped< TransformWithVariance > &	cameraPose
	)

Definition at line 247 of file map.cpp.

Member Data Documentation

ros::ServiceServer Map::addSrv

Definition at line 104 of file map.h.

std::string Map::baseFrame

Definition at line 113 of file map.h.

tf2_ros::TransformBroadcaster Map::broadcaster

Definition at line 94 of file map.h.

std::string Map::cameraFrame

Definition at line 112 of file map.h.

ros::Publisher Map::cameraPosePub

Definition at line 101 of file map.h.

ros::ServiceServer Map::clearSrv

Definition at line 103 of file map.h.

std::vector<double> Map::covarianceDiagonal

Definition at line 125 of file map.h.

std::map<int, Fiducial> Map::fiducials

Definition at line 133 of file map.h.

int Map::fiducialToAdd

Definition at line 134 of file map.h.

int Map::frameNum

Definition at line 120 of file map.h.

double Map::future_date_transforms

Definition at line 114 of file map.h.

bool Map::havePose

Definition at line 127 of file map.h.

int Map::initialFrameNum

Definition at line 121 of file map.h.

bool Map::isInitializingMap

Definition at line 118 of file map.h.

std::unique_ptr<tf2_ros::TransformListener> Map::listener

Definition at line 96 of file map.h.

std::string Map::mapFilename

Definition at line 109 of file map.h.

std::string Map::mapFrame

Definition at line 110 of file map.h.

ros::Publisher Map::mapPub

Definition at line 99 of file map.h.

ros::Publisher Map::markerPub

Definition at line 98 of file map.h.

double Map::multiErrorThreshold

Definition at line 116 of file map.h.

std::string Map::odomFrame

Definition at line 111 of file map.h.

int Map::originFid

Definition at line 122 of file map.h.

bool Map::overridePublishedCovariance

Definition at line 124 of file map.h.

geometry_msgs::TransformStamped Map::poseTf

Definition at line 131 of file map.h.

bool Map::publish_6dof_pose

Definition at line 115 of file map.h.

bool Map::publishPoseTf

Definition at line 129 of file map.h.

bool Map::readOnly

Definition at line 119 of file map.h.

ros::Publisher Map::robotPosePub

Definition at line 100 of file map.h.

tf2_ros::Buffer Map::tfBuffer

Definition at line 95 of file map.h.

float Map::tfPublishInterval

Definition at line 128 of file map.h.

ros::Time Map::tfPublishTime

Definition at line 130 of file map.h.

---

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

• map.h
• map.cpp