ElevationVisualization Class Reference

#include <hector_elevation_visualization.h>

Public Member Functions
void	dynRecParamCallback (hector_elevation_visualization::ElevationVisualizationConfig &config, uint32_t level)
	dynRecParamCallback This function get called if new parameters has been set with the dynamic reconfigure dialog More...
	ElevationVisualization ()
	Default constructor. More...
void	map_callback (const hector_elevation_msgs::ElevationGrid &elevation_map)
	map_callback get called if a new elevation map is avaible More...
void	sys_message_callback (const std_msgs::String &string)
	sysMessageCallback This function listen to system messages More...
	~ElevationVisualization ()
	Default deconstructor. More...

Private Member Functions
void	visualize_map (const hector_elevation_msgs::ElevationGrid &elevation_map, tf::StampedTransform local_map_transform)
	visualize_map calculates visualization markers to vizualize the elevation map in rviz More...

Static Private Member Functions
static std_msgs::ColorRGBA	heightMapColor (double h)
	heightMapColor calculates the marker color as a function of height More...

Private Attributes
double	color_factor
dynamic_reconfigure::Server< hector_elevation_visualization::ElevationVisualizationConfig >	dyn_rec_server_
std::string	elevation_map_frame_id
visualization_msgs::MarkerArray	map_marker_array_msg
ros::Publisher	map_marker_array_publisher
std_msgs::ColorRGBA	marker_color
double	max_height
int	max_height_levels
double	min_height
ros::NodeHandle	nHandle
ros::Subscriber	sub_elevation_map
ros::Subscriber	sub_sys_message_callback
std::string	sys_msg_topic
bool	use_color_map
HectorMapTools::CoordinateTransformer< float >	world_map_transform

Detailed Description

Definition at line 21 of file hector_elevation_visualization.h.

Constructor & Destructor Documentation

ElevationVisualization::ElevationVisualization

(

)

Default constructor.

Definition at line 8 of file hector_elevation_visualization.cpp.

ElevationVisualization::~ElevationVisualization

(

)

Default deconstructor.

Definition at line 38 of file hector_elevation_visualization.cpp.

Member Function Documentation

void ElevationVisualization::dynRecParamCallback	(	hector_elevation_visualization::ElevationVisualizationConfig &	config,
		uint32_t	level
	)

dynRecParamCallback This function get called if new parameters has been set with the dynamic reconfigure dialog

Parameters

[in]	config	contains current parameters
[in]	level	is unused

Definition at line 43 of file hector_elevation_visualization.cpp.

std_msgs::ColorRGBA ElevationVisualization::heightMapColor ( double  h )

staticprivate

heightMapColor calculates the marker color as a function of height

Parameters

[in]

h

The height in [m]

Definition at line 178 of file hector_elevation_visualization.cpp.

void ElevationVisualization::map_callback

(

const hector_elevation_msgs::ElevationGrid &

elevation_map

)

map_callback get called if a new elevation map is avaible

Parameters

[in]

elevation_map_msg

stores elevation map data as a 2.5D grid

Definition at line 124 of file hector_elevation_visualization.cpp.

void ElevationVisualization::sys_message_callback

(

const std_msgs::String &

string

)

sysMessageCallback This function listen to system messages

Parameters

[in]

string

parameter contains system messages, like "reset"

Definition at line 162 of file hector_elevation_visualization.cpp.

void ElevationVisualization::visualize_map ( const hector_elevation_msgs::ElevationGrid &  elevation_map, tf::StampedTransform  local_map_transform  )

private

visualize_map calculates visualization markers to vizualize the elevation map in rviz

Parameters

[in]	elevation_map	elevation map data as a 2.5D grid
[in]	local_map_transform	is used for deducing the robot's position

Definition at line 60 of file hector_elevation_visualization.cpp.

Member Data Documentation

double ElevationVisualization::color_factor

private

Definition at line 66 of file hector_elevation_visualization.h.

dynamic_reconfigure::Server<hector_elevation_visualization::ElevationVisualizationConfig> ElevationVisualization::dyn_rec_server_

private

Definition at line 56 of file hector_elevation_visualization.h.

std::string ElevationVisualization::elevation_map_frame_id

private

Definition at line 62 of file hector_elevation_visualization.h.

visualization_msgs::MarkerArray ElevationVisualization::map_marker_array_msg

private

Definition at line 58 of file hector_elevation_visualization.h.

ros::Publisher ElevationVisualization::map_marker_array_publisher

private

Definition at line 54 of file hector_elevation_visualization.h.

std_msgs::ColorRGBA ElevationVisualization::marker_color

private

Definition at line 70 of file hector_elevation_visualization.h.

double ElevationVisualization::max_height

private

Definition at line 66 of file hector_elevation_visualization.h.

int ElevationVisualization::max_height_levels

private

Definition at line 64 of file hector_elevation_visualization.h.

double ElevationVisualization::min_height

private

Definition at line 66 of file hector_elevation_visualization.h.

ros::NodeHandle ElevationVisualization::nHandle

private

Definition at line 50 of file hector_elevation_visualization.h.

ros::Subscriber ElevationVisualization::sub_elevation_map

private

Definition at line 52 of file hector_elevation_visualization.h.

ros::Subscriber ElevationVisualization::sub_sys_message_callback

private

Definition at line 53 of file hector_elevation_visualization.h.

std::string ElevationVisualization::sys_msg_topic

private

Definition at line 62 of file hector_elevation_visualization.h.

bool ElevationVisualization::use_color_map

private

Definition at line 68 of file hector_elevation_visualization.h.

HectorMapTools::CoordinateTransformer<float> ElevationVisualization::world_map_transform

private

Definition at line 60 of file hector_elevation_visualization.h.

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

• hector_elevation_visualization.h
• hector_elevation_visualization.cpp