map_merge::MapMerge Class Reference

#include <map_merge.h>

Public Member Functions
void	executemapMerging ()
void	executeposeEstimation ()
void	executetopicSubscribing ()
	MapMerge ()
void	mapMerging ()
void	poseEstimation ()
	Estimates initial positions of grids. More...
void	spin ()
void	topicSubscribing ()

Private Member Functions
void	fullMapUpdate (const nav_msgs::OccupancyGrid::ConstPtr &msg, MapSubscription &map)
bool	getInitPose (const std::string &name, geometry_msgs::Transform &pose)
bool	isRobotMapTopic (const ros::master::TopicInfo &topic)
void	partialMapUpdate (const map_msgs::OccupancyGridUpdate::ConstPtr &msg, MapSubscription &map)
std::string	robotNameFromTopic (const std::string &topic)

Private Attributes
double	confidence_treshold_
double	discovery_rate_
double	estimation_rate_
bool	have_initial_poses_
ros::Publisher	merged_map_publisher_
double	merging_rate_
ros::NodeHandle	node_
combine_grids::MergingPipeline	pipeline_
std::mutex	pipeline_mutex_
std::string	robot_map_topic_
std::string	robot_map_updates_topic_
std::string	robot_namespace_
std::unordered_map< std::string, MapSubscription * >	robots_
std::forward_list< MapSubscription >	subscriptions_
boost::shared_mutex	subscriptions_mutex_
size_t	subscriptions_size_
std::string	world_frame_

Detailed Description

Definition at line 68 of file map_merge.h.

Constructor & Destructor Documentation

map_merge::MapMerge::MapMerge

(

)

Definition at line 47 of file map_merge.cpp.

Member Function Documentation

void map_merge::MapMerge::executemapMerging

(

)

Definition at line 347 of file map_merge.cpp.

void map_merge::MapMerge::executeposeEstimation

(

)

Definition at line 365 of file map_merge.cpp.

void map_merge::MapMerge::executetopicSubscribing

(

)

Definition at line 356 of file map_merge.cpp.

void map_merge::MapMerge::fullMapUpdate ( const nav_msgs::OccupancyGrid::ConstPtr &  msg, MapSubscription &  map  )

private

Definition at line 203 of file map_merge.cpp.

bool map_merge::MapMerge::getInitPose ( const std::string &  name, geometry_msgs::Transform &  pose  )

private

Definition at line 321 of file map_merge.cpp.

bool map_merge::MapMerge::isRobotMapTopic ( const ros::master::TopicInfo &  topic )

private

Definition at line 297 of file map_merge.cpp.

void map_merge::MapMerge::mapMerging

(

)

Definition at line 146 of file map_merge.cpp.

void map_merge::MapMerge::partialMapUpdate ( const map_msgs::OccupancyGridUpdate::ConstPtr &  msg, MapSubscription &  map  )

private

Definition at line 218 of file map_merge.cpp.

void map_merge::MapMerge::poseEstimation

(

)

Estimates initial positions of grids.

Relevant only if initial poses are not known

Definition at line 185 of file map_merge.cpp.

std::string map_merge::MapMerge::robotNameFromTopic ( const std::string &  topic )

private

Definition at line 291 of file map_merge.cpp.

void map_merge::MapMerge::spin

(

)

Definition at line 380 of file map_merge.cpp.

void map_merge::MapMerge::topicSubscribing

(

)

Definition at line 73 of file map_merge.cpp.

Member Data Documentation

double map_merge::MapMerge::confidence_treshold_

private

Definition at line 77 of file map_merge.h.

double map_merge::MapMerge::discovery_rate_

private

Definition at line 75 of file map_merge.h.

double map_merge::MapMerge::estimation_rate_

private

Definition at line 76 of file map_merge.h.

bool map_merge::MapMerge::have_initial_poses_

private

Definition at line 82 of file map_merge.h.

ros::Publisher map_merge::MapMerge::merged_map_publisher_

private

Definition at line 85 of file map_merge.h.

double map_merge::MapMerge::merging_rate_

private

Definition at line 74 of file map_merge.h.

ros::NodeHandle map_merge::MapMerge::node_

private

Definition at line 71 of file map_merge.h.

combine_grids::MergingPipeline map_merge::MapMerge::pipeline_

private

Definition at line 92 of file map_merge.h.

std::mutex map_merge::MapMerge::pipeline_mutex_

private

Definition at line 93 of file map_merge.h.

std::string map_merge::MapMerge::robot_map_topic_

private

Definition at line 78 of file map_merge.h.

std::string map_merge::MapMerge::robot_map_updates_topic_

private

Definition at line 79 of file map_merge.h.

std::string map_merge::MapMerge::robot_namespace_

private

Definition at line 80 of file map_merge.h.

std::unordered_map<std::string, MapSubscription*> map_merge::MapMerge::robots_

private

Definition at line 87 of file map_merge.h.

std::forward_list<MapSubscription> map_merge::MapMerge::subscriptions_

private

Definition at line 89 of file map_merge.h.

boost::shared_mutex map_merge::MapMerge::subscriptions_mutex_

private

Definition at line 91 of file map_merge.h.

size_t map_merge::MapMerge::subscriptions_size_

private

Definition at line 90 of file map_merge.h.

std::string map_merge::MapMerge::world_frame_

private

Definition at line 81 of file map_merge.h.

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

• map_merge.h
• map_merge.cpp