#include <pcdfilter_pa_node.h>

Inheritance diagram for cPcdFilterPaNode:

Public Member Functions
	cPcdFilterPaNode ()
	default constructor More...

	~cPcdFilterPaNode ()
	default destructor More...

Public Member Functions inherited from cPcdFilterPaRos
sensor_msgs::PointCloud2Ptr	applyMasktoCloud (const sensor_msgs::PointCloud2ConstPtr cloud, const std::vector< bool > mask) const

sensor_msgs::PointCloud2Ptr	convertCloud (const sensor_msgs::PointCloudConstPtr &msg) const
	converts the given pointcloud to newer format More...

sensor_msgs::PointCloud2Ptr	convertCloud (const sensor_msgs::LaserScanConstPtr &msg) const
	converts the given laserscan to a pointcloud More...

const cv::Mat	convertCloudToOpencv (const sensor_msgs::PointCloud2ConstPtr &msg, const bool force_copy=false) const

	cPcdFilterPaRos ()
	default constructor More...

bool	filterCloud (const sensor_msgs::PointCloud2ConstPtr &msg, sensor_msgs::PointCloud2Ptr &result)
	filters the given pointcloud More...

bool	filterCloud (sensor_msgs::PointCloud2Ptr &result)
	filters the buffered pointcloud More...

bool	updateTf (const tf::TransformListener &tf_listener, const std::string base_frame, const ros::Time time=ros::Time::now())

bool	updateTf (const tf::TransformListener &tf_listener)

	~cPcdFilterPaRos ()
	default destructor More...

Public Member Functions inherited from cPcdFilterPa
	cPcdFilterPa ()
	default constructor More...

std::vector< int >	pointcloudFilter (const cv::Mat &pointcloud, std::vector< bool > &mask) const

	~cPcdFilterPa ()
	default destructor More...

Protected Member Functions
void	addFilters (const std::vector< std::string > &new_filters)
	function for adding several filters and giving feedback More...

bool	addFiltersCallbackSrv (pcdfilter_pa::PcdFilterPaFilter::Request &req, pcdfilter_pa::PcdFilterPaFilter::Response &res)
	callback function for adding additional filters More...

bool	changeFiltersCallbackSrv (pcdfilter_pa::PcdFilterPaFilter::Request &req, pcdfilter_pa::PcdFilterPaFilter::Response &res)
	callback function for changing filters More...

bool	disableCallbackSrv (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	callback function for disabling filter node More...

bool	enableCallbackSrv (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	callback function for enabling filter node More...

bool	filterCallbackSrv (pcdfilter_pa::PcdFilterPaCloud::Request &req, pcdfilter_pa::PcdFilterPaCloud::Response &res)
	callback function for filtering via service More...

void	setCloudCallbackSub (const sensor_msgs::PointCloud2ConstPtr &msg)
	callback function for receiving a pointcloud More...

void	setCloudLaserCallbackSub (const sensor_msgs::LaserScanConstPtr &msg)
	callback function for receiving a laserscan More...

void	setCloudOldCallbackSub (const sensor_msgs::PointCloudConstPtr &msg)
	callback function for receiving a pointcloud (old format) More...

Protected Attributes
ros::NodeHandle	nh_
	node handler for topic subscription and advertising More...

cPcdFilterPaNodeParameter	nodeparams_
	ros specific variables, which will be read from Parameterserver More...

ros::Publisher	pub_pcd_
	publisher for filtered pointcloud More...

ros::ServiceServer	ser_add_filters_
	service for adding additional filters More...

ros::ServiceServer	ser_change_filters_
	service for changing filters More...

ros::ServiceServer	ser_disable_
	service for disabling node More...

ros::ServiceServer	ser_enable_
	service for enabling node More...

ros::ServiceServer	ser_filter_
	service for filtering More...

ros::Subscriber	sub_laser_
	subscriber for a laserscan More...

ros::Subscriber	sub_pcd_
	subscriber for a pointcloud More...

ros::Subscriber	sub_pcd_old_
	subscriber for a pointcloud (old format) More...

tf::TransformListener	tf_listener_
	for getting all necessary tfs More...

Private Member Functions
void	disable (void)
	function for deactivating this node (disabling inputs) More...

void	enable (void)
	function for activating this node (enabling inputs) More...

Additional Inherited Members
Public Attributes inherited from cPcdFilterPaRos
cPcdFilterPaRosFilters	filters_
	object for filter handling More...

cPcdFilterPaRosThrottle	input_throttle_
	object for input throttling - e.g. only every 5th pointcloud More...

sensor_msgs::PointCloud2ConstPtr	pcd_buffered_msg_

cv::Mat	pcd_buffered_points_

cPcdFilterPaRosParameter	rosparams_
	ros specific parameter More...

Public Attributes inherited from cPcdFilterPa
cPcdFilterPaParameter	params_
	specific parameter More...

Detailed Description

Definition at line 73 of file pcdfilter_pa_node.h.

Constructor & Destructor Documentation

cPcdFilterPaNode::cPcdFilterPaNode ( )

default constructor

Definition at line 68 of file pcdfilter_pa_node.cpp.

cPcdFilterPaNode::~cPcdFilterPaNode ( )

default destructor

Definition at line 136 of file pcdfilter_pa_node.cpp.

Member Function Documentation

void cPcdFilterPaNode::addFilters ( const std::vector< std::string > & new_filters )

protected

function for adding several filters and giving feedback

Definition at line 236 of file pcdfilter_pa_node.cpp.

bool cPcdFilterPaNode::addFiltersCallbackSrv	(	pcdfilter_pa::PcdFilterPaFilter::Request &	req,
		pcdfilter_pa::PcdFilterPaFilter::Response &	res
	)

protected

callback function for adding additional filters

Definition at line 186 of file pcdfilter_pa_node.cpp.

bool cPcdFilterPaNode::changeFiltersCallbackSrv	(	pcdfilter_pa::PcdFilterPaFilter::Request &	req,
		pcdfilter_pa::PcdFilterPaFilter::Response &	res
	)

protected

callback function for changing filters

Definition at line 251 of file pcdfilter_pa_node.cpp.

void cPcdFilterPaNode::disable ( void )

private

function for deactivating this node (disabling inputs)

Definition at line 307 of file pcdfilter_pa_node.cpp.

bool cPcdFilterPaNode::disableCallbackSrv	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

protected

callback function for disabling filter node

Definition at line 272 of file pcdfilter_pa_node.cpp.

void cPcdFilterPaNode::enable ( void )

private

function for activating this node (enabling inputs)

Definition at line 280 of file pcdfilter_pa_node.cpp.

bool cPcdFilterPaNode::enableCallbackSrv	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

protected

callback function for enabling filter node

Definition at line 264 of file pcdfilter_pa_node.cpp.

bool cPcdFilterPaNode::filterCallbackSrv	(	pcdfilter_pa::PcdFilterPaCloud::Request &	req,
		pcdfilter_pa::PcdFilterPaCloud::Response &	res
	)

protected

callback function for filtering via service

Definition at line 206 of file pcdfilter_pa_node.cpp.

void cPcdFilterPaNode::setCloudCallbackSub ( const sensor_msgs::PointCloud2ConstPtr & msg )

protected

callback function for receiving a pointcloud

Definition at line 140 of file pcdfilter_pa_node.cpp.

void cPcdFilterPaNode::setCloudLaserCallbackSub ( const sensor_msgs::LaserScanConstPtr & msg )

protected

callback function for receiving a laserscan

Definition at line 179 of file pcdfilter_pa_node.cpp.

void cPcdFilterPaNode::setCloudOldCallbackSub ( const sensor_msgs::PointCloudConstPtr & msg )

protected

callback function for receiving a pointcloud (old format)

Definition at line 172 of file pcdfilter_pa_node.cpp.

Member Data Documentation

ros::NodeHandle cPcdFilterPaNode::nh_

protected

node handler for topic subscription and advertising

Definition at line 86 of file pcdfilter_pa_node.h.

cPcdFilterPaNodeParameter cPcdFilterPaNode::nodeparams_

protected

ros specific variables, which will be read from Parameterserver

Definition at line 83 of file pcdfilter_pa_node.h.

ros::Publisher cPcdFilterPaNode::pub_pcd_

protected

publisher for filtered pointcloud

Definition at line 99 of file pcdfilter_pa_node.h.

ros::ServiceServer cPcdFilterPaNode::ser_add_filters_

protected

service for adding additional filters

Definition at line 105 of file pcdfilter_pa_node.h.

ros::ServiceServer cPcdFilterPaNode::ser_change_filters_

protected

service for changing filters

Definition at line 107 of file pcdfilter_pa_node.h.

ros::ServiceServer cPcdFilterPaNode::ser_disable_

protected

service for disabling node

Definition at line 112 of file pcdfilter_pa_node.h.

ros::ServiceServer cPcdFilterPaNode::ser_enable_

protected

service for enabling node

Definition at line 110 of file pcdfilter_pa_node.h.

ros::ServiceServer cPcdFilterPaNode::ser_filter_

protected

service for filtering

Definition at line 102 of file pcdfilter_pa_node.h.

ros::Subscriber cPcdFilterPaNode::sub_laser_

protected

subscriber for a laserscan

Definition at line 96 of file pcdfilter_pa_node.h.

ros::Subscriber cPcdFilterPaNode::sub_pcd_

protected

subscriber for a pointcloud

Definition at line 92 of file pcdfilter_pa_node.h.

ros::Subscriber cPcdFilterPaNode::sub_pcd_old_

protected

subscriber for a pointcloud (old format)

Definition at line 94 of file pcdfilter_pa_node.h.

tf::TransformListener cPcdFilterPaNode::tf_listener_

protected

for getting all necessary tfs

Definition at line 89 of file pcdfilter_pa_node.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation