#include <TrackingOctomapServer.h>

Inheritance diagram for octomap_server::TrackingOctomapServer:

Public Member Functions
void	insertScan (const tf::Point &sensorOrigin, const PCLPointCloud &ground, const PCLPointCloud &nonground)
	update occupancy map with a scan labeled as ground and nonground. The scans should be in the global map frame. More...

void	trackCallback (sensor_msgs::PointCloud2Ptr cloud)

	TrackingOctomapServer (const std::string &filename="")

virtual	~TrackingOctomapServer ()

Public Member Functions inherited from octomap_server::OctomapServer
bool	clearBBXSrv (BBXSrv::Request &req, BBXSrv::Response &resp)

virtual void	insertCloudCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud)

virtual bool	octomapBinarySrv (OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res)

virtual bool	octomapFullSrv (OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res)

	OctomapServer (const ros::NodeHandle private_nh_=ros::NodeHandle("~"), const ros::NodeHandle &nh_=ros::NodeHandle())

virtual bool	openFile (const std::string &filename)

bool	resetSrv (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)

virtual	~OctomapServer ()

Protected Member Functions
void	trackChanges ()

Protected Member Functions inherited from octomap_server::OctomapServer
void	adjustMapData (nav_msgs::OccupancyGrid &map, const nav_msgs::MapMetaData &oldMapInfo) const

void	filterGroundPlane (const PCLPointCloud &pc, PCLPointCloud &ground, PCLPointCloud &nonground) const
	label the input cloud "pc" into ground and nonground. Should be in the robot's fixed frame (not world!) More...

virtual void	handleFreeNode (const OcTreeT::iterator &it)
	hook that is called when traversing free nodes of the updated Octree More...

virtual void	handleFreeNodeInBBX (const OcTreeT::iterator &it)
	hook that is called when traversing free nodes in the updated area (updates 2D map projection here) More...

virtual void	handleNode (const OcTreeT::iterator &it)
	hook that is called when traversing all nodes of the updated Octree (does nothing here) More...

virtual void	handleNodeInBBX (const OcTreeT::iterator &it)
	hook that is called when traversing all nodes of the updated Octree in the updated area (does nothing here) More...

virtual void	handleOccupiedNode (const OcTreeT::iterator &it)
	hook that is called when traversing occupied nodes of the updated Octree More...

virtual void	handleOccupiedNodeInBBX (const OcTreeT::iterator &it)
	hook that is called when traversing occupied nodes in the updated area (updates 2D map projection here) More...

virtual void	handlePostNodeTraversal (const ros::Time &rostime)
	hook that is called after traversing all nodes More...

virtual void	handlePreNodeTraversal (const ros::Time &rostime)
	hook that is called before traversing all nodes More...

bool	isInUpdateBBX (const OcTreeT::iterator &it) const
	Test if key is within update area of map (2D, ignores height) More...

bool	isSpeckleNode (const octomap::OcTreeKey &key) const
	Find speckle nodes (single occupied voxels with no neighbors). Only works on lowest resolution! More...

bool	mapChanged (const nav_msgs::MapMetaData &oldMapInfo, const nav_msgs::MapMetaData &newMapInfo)

unsigned	mapIdx (const octomap::OcTreeKey &key) const

unsigned	mapIdx (int i, int j) const

virtual void	publishAll (const ros::Time &rostime=ros::Time::now())

void	publishBinaryOctoMap (const ros::Time &rostime=ros::Time::now()) const

void	publishFullOctoMap (const ros::Time &rostime=ros::Time::now()) const

void	publishProjected2DMap (const ros::Time &rostime=ros::Time::now())

void	reconfigureCallback (octomap_server::OctomapServerConfig &config, uint32_t level)

virtual void	update2DMap (const OcTreeT::iterator &it, bool occupied)
	updates the downprojected 2D map as either occupied or free More...

Protected Attributes
std::string	change_id_frame

bool	listen_changes

int	min_change_pub

ros::Publisher	pubChangeSet

ros::Publisher	pubFreeChangeSet

ros::Subscriber	subChangeSet

ros::Subscriber	subFreeChanges

bool	track_changes

Protected Attributes inherited from octomap_server::OctomapServer
std::string	m_baseFrameId

ros::Publisher	m_binaryMapPub

ros::ServiceServer	m_clearBBXService

ros::Publisher	m_cmapPub

ros::Publisher	m_collisionObjectPub

std_msgs::ColorRGBA	m_color

double	m_colorFactor

std_msgs::ColorRGBA	m_colorFree

bool	m_compressMap

boost::recursive_mutex	m_config_mutex

bool	m_filterGroundPlane

bool	m_filterSpeckles

ros::Publisher	m_fmapPub

ros::Publisher	m_fmarkerPub

ros::Publisher	m_fullMapPub

nav_msgs::OccupancyGrid	m_gridmap

double	m_groundFilterAngle

double	m_groundFilterDistance

double	m_groundFilterPlaneDistance

bool	m_incrementalUpdate

bool	m_initConfig

octomap::KeyRay	m_keyRay

bool	m_latchedTopics

bool	m_mapOriginChanged

ros::Publisher	m_mapPub

ros::Publisher	m_markerPub

double	m_maxRange

unsigned	m_maxTreeDepth

double	m_minRange

double	m_minSizeX

double	m_minSizeY

unsigned	m_multires2DScale

ros::NodeHandle	m_nh

ros::NodeHandle	m_nh_private

double	m_occupancyMaxZ

double	m_occupancyMinZ

ros::ServiceServer	m_octomapBinaryService

ros::ServiceServer	m_octomapFullService

OcTreeT *	m_octree

octomap::OcTreeKey	m_paddedMinKey

double	m_pointcloudMaxX

double	m_pointcloudMaxY

double	m_pointcloudMaxZ

double	m_pointcloudMinX

double	m_pointcloudMinY

double	m_pointcloudMinZ

ros::Publisher	m_pointCloudPub

message_filters::Subscriber< sensor_msgs::PointCloud2 > *	m_pointCloudSub

bool	m_projectCompleteMap

bool	m_publish2DMap

bool	m_publishFreeSpace

dynamic_reconfigure::Server< OctomapServerConfig >	m_reconfigureServer

double	m_res

ros::ServiceServer	m_resetService

tf::TransformListener	m_tfListener

tf::MessageFilter< sensor_msgs::PointCloud2 > *	m_tfPointCloudSub

unsigned	m_treeDepth

octomap::OcTreeKey	m_updateBBXMax

octomap::OcTreeKey	m_updateBBXMin

bool	m_useColoredMap

bool	m_useHeightMap

std::string	m_worldFrameId

Additional Inherited Members
Public Types inherited from octomap_server::OctomapServer
typedef octomap_msgs::BoundingBoxQuery	BBXSrv

typedef octomap_msgs::GetOctomap	OctomapSrv

typedef octomap::OcTree	OcTreeT

typedef pcl::PointXYZ	PCLPoint

typedef pcl::PointCloud< pcl::PointXYZ >	PCLPointCloud

Static Protected Member Functions inherited from octomap_server::OctomapServer
static std_msgs::ColorRGBA	heightMapColor (double h)

static void	updateMaxKey (const octomap::OcTreeKey &in, octomap::OcTreeKey &max)

static void	updateMinKey (const octomap::OcTreeKey &in, octomap::OcTreeKey &min)

Detailed Description

Definition at line 37 of file TrackingOctomapServer.h.

Constructor & Destructor Documentation

◆ TrackingOctomapServer()

octomap_server::TrackingOctomapServer::TrackingOctomapServer ( const std::string & filename = "" )

Definition at line 37 of file TrackingOctomapServer.cpp.

◆ ~TrackingOctomapServer()

octomap_server::TrackingOctomapServer::~TrackingOctomapServer ( )

virtual

Definition at line 86 of file TrackingOctomapServer.cpp.

Member Function Documentation

◆ insertScan()

void octomap_server::TrackingOctomapServer::insertScan	(	const tf::Point &	sensorOrigin,
		const PCLPointCloud &	ground,
		const PCLPointCloud &	nonground
	)

virtual

update occupancy map with a scan labeled as ground and nonground. The scans should be in the global map frame.

Parameters

sensorOrigin	origin of the measurements for raycasting
ground	scan endpoints on the ground plane (only clear space)
nonground	all other endpoints (clear up to occupied endpoint)

Reimplemented from octomap_server::OctomapServer.

Definition at line 89 of file TrackingOctomapServer.cpp.

◆ trackCallback()

void octomap_server::TrackingOctomapServer::trackCallback ( sensor_msgs::PointCloud2Ptr cloud )

Definition at line 141 of file TrackingOctomapServer.cpp.

◆ trackChanges()

void octomap_server::TrackingOctomapServer::trackChanges ( )

protected

Definition at line 97 of file TrackingOctomapServer.cpp.

Member Data Documentation

◆ change_id_frame

std::string octomap_server::TrackingOctomapServer::change_id_frame

protected

Definition at line 51 of file TrackingOctomapServer.h.

◆ listen_changes

bool octomap_server::TrackingOctomapServer::listen_changes

protected

Definition at line 48 of file TrackingOctomapServer.h.

◆ min_change_pub

int octomap_server::TrackingOctomapServer::min_change_pub

protected

Definition at line 50 of file TrackingOctomapServer.h.

◆ pubChangeSet

ros::Publisher octomap_server::TrackingOctomapServer::pubChangeSet

protected

Definition at line 53 of file TrackingOctomapServer.h.

◆ pubFreeChangeSet

ros::Publisher octomap_server::TrackingOctomapServer::pubFreeChangeSet

protected

Definition at line 52 of file TrackingOctomapServer.h.

◆ subChangeSet

ros::Subscriber octomap_server::TrackingOctomapServer::subChangeSet

protected

Definition at line 54 of file TrackingOctomapServer.h.

◆ subFreeChanges

ros::Subscriber octomap_server::TrackingOctomapServer::subFreeChanges

protected

Definition at line 55 of file TrackingOctomapServer.h.

◆ track_changes

bool octomap_server::TrackingOctomapServer::track_changes

protected

Definition at line 49 of file TrackingOctomapServer.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TrackingOctomapServer()

◆ ~TrackingOctomapServer()

Member Function Documentation

◆ insertScan()

◆ trackCallback()

◆ trackChanges()

Member Data Documentation

◆ change_id_frame

◆ listen_changes

◆ min_change_pub

◆ pubChangeSet

◆ pubFreeChangeSet

◆ subChangeSet

◆ subFreeChanges

◆ track_changes