Takes in point clouds from sensors, transforms them to the desired frame, and stores them. More...

#include <observation_buffer.h>

Public Member Functions
void	bufferCloud (const sensor_msgs::PointCloud2 &cloud)
	Transforms a PointCloud to the global frame and buffers it Note: The burden is on the user to make sure the transform is available... ie they should use a MessageNotifier More...

void	bufferCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud)
	Transforms a PointCloud to the global frame and buffers it Note: The burden is on the user to make sure the transform is available... ie they should use a MessageNotifier More...

void	getObservations (std::vector< Observation > &observations)
	Pushes copies of all current observations onto the end of the vector passed in. More...

bool	isCurrent () const
	Check if the observation buffer is being update at its expected rate. More...

void	lock ()
	Lock the observation buffer. More...

	ObservationBuffer (std::string topic_name, double observation_keep_time, double expected_update_rate, double min_obstacle_height, double max_obstacle_height, double obstacle_range, double raytrace_range, tf::TransformListener &tf, std::string global_frame, std::string sensor_frame, double tf_tolerance)
	Constructs an observation buffer. More...

void	resetLastUpdated ()
	Reset last updated timestamp. More...

bool	setGlobalFrame (const std::string new_global_frame)
	Sets the global frame of an observation buffer. This will transform all the currently cached observations to the new global frame. More...

void	unlock ()
	Lock the observation buffer. More...

	~ObservationBuffer ()
	Destructor... cleans up. More...

Private Member Functions
void	purgeStaleObservations ()
	Removes any stale observations from the buffer list. More...

Private Attributes
const ros::Duration	expected_update_rate_

std::string	global_frame_

ros::Time	last_updated_

boost::recursive_mutex	lock_
	A lock for accessing data in callbacks safely. More...

double	max_obstacle_height_

double	min_obstacle_height_

const ros::Duration	observation_keep_time_

std::list< Observation >	observation_list_

double	obstacle_range_

double	raytrace_range_

std::string	sensor_frame_

tf::TransformListener &	tf_

double	tf_tolerance_

std::string	topic_name_

Detailed Description

Takes in point clouds from sensors, transforms them to the desired frame, and stores them.

Definition at line 61 of file observation_buffer.h.

Constructor & Destructor Documentation

costmap_2d::ObservationBuffer::ObservationBuffer	(	std::string	topic_name,
		double	observation_keep_time,
		double	expected_update_rate,
		double	min_obstacle_height,
		double	max_obstacle_height,
		double	obstacle_range,
		double	raytrace_range,
		tf::TransformListener &	tf,
		std::string	global_frame,
		std::string	sensor_frame,
		double	tf_tolerance
	)

Constructs an observation buffer.

Parameters

topic_name	The topic of the observations, used as an identifier for error and warning messages
observation_keep_time	Defines the persistence of observations in seconds, 0 means only keep the latest
expected_update_rate	How often this buffer is expected to be updated, 0 means there is no limit
min_obstacle_height	The minimum height of a hitpoint to be considered legal
max_obstacle_height	The minimum height of a hitpoint to be considered legal
obstacle_range	The range to which the sensor should be trusted for inserting obstacles
raytrace_range	The range to which the sensor should be trusted for raytracing to clear out space
tf	A reference to a TransformListener
global_frame	The frame to transform PointClouds into
sensor_frame	The frame of the origin of the sensor, can be left blank to be read from the messages
tf_tolerance	The amount of time to wait for a transform to be available when setting a new global frame

Definition at line 51 of file observation_buffer.cpp.

costmap_2d::ObservationBuffer::~ObservationBuffer ( )

Destructor... cleans up.

Definition at line 62 of file observation_buffer.cpp.

Member Function Documentation

void costmap_2d::ObservationBuffer::bufferCloud ( const sensor_msgs::PointCloud2 & cloud )

Transforms a PointCloud to the global frame and buffers it Note: The burden is on the user to make sure the transform is available... ie they should use a MessageNotifier

Parameters

cloud The cloud to be buffered

Definition at line 111 of file observation_buffer.cpp.

void costmap_2d::ObservationBuffer::bufferCloud ( const pcl::PointCloud< pcl::PointXYZ > & cloud )

Transforms a PointCloud to the global frame and buffers it Note: The burden is on the user to make sure the transform is available... ie they should use a MessageNotifier

Parameters

cloud The cloud to be buffered

Definition at line 129 of file observation_buffer.cpp.

void costmap_2d::ObservationBuffer::getObservations ( std::vector< Observation > & observations )

Pushes copies of all current observations onto the end of the vector passed in.

Parameters

observations The vector to be filled

Definition at line 198 of file observation_buffer.cpp.

bool costmap_2d::ObservationBuffer::isCurrent ( ) const

Check if the observation buffer is being update at its expected rate.

Returns: True if it is being updated at the expected rate, false otherwise

Definition at line 238 of file observation_buffer.cpp.

void costmap_2d::ObservationBuffer::lock ( )

inline

Lock the observation buffer.

Definition at line 126 of file observation_buffer.h.

void costmap_2d::ObservationBuffer::purgeStaleObservations ( )

private

Removes any stale observations from the buffer list.

Definition at line 211 of file observation_buffer.cpp.

void costmap_2d::ObservationBuffer::resetLastUpdated ( )

Reset last updated timestamp.

Definition at line 253 of file observation_buffer.cpp.

bool costmap_2d::ObservationBuffer::setGlobalFrame ( const std::string new_global_frame )

Sets the global frame of an observation buffer. This will transform all the currently cached observations to the new global frame.

Parameters

new_global_frame The name of the new global frame.

Returns: True if the operation succeeds, false otherwise

Definition at line 66 of file observation_buffer.cpp.

void costmap_2d::ObservationBuffer::unlock ( )

inline

Lock the observation buffer.

Definition at line 134 of file observation_buffer.h.

Member Data Documentation

const ros::Duration costmap_2d::ObservationBuffer::expected_update_rate_

private

Definition at line 152 of file observation_buffer.h.

std::string costmap_2d::ObservationBuffer::global_frame_

private

Definition at line 154 of file observation_buffer.h.

ros::Time costmap_2d::ObservationBuffer::last_updated_

private

Definition at line 153 of file observation_buffer.h.

boost::recursive_mutex costmap_2d::ObservationBuffer::lock_

private

A lock for accessing data in callbacks safely.

Definition at line 159 of file observation_buffer.h.

double costmap_2d::ObservationBuffer::max_obstacle_height_

private

Definition at line 158 of file observation_buffer.h.

double costmap_2d::ObservationBuffer::min_obstacle_height_

private

Definition at line 158 of file observation_buffer.h.

const ros::Duration costmap_2d::ObservationBuffer::observation_keep_time_

private

Definition at line 151 of file observation_buffer.h.

std::list<Observation> costmap_2d::ObservationBuffer::observation_list_

private

Definition at line 156 of file observation_buffer.h.

double costmap_2d::ObservationBuffer::obstacle_range_

private

Definition at line 160 of file observation_buffer.h.

double costmap_2d::ObservationBuffer::raytrace_range_

private

Definition at line 160 of file observation_buffer.h.

std::string costmap_2d::ObservationBuffer::sensor_frame_

private

Definition at line 155 of file observation_buffer.h.

tf::TransformListener& costmap_2d::ObservationBuffer::tf_

private

Definition at line 150 of file observation_buffer.h.

double costmap_2d::ObservationBuffer::tf_tolerance_

private

Definition at line 161 of file observation_buffer.h.

std::string costmap_2d::ObservationBuffer::topic_name_

private

Definition at line 157 of file observation_buffer.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation