#include <occupancy_map_monitor.h>

Public Member Functions
void	addUpdater (const OccupancyMapUpdaterPtr &updater)

ShapeHandle	excludeShape (const shapes::ShapeConstPtr &shape)
	Add this shape to the set of shapes to be filtered out from the octomap. More...

void	forgetShape (ShapeHandle handle)
	Forget about this shape handle and the shapes it corresponds to. More...

const std::string &	getMapFrame () const

double	getMapResolution () const

const OccMapTreePtr &	getOcTreePtr ()
	Get a pointer to the underlying octree for this monitor. Lock the tree before reading or writing using this pointer. The value of this pointer stays the same throughout the existance of the monitor instance. More...

const OccMapTreeConstPtr &	getOcTreePtr () const
	Get a const pointer to the underlying octree for this monitor. Lock the tree before reading this pointer. More...

const boost::shared_ptr< tf::Transformer > &	getTFClient () const

bool	isActive () const

	OccupancyMapMonitor (const boost::shared_ptr< tf::Transformer > &tf, const std::string &map_frame="", double map_resolution=0.0)

	OccupancyMapMonitor (double map_resolution=0.0)

	OccupancyMapMonitor (const boost::shared_ptr< tf::Transformer > &tf, ros::NodeHandle &nh, const std::string &map_frame="", double map_resolution=0.0)

void	publishDebugInformation (bool flag)

void	setMapFrame (const std::string &frame)

void	setTransformCacheCallback (const TransformCacheProvider &transform_cache_callback)

void	setUpdateCallback (const boost::function< void()> &update_callback)
	Set the callback to trigger when updates to the maintained octomap are received. More...

void	startMonitor ()
	start the monitor (will begin updating the octomap More...

void	stopMonitor ()

	~OccupancyMapMonitor ()

Private Member Functions
bool	getShapeTransformCache (std::size_t index, const std::string &target_frame, const ros::Time &target_time, ShapeTransformCache &cache) const

void	initialize ()

bool	loadMapCallback (moveit_msgs::LoadMap::Request &request, moveit_msgs::LoadMap::Response &response)
	Load octree from a binary file (gets rid of current octree data) More...

bool	saveMapCallback (moveit_msgs::SaveMap::Request &request, moveit_msgs::SaveMap::Response &response)
	Save the current octree to a binary file. More...

Private Attributes
bool	active_

bool	debug_info_

ros::ServiceServer	load_map_srv_

std::string	map_frame_

double	map_resolution_

std::vector< OccupancyMapUpdaterPtr >	map_updaters_

std::size_t	mesh_handle_count_

std::vector< std::map< ShapeHandle, ShapeHandle > >	mesh_handles_

ros::NodeHandle	nh_

boost::mutex	parameters_lock_

ros::NodeHandle	root_nh_

ros::ServiceServer	save_map_srv_

boost::shared_ptr< tf::Transformer >	tf_

TransformCacheProvider	transform_cache_callback_

OccMapTreePtr	tree_

OccMapTreeConstPtr	tree_const_

std::unique_ptr< pluginlib::ClassLoader< OccupancyMapUpdater > >	updater_plugin_loader_

Detailed Description

Definition at line 57 of file occupancy_map_monitor.h.

Constructor & Destructor Documentation

occupancy_map_monitor::OccupancyMapMonitor::OccupancyMapMonitor	(	const boost::shared_ptr< tf::Transformer > &	tf,
		const std::string &	map_frame = `""`,
		double	map_resolution = `0.0`
	)

Definition at line 52 of file occupancy_map_monitor.cpp.

occupancy_map_monitor::OccupancyMapMonitor::OccupancyMapMonitor ( double map_resolution = 0.0 )

Definition at line 46 of file occupancy_map_monitor.cpp.

occupancy_map_monitor::OccupancyMapMonitor::OccupancyMapMonitor	(	const boost::shared_ptr< tf::Transformer > &	tf,
		ros::NodeHandle &	nh,
		const std::string &	map_frame = `""`,
		double	map_resolution = `0.0`
	)

Definition at line 59 of file occupancy_map_monitor.cpp.

occupancy_map_monitor::OccupancyMapMonitor::~OccupancyMapMonitor ( )

Definition at line 341 of file occupancy_map_monitor.cpp.

Member Function Documentation

void occupancy_map_monitor::OccupancyMapMonitor::addUpdater ( const OccupancyMapUpdaterPtr & updater )

Definition at line 172 of file occupancy_map_monitor.cpp.

ShapeHandle occupancy_map_monitor::OccupancyMapMonitor::excludeShape ( const shapes::ShapeConstPtr & shape )

Add this shape to the set of shapes to be filtered out from the octomap.

Definition at line 213 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::forgetShape ( ShapeHandle handle )

Forget about this shape handle and the shapes it corresponds to.

Definition at line 233 of file occupancy_map_monitor.cpp.

const std::string& occupancy_map_monitor::OccupancyMapMonitor::getMapFrame ( ) const

inline

Definition at line 87 of file occupancy_map_monitor.h.

double occupancy_map_monitor::OccupancyMapMonitor::getMapResolution ( ) const

inline

Definition at line 94 of file occupancy_map_monitor.h.

const OccMapTreePtr& occupancy_map_monitor::OccupancyMapMonitor::getOcTreePtr ( )

inline

Get a pointer to the underlying octree for this monitor. Lock the tree before reading or writing using this pointer. The value of this pointer stays the same throughout the existance of the monitor instance.

Definition at line 75 of file occupancy_map_monitor.h.

const OccMapTreeConstPtr& occupancy_map_monitor::OccupancyMapMonitor::getOcTreePtr ( ) const

inline

Get a const pointer to the underlying octree for this monitor. Lock the tree before reading this pointer.

Definition at line 82 of file occupancy_map_monitor.h.

bool occupancy_map_monitor::OccupancyMapMonitor::getShapeTransformCache	(	std::size_t	index,
		const std::string &	target_frame,
		const ros::Time &	target_time,
		ShapeTransformCache &	cache
	)		const

private

Definition at line 260 of file occupancy_map_monitor.cpp.

const boost::shared_ptr<tf::Transformer>& occupancy_map_monitor::OccupancyMapMonitor::getTFClient ( ) const

inline

Definition at line 99 of file occupancy_map_monitor.h.

void occupancy_map_monitor::OccupancyMapMonitor::initialize ( )

private

Definition at line 66 of file occupancy_map_monitor.cpp.

bool occupancy_map_monitor::OccupancyMapMonitor::isActive ( ) const

inline

Definition at line 122 of file occupancy_map_monitor.h.

bool occupancy_map_monitor::OccupancyMapMonitor::loadMapCallback	(	moveit_msgs::LoadMap::Request &	request,
		moveit_msgs::LoadMap::Response &	response
	)

private

Load octree from a binary file (gets rid of current octree data)

Definition at line 305 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::publishDebugInformation ( bool flag )

Definition at line 200 of file occupancy_map_monitor.cpp.

bool occupancy_map_monitor::OccupancyMapMonitor::saveMapCallback	(	moveit_msgs::SaveMap::Request &	request,
		moveit_msgs::SaveMap::Response &	response
	)

private

Save the current octree to a binary file.

Definition at line 288 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::setMapFrame ( const std::string & frame )

Definition at line 207 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::setTransformCacheCallback ( const TransformCacheProvider & transform_cache_callback )

Definition at line 251 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::setUpdateCallback ( const boost::function< void()> & update_callback )

inline

Set the callback to trigger when updates to the maintained octomap are received.

Definition at line 113 of file occupancy_map_monitor.h.

void occupancy_map_monitor::OccupancyMapMonitor::startMonitor ( )

start the monitor (will begin updating the octomap

Definition at line 326 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::stopMonitor ( )

Definition at line 334 of file occupancy_map_monitor.cpp.

Member Data Documentation

bool occupancy_map_monitor::OccupancyMapMonitor::active_

private

Definition at line 160 of file occupancy_map_monitor.h.

bool occupancy_map_monitor::OccupancyMapMonitor::debug_info_

private

Definition at line 151 of file occupancy_map_monitor.h.

ros::ServiceServer occupancy_map_monitor::OccupancyMapMonitor::load_map_srv_

private

Definition at line 158 of file occupancy_map_monitor.h.

std::string occupancy_map_monitor::OccupancyMapMonitor::map_frame_

private

Definition at line 140 of file occupancy_map_monitor.h.

double occupancy_map_monitor::OccupancyMapMonitor::map_resolution_

private

Definition at line 141 of file occupancy_map_monitor.h.

std::vector<OccupancyMapUpdaterPtr> occupancy_map_monitor::OccupancyMapMonitor::map_updaters_

private

Definition at line 148 of file occupancy_map_monitor.h.

std::size_t occupancy_map_monitor::OccupancyMapMonitor::mesh_handle_count_

private

Definition at line 153 of file occupancy_map_monitor.h.

std::vector<std::map<ShapeHandle, ShapeHandle> > occupancy_map_monitor::OccupancyMapMonitor::mesh_handles_

private

Definition at line 149 of file occupancy_map_monitor.h.

ros::NodeHandle occupancy_map_monitor::OccupancyMapMonitor::nh_

private

Definition at line 156 of file occupancy_map_monitor.h.

boost::mutex occupancy_map_monitor::OccupancyMapMonitor::parameters_lock_

private

Definition at line 142 of file occupancy_map_monitor.h.

ros::NodeHandle occupancy_map_monitor::OccupancyMapMonitor::root_nh_

private

Definition at line 155 of file occupancy_map_monitor.h.

ros::ServiceServer occupancy_map_monitor::OccupancyMapMonitor::save_map_srv_

private

Definition at line 157 of file occupancy_map_monitor.h.

boost::shared_ptr<tf::Transformer> occupancy_map_monitor::OccupancyMapMonitor::tf_

private

Definition at line 139 of file occupancy_map_monitor.h.

TransformCacheProvider occupancy_map_monitor::OccupancyMapMonitor::transform_cache_callback_

private

Definition at line 150 of file occupancy_map_monitor.h.

OccMapTreePtr occupancy_map_monitor::OccupancyMapMonitor::tree_

private

Definition at line 144 of file occupancy_map_monitor.h.

OccMapTreeConstPtr occupancy_map_monitor::OccupancyMapMonitor::tree_const_

private

Definition at line 145 of file occupancy_map_monitor.h.

std::unique_ptr<pluginlib::ClassLoader<OccupancyMapUpdater> > occupancy_map_monitor::OccupancyMapMonitor::updater_plugin_loader_

private

Definition at line 147 of file occupancy_map_monitor.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