#include <pointcloud_octomap_updater.h>

Inheritance diagram for occupancy_map_monitor::PointCloudOctomapUpdater:

Public Member Functions
virtual ShapeHandle	excludeShape (const shapes::ShapeConstPtr &shape)

virtual void	forgetShape (ShapeHandle handle)

virtual bool	initialize ()
	Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams() have been previously called. More...

	PointCloudOctomapUpdater ()

virtual bool	setParams (XmlRpc::XmlRpcValue &params)
	Set updater params using struct that comes from parsing a yaml string. This must be called after setMonitor() More...

virtual void	start ()

virtual void	stop ()

virtual	~PointCloudOctomapUpdater ()

Public Member Functions inherited from occupancy_map_monitor::OccupancyMapUpdater
const std::string &	getType () const

	OccupancyMapUpdater (const std::string &type)

void	publishDebugInformation (bool flag)

void	setMonitor (OccupancyMapMonitor *monitor)
	This is the first function to be called after construction. More...

void	setTransformCacheCallback (const TransformCacheProvider &transform_callback)

virtual	~OccupancyMapUpdater ()

Protected Member Functions
virtual void	updateMask (const sensor_msgs::PointCloud2 &cloud, const Eigen::Vector3d &sensor_origin, std::vector< int > &mask)

Protected Member Functions inherited from occupancy_map_monitor::OccupancyMapUpdater
bool	updateTransformCache (const std::string &target_frame, const ros::Time &target_time)

Private Member Functions
void	cloudMsgCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)

bool	getShapeTransform (ShapeHandle h, Eigen::Affine3d &transform) const

void	stopHelper ()

Private Attributes
ros::Publisher	filtered_cloud_publisher_

std::string	filtered_cloud_topic_

octomap::KeyRay	key_ray_

ros::Time	last_update_time_

std::vector< int >	mask_

double	max_range_

double	max_update_rate_

double	padding_

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

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

std::string	point_cloud_topic_

unsigned int	point_subsample_

ros::NodeHandle	private_nh_

ros::NodeHandle	root_nh_

double	scale_

std::unique_ptr< point_containment_filter::ShapeMask >	shape_mask_

boost::shared_ptr< tf::Transformer >	tf_

Additional Inherited Members
Static Protected Member Functions inherited from occupancy_map_monitor::OccupancyMapUpdater
static void	readXmlParam (XmlRpc::XmlRpcValue &params, const std::string &param_name, double *value)

static void	readXmlParam (XmlRpc::XmlRpcValue &params, const std::string &param_name, unsigned int *value)

Protected Attributes inherited from occupancy_map_monitor::OccupancyMapUpdater
bool	debug_info_

OccupancyMapMonitor *	monitor_

ShapeTransformCache	transform_cache_

TransformCacheProvider	transform_provider_callback_

OccMapTreePtr	tree_

std::string	type_

Detailed Description

Definition at line 52 of file pointcloud_octomap_updater.h.

Constructor & Destructor Documentation

occupancy_map_monitor::PointCloudOctomapUpdater::PointCloudOctomapUpdater ( )

Definition at line 48 of file pointcloud_octomap_updater.cpp.

occupancy_map_monitor::PointCloudOctomapUpdater::~PointCloudOctomapUpdater ( )

virtual

Definition at line 61 of file pointcloud_octomap_updater.cpp.

Member Function Documentation

void occupancy_map_monitor::PointCloudOctomapUpdater::cloudMsgCallback ( const sensor_msgs::PointCloud2::ConstPtr & cloud_msg )

private

Definition at line 168 of file pointcloud_octomap_updater.cpp.

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

virtual

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 136 of file pointcloud_octomap_updater.cpp.

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

virtual

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 146 of file pointcloud_octomap_updater.cpp.

bool occupancy_map_monitor::PointCloudOctomapUpdater::getShapeTransform	(	ShapeHandle	h,
		Eigen::Affine3d &	transform
	)		const

private

Definition at line 152 of file pointcloud_octomap_updater.cpp.

bool occupancy_map_monitor::PointCloudOctomapUpdater::initialize ( )

virtual

Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams() have been previously called.

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 92 of file pointcloud_octomap_updater.cpp.

bool occupancy_map_monitor::PointCloudOctomapUpdater::setParams ( XmlRpc::XmlRpcValue & params )

virtual

Set updater params using struct that comes from parsing a yaml string. This must be called after setMonitor()

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 66 of file pointcloud_octomap_updater.cpp.

void occupancy_map_monitor::PointCloudOctomapUpdater::start ( void )

virtual

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 102 of file pointcloud_octomap_updater.cpp.

void occupancy_map_monitor::PointCloudOctomapUpdater::stop ( void )

virtual

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 129 of file pointcloud_octomap_updater.cpp.

void occupancy_map_monitor::PointCloudOctomapUpdater::stopHelper ( )

private

Definition at line 123 of file pointcloud_octomap_updater.cpp.

void occupancy_map_monitor::PointCloudOctomapUpdater::updateMask	(	const sensor_msgs::PointCloud2 &	cloud,
		const Eigen::Vector3d &	sensor_origin,
		std::vector< int > &	mask
	)