Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
cOctreeStampedPaNode Class Reference

#include <octree_stamped_pa_node.h>

Inheritance diagram for cOctreeStampedPaNode:
Inheritance graph
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Public Member Functions

 cOctreeStampedPaNode ()
 default constructor More...
 
void publishOctomap (void)
 function for publishing the octomap More...
 
 ~cOctreeStampedPaNode ()
 default destructor More...
 
- Public Member Functions inherited from cOctreeStampedPaRos
 cOctreeStampedPaRos (const double resolution)
 default constructor More...
 
void degradeOutdatedNodes (void)
 degrading outdated nodes More...
 
ros::Time getLastInsertionTime (void) const
 function for returning the time the octomap was last updated More...
 
void setLastInsertionTime (const ros::Time &time)
 function for setting the time the octomap was last updated More...
 
cTimePa timeFromRos (const ros::Time &time) const
 function for converting from ros::Time to cTimePa More...
 
ros::Time timeToRos (const cTimePa &time) const
 function for converting from cTimePa to ros::Time More...
 
virtual ~cOctreeStampedPaRos ()
 default destructor More...
 
- Public Member Functions inherited from cOctreeBasePaRos< cOcTreeStampedPa >
bool addCloud (const sensor_msgs::PointCloud2ConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())
 
bool addCloud (const sensor_msgs::PointCloudConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())
 
bool addCloud (const sensor_msgs::LaserScanConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())
 
virtual void clear (void)
 clear local timestamps with octomap More...
 
 cOctreeBasePaRos (double resolution)
 default constructor More...
 
bool getChildKey (const OctKey &current, const int current_level, OctKey &child, const int child_pos) const
 
octomap_msgs::OctomapPtr getOctomap (void) const
 function for getting the binary octomap More...
 
octomap_msgs::OctomapPtr getOctomapFull (void) const
 function for getting the full octomap More...
 
sensor_msgs::PointCloud2Ptr getOctomapPcd (const int tree_depth=0, const bool expand=false) const
 function for getting the pointcloud equivalent of the octomap More...
 
sensor_msgs::PointCloud2Ptr getOctomapPcdFree (const int tree_depth=0, const bool expand=false) const
 similar to getOctomapPcd, but only returning just empty voxels More...
 
ros::Time getOutputTime (void) const
 
bool getParentKey (const OctKey &current, const int current_level, OctKey &parent) const
 
geometry_msgs::PointPtr keyToPoint (const OctKey &key) const
 function for converting from key to point (geometry_msg) More...
 
void keyToPoint (const OctKey &key, double &x, double &y, double &z) const
 function for converting from key to real coordinates More...
 
OctKey pointToKey (const geometry_msgs::Point &point) const
 functions for converting from point (geometry_msg) to key More...
 
bool readFull (const std::string &filename)
 trying to read the given file into the current OcTree More...
 
void setOutputTime (const ros::Time &time)
 
bool updateTime (const ros::Time &time)
 
virtual ~cOctreeBasePaRos ()
 default destructor More...
 
- Public Member Functions inherited from cOcTreeStampedPa
 cOcTreeStampedPa (double resolution)
 Default constructor, sets resolution of leafs. More...
 
cOcTreeStampedPacreate () const
 
virtual std::string getTreeType () const
 
virtual ~cOcTreeStampedPa (void)
 
- Public Member Functions inherited from cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode >
 cOcTreeStampedBasePa (double resolution)
 Default constructor, sets resolution of leafs. More...
 
cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode > * create () const
 
void degradeOutdatedNodes (const cTimePa timediff)
 
const cTimePagetTimestamp (void) const
 
void setTimestamp (const cTimePa timestamp)
 
virtual void updateNodeLogOdds (NodeTypeFull *node, const float &update) const
 
virtual ~cOcTreeStampedBasePa (void)
 
- Public Member Functions inherited from octomap::OccupancyOcTreeBase< cNodeStampedBasePa< octomap::OcTreeNode > >
bool bbxSet () const
 
virtual bool castRay (const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const
 
KeyBoolMap::const_iterator changedKeysBegin () const
 
KeyBoolMap::const_iterator changedKeysEnd () const
 
void computeDiscreteUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)
 
void computeUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)
 
void enableChangeDetection (bool enable)
 
point3d getBBXBounds () const
 
point3d getBBXCenter () const
 
point3d getBBXMax () const
 
point3d getBBXMin () const
 
bool getNormals (const point3d &point, std::vector< point3d > &normals, bool unknownStatus=true) const
 
virtual bool getRayIntersection (const point3d &origin, const point3d &direction, const point3d &center, point3d &intersection, double delta=0.0) const
 
bool inBBX (const point3d &p) const
 
bool inBBX (const OcTreeKey &key) const
 
virtual void insertPointCloud (const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)
 
virtual void insertPointCloud (const Pointcloud &scan, const point3d &sensor_origin, const pose6d &frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)
 
virtual void insertPointCloud (const ScanNode &scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false)
 
virtual void insertPointCloudRays (const Pointcloud &scan, const point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false)
 
virtual bool insertRay (const point3d &origin, const point3d &end, double maxrange=-1.0, bool lazy_eval=false)
 
virtual void integrateHit (cNodeStampedBasePa< octomap::OcTreeNode > *occupancyNode) const
 
virtual void integrateMiss (cNodeStampedBasePa< octomap::OcTreeNode > *occupancyNode) const
 
bool isChangeDetectionEnabled () const
 
virtual void nodeToMaxLikelihood (cNodeStampedBasePa< octomap::OcTreeNode > *occupancyNode) const
 
virtual void nodeToMaxLikelihood (cNodeStampedBasePa< octomap::OcTreeNode > &occupancyNode) const
 
size_t numChangesDetected () const
 
 OccupancyOcTreeBase (double resolution)
 
 OccupancyOcTreeBase (const OccupancyOcTreeBase< cNodeStampedBasePa< octomap::OcTreeNode > > &rhs)
 
std::istream & readBinaryData (std::istream &s)
 
std::istream & readBinaryNode (std::istream &s, cNodeStampedBasePa< octomap::OcTreeNode > *node)
 
void resetChangeDetection ()
 
void setBBXMax (point3d &max)
 
void setBBXMin (point3d &min)
 
virtual cNodeStampedBasePa< octomap::OcTreeNode > * setNodeValue (const point3d &value, float log_odds_value, bool lazy_eval=false)
 
virtual cNodeStampedBasePa< octomap::OcTreeNode > * setNodeValue (const OcTreeKey &key, float log_odds_value, bool lazy_eval=false)
 
virtual cNodeStampedBasePa< octomap::OcTreeNode > * setNodeValue (double x, double y, double z, float log_odds_value, bool lazy_eval=false)
 
virtual void toMaxLikelihood ()
 
void updateInnerOccupancy ()
 
virtual cNodeStampedBasePa< octomap::OcTreeNode > * updateNode (double x, double y, double z, bool occupied, bool lazy_eval=false)
 
virtual cNodeStampedBasePa< octomap::OcTreeNode > * updateNode (const point3d &value, bool occupied, bool lazy_eval=false)
 
virtual cNodeStampedBasePa< octomap::OcTreeNode > * updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false)
 
virtual cNodeStampedBasePa< octomap::OcTreeNode > * updateNode (double x, double y, double z, float log_odds_update, bool lazy_eval=false)
 
virtual cNodeStampedBasePa< octomap::OcTreeNode > * updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)
 
virtual cNodeStampedBasePa< octomap::OcTreeNode > * updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)
 
void useBBXLimit (bool enable)
 
std::ostream & writeBinaryData (std::ostream &s) const
 
std::ostream & writeBinaryNode (std::ostream &s, const cNodeStampedBasePa< octomap::OcTreeNode > *node) const
 
virtual ~OccupancyOcTreeBase ()
 
- Public Member Functions inherited from octomap::OcTreeBaseImpl< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree >
OcTreeKey adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const
 
key_type adjustKeyAtDepth (key_type key, unsigned int depth) const
 
iterator begin (unsigned char maxDepth=0) const
 
leaf_iterator begin_leafs (unsigned char maxDepth=0) const
 
leaf_bbx_iterator begin_leafs_bbx (const OcTreeKey &min, const OcTreeKey &max, unsigned char maxDepth=0) const
 
leaf_bbx_iterator begin_leafs_bbx (const point3d &min, const point3d &max, unsigned char maxDepth=0) const
 
tree_iterator begin_tree (unsigned char maxDepth=0) const
 
size_t calcNumNodes () const
 
void clear ()
 
void clearKeyRays ()
 
bool computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray)
 
bool computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const
 
OcTreeKey coordToKey (double x, double y, double z) const
 
OcTreeKey coordToKey (const point3d &coord, unsigned depth) const
 
OcTreeKey coordToKey (double x, double y, double z, unsigned depth) const
 
key_type coordToKey (double coordinate) const
 
key_type coordToKey (double coordinate, unsigned depth) const
 
OcTreeKey coordToKey (const point3d &coord) const
 
bool coordToKeyChecked (const point3d &coord, OcTreeKey &key) const
 
bool coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const
 
bool coordToKeyChecked (double x, double y, double z, OcTreeKey &key) const
 
bool coordToKeyChecked (double x, double y, double z, unsigned depth, OcTreeKey &key) const
 
bool coordToKeyChecked (double coordinate, key_type &key) const
 
bool coordToKeyChecked (double coordinate, unsigned depth, key_type &key) const
 
cNodeStampedBasePa< octomap::OcTreeNode > * createNodeChild (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int childIdx)
 
bool deleteNode (double x, double y, double z, unsigned int depth=0)
 
bool deleteNode (const point3d &value, unsigned int depth=0)
 
bool deleteNode (const OcTreeKey &key, unsigned int depth=0)
 
void deleteNodeChild (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int childIdx)
 
const iterator end () const
 
const leaf_iterator end_leafs () const
 
const leaf_bbx_iterator end_leafs_bbx () const
 
const tree_iterator end_tree () const
 
virtual void expand ()
 
virtual void expandNode (cNodeStampedBasePa< octomap::OcTreeNode > *node)
 
virtual void getMetricMax (double &x, double &y, double &z)
 
void getMetricMax (double &x, double &y, double &z) const
 
virtual void getMetricMin (double &x, double &y, double &z)
 
void getMetricMin (double &x, double &y, double &z) const
 
virtual void getMetricSize (double &x, double &y, double &z)
 
virtual void getMetricSize (double &x, double &y, double &z) const
 
const cNodeStampedBasePa< octomap::OcTreeNode > * getNodeChild (const cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int childIdx) const
 
cNodeStampedBasePa< octomap::OcTreeNode > * getNodeChild (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int childIdx) const
 
double getNodeSize (unsigned depth) const
 
size_t getNumLeafNodes () const
 
double getResolution () const
 
cNodeStampedBasePa< octomap::OcTreeNode > * getRoot () const
 
unsigned int getTreeDepth () const
 
std::string getTreeType () const
 
void getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const
 
virtual bool isNodeCollapsible (const cNodeStampedBasePa< octomap::OcTreeNode > *node) const
 
point3d keyToCoord (const OcTreeKey &key) const
 
point3d keyToCoord (const OcTreeKey &key, unsigned depth) const
 
double keyToCoord (key_type key) const
 
double keyToCoord (key_type key, unsigned depth) const
 
unsigned long long memoryFullGrid () const
 
virtual size_t memoryUsage () const
 
virtual size_t memoryUsageNode () const
 
bool nodeChildExists (const cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int childIdx) const
 
bool nodeHasChildren (const cNodeStampedBasePa< octomap::OcTreeNode > *node) const
 
 OcTreeBaseImpl (const OcTreeBaseImpl< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree > &rhs)
 
 OcTreeBaseImpl (double resolution)
 
bool operator== (const OcTreeBaseImpl< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree > &rhs) const
 
virtual void prune ()
 
virtual bool pruneNode (cNodeStampedBasePa< octomap::OcTreeNode > *node)
 
std::istream & readData (std::istream &s)
 
cNodeStampedBasePa< octomap::OcTreeNode > * search (const point3d &value, unsigned int depth=0) const
 
cNodeStampedBasePa< octomap::OcTreeNode > * search (const OcTreeKey &key, unsigned int depth=0) const
 
cNodeStampedBasePa< octomap::OcTreeNode > * search (double x, double y, double z, unsigned int depth=0) const
 
void setResolution (double r)
 
virtual size_t size () const
 
void swapContent (OcTreeBaseImpl< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree > &rhs)
 
double volume ()
 
std::ostream & writeData (std::ostream &s) const
 
virtual ~OcTreeBaseImpl ()
 

Protected Member Functions

void addLaserCallbackSub (const sensor_msgs::LaserScanConstPtr &msg)
 callback function for receiving a laserscan More...
 
void addPointcloudCallbackSub (const sensor_msgs::PointCloud2ConstPtr &msg)
 callback function for receiving a pointcloud More...
 
void addPointcloudOldCallbackSub (const sensor_msgs::PointCloudConstPtr &msg)
 callback function for receiving a pointcloud (old format) More...
 
bool clearCallbackSrv (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
bool getSizeCallbackSrv (octomap_pa::OctomapPaGetSize::Request &req, octomap_pa::OctomapPaGetSize::Response &res)
 
bool loadCallbackSrv (octomap_pa::OctomapPaFileName::Request &req, octomap_pa::OctomapPaFileName::Response &res)
 
bool saveCallbackSrv (octomap_pa::OctomapPaFileName::Request &req, octomap_pa::OctomapPaFileName::Response &res)
 
- Protected Member Functions inherited from cOctreeStampedPaRos
void checkDegrading (void)
 helper function for automatic degrading More...
 
- Protected Member Functions inherited from cOctreeBasePaRos< cOcTreeStampedPa >
bool addCloud (const PclPointCloudPtr &cloud, const cAddCloudParameter &params, const tf::Transform &transform)
 
void getChildKeySimple (const OctKey &current, const int current_level, OctKey &child, const int child_pos) const
 helper function for getChildKey More...
 
void getOctomapPcdSub (const OctKey &key, const int current_level, const int min_level, PclPointCloud &cloud) const
 helper function for getOctomapPcd... More...
 
void getParentKeySimple (const OctKey &current, const int current_level, OctKey &parent) const
 helper function for getParentKey More...
 
- Protected Member Functions inherited from octomap::OccupancyOcTreeBase< cNodeStampedBasePa< octomap::OcTreeNode > >
bool integrateMissOnRay (const point3d &origin, const point3d &end, bool lazy_eval=false)
 
 OccupancyOcTreeBase (double resolution, unsigned int tree_depth, unsigned int tree_max_val)
 
cNodeStampedBasePa< octomap::OcTreeNode > * setNodeValueRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_value, bool lazy_eval=false)
 
void toMaxLikelihoodRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int depth, unsigned int max_depth)
 
void updateInnerOccupancyRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int depth)
 
cNodeStampedBasePa< octomap::OcTreeNode > * updateNodeRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_update, bool lazy_eval=false)
 
- Protected Member Functions inherited from octomap::OcTreeBaseImpl< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree >
void allocNodeChildren (cNodeStampedBasePa< octomap::OcTreeNode > *node)
 
void calcMinMax ()
 
void calcNumNodesRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, size_t &num_nodes) const
 
void deleteNodeRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node)
 
bool deleteNodeRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key)
 
void expandRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int depth, unsigned int max_depth)
 
size_t getNumLeafNodesRecurs (const cNodeStampedBasePa< octomap::OcTreeNode > *parent) const
 
void init ()
 
 OcTreeBaseImpl (double resolution, unsigned int tree_depth, unsigned int tree_max_val)
 
void pruneRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)
 
std::istream & readNodesRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *, std::istream &s)
 
std::ostream & writeNodesRecurs (const cNodeStampedBasePa< octomap::OcTreeNode > *, std::ostream &s) const
 

Protected Attributes

cAddCloudParameter addparams_
 
int count_cloud_
 number of inserted pointclouds More...
 
int count_cloud_old_
 number of inserted pointclouds (old format) More...
 
int count_laser_
 number of inserted laser scans More...
 
ros::NodeHandle nh_
 node handler for topic subscription and advertising More...
 
cOctreeBasePaNodeParameter nodeparams_
 parameters More...
 
ros::Publisher pub_cloud_free_
 puplisher for free voxels as pointcloud More...
 
ros::Publisher pub_cloud_occupied_
 puplisher for occupied voxels as pointcloud More...
 
ros::Publisher pub_octomap_
 puplisher for the octomap (binary data) More...
 
ros::Publisher pub_octomap_full_
 puplisher for the octomap (full data) More...
 
ros::ServiceServer srv_clear_
 service for clearing the octomap More...
 
ros::ServiceServer srv_getsize_
 service for receiving the size of the octomap More...
 
ros::ServiceServer srv_load_
 service for loading a octomap More...
 
ros::ServiceServer srv_save_
 service for saving the octomap More...
 
ros::Subscriber sub_cloud_
 subscriber for a pointcloud More...
 
ros::Subscriber sub_cloud_old_
 subscriber for a pointcloud (old format) More...
 
ros::Subscriber sub_laser_
 subscriber for a laserscan More...
 
tf::TransformListener tf_listener_
 transformation of different frames More...
 
- Protected Attributes inherited from cOctreeStampedPaRos
ros::Time last_degrading_time_
 
- Protected Attributes inherited from cOctreeBasePaRos< cOcTreeStampedPa >
ros::Time current_output_time_
 internal variable for storing current output time More...
 
ros::Time last_insertion_time_
 internal variable for storing last insertion time More...
 
- Protected Attributes inherited from cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode >
cTimePa current_timestamp
 used to set new data (insertion of measurement) to actual time stamp More...
 
- Protected Attributes inherited from octomap::OccupancyOcTreeBase< cNodeStampedBasePa< octomap::OcTreeNode > >
point3d bbx_max
 
OcTreeKey bbx_max_key
 
point3d bbx_min
 
OcTreeKey bbx_min_key
 
KeyBoolMap changed_keys
 
bool use_bbx_limit
 
bool use_change_detection
 
- Protected Attributes inherited from octomap::OcTreeBaseImpl< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree >
std::vector< KeyRaykeyrays
 
const leaf_bbx_iterator leaf_iterator_bbx_end
 
const leaf_iterator leaf_iterator_end
 
double max_value [3]
 
double min_value [3]
 
double resolution
 
double resolution_factor
 
cNodeStampedBasePa< octomap::OcTreeNode > * root
 
bool size_changed
 
std::vector< double > sizeLookupTable
 
point3d tree_center
 
const unsigned int tree_depth
 
const tree_iterator tree_iterator_end
 
const unsigned int tree_max_val
 
size_t tree_size
 

Additional Inherited Members

- Public Types inherited from cOctreeStampedPaRos
typedef cOctreeBasePaRos< cOcTreeStampedPaTreeTypeBase
 
- Public Types inherited from cOctreeBasePaRos< cOcTreeStampedPa >
typedef ::octomap::OcTreeKey OctKey
 
typedef pcl::PointCloud< pcl::PointXYZ > PclPointCloud
 
typedef pcl::PointCloud< pcl::PointXYZ >::ConstPtr PclPointCloudConstPtr
 
typedef pcl::PointCloud< pcl::PointXYZ >::Ptr PclPointCloudPtr
 
typedef cOcTreeStampedPa TreeTypeBase
 
typedef cOctreeBasePaRos< cOcTreeStampedPaTreeTypeFull
 
- Public Types inherited from cOcTreeStampedPa
typedef octomap::OcTreeNode NodeTypeBase
 
typedef cNodeStampedBasePa< NodeTypeBaseNodeTypeFull
 
typedef cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, NodeTypeBaseTreeTypeBase
 
- Public Types inherited from cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode >
typedef octomap::OcTreeNode NodeTypeBase
 
typedef cNodeStampedBasePa< octomap::OcTreeNodeNodeTypeFull
 
typedef octomap::OccupancyOcTreeBase< NodeTypeFullTreeTypeBase
 
- Public Types inherited from octomap::OcTreeBaseImpl< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree >
typedef leaf_iterator iterator
 
typedef cNodeStampedBasePa< octomap::OcTreeNodeNodeType
 
- Public Attributes inherited from cOctreeStampedPaRos
cOctreeStampedPaRosParameter rosparams_
 parameters More...
 
- Public Attributes inherited from cOctreeBasePaRos< cOcTreeStampedPa >
cOctreeBasePaRosParameter rosparams_base_
 parameters More...
 
- Static Protected Attributes inherited from cOcTreeStampedPa
static StaticMemberInitializer StaticMemberInit
 to ensure static initialization (only once) More...
 

Detailed Description

Definition at line 82 of file octree_stamped_pa_node.h.

Constructor & Destructor Documentation

cOctreeStampedPaNode::cOctreeStampedPaNode ( )

default constructor

Definition at line 67 of file octree_stamped_pa_node.cpp.

cOctreeStampedPaNode::~cOctreeStampedPaNode ( )

default destructor

Definition at line 178 of file octree_stamped_pa_node.cpp.

Member Function Documentation

void cOctreeStampedPaNode::addLaserCallbackSub ( const sensor_msgs::LaserScanConstPtr &  msg)
protected

callback function for receiving a laserscan

Definition at line 257 of file octree_stamped_pa_node.cpp.

void cOctreeStampedPaNode::addPointcloudCallbackSub ( const sensor_msgs::PointCloud2ConstPtr &  msg)
protected

callback function for receiving a pointcloud

Definition at line 201 of file octree_stamped_pa_node.cpp.

void cOctreeStampedPaNode::addPointcloudOldCallbackSub ( const sensor_msgs::PointCloudConstPtr msg)
protected

callback function for receiving a pointcloud (old format)

Definition at line 229 of file octree_stamped_pa_node.cpp.

bool cOctreeStampedPaNode::clearCallbackSrv ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protected

Definition at line 287 of file octree_stamped_pa_node.cpp.

bool cOctreeStampedPaNode::getSizeCallbackSrv ( octomap_pa::OctomapPaGetSize::Request &  req,
octomap_pa::OctomapPaGetSize::Response &  res 
)
protected

Definition at line 303 of file octree_stamped_pa_node.cpp.

bool cOctreeStampedPaNode::loadCallbackSrv ( octomap_pa::OctomapPaFileName::Request &  req,
octomap_pa::OctomapPaFileName::Response &  res 
)
protected

Definition at line 338 of file octree_stamped_pa_node.cpp.

void cOctreeStampedPaNode::publishOctomap ( void  )

function for publishing the octomap

Definition at line 183 of file octree_stamped_pa_node.cpp.

bool cOctreeStampedPaNode::saveCallbackSrv ( octomap_pa::OctomapPaFileName::Request &  req,
octomap_pa::OctomapPaFileName::Response &  res 
)
protected

Definition at line 320 of file octree_stamped_pa_node.cpp.

Member Data Documentation

cAddCloudParameter cOctreeStampedPaNode::addparams_
protected

Definition at line 97 of file octree_stamped_pa_node.h.

int cOctreeStampedPaNode::count_cloud_
protected

number of inserted pointclouds

Definition at line 100 of file octree_stamped_pa_node.h.

int cOctreeStampedPaNode::count_cloud_old_
protected

number of inserted pointclouds (old format)

Definition at line 102 of file octree_stamped_pa_node.h.

int cOctreeStampedPaNode::count_laser_
protected

number of inserted laser scans

Definition at line 104 of file octree_stamped_pa_node.h.

ros::NodeHandle cOctreeStampedPaNode::nh_
protected

node handler for topic subscription and advertising

Definition at line 107 of file octree_stamped_pa_node.h.

cOctreeBasePaNodeParameter cOctreeStampedPaNode::nodeparams_
protected

parameters

Definition at line 96 of file octree_stamped_pa_node.h.

ros::Publisher cOctreeStampedPaNode::pub_cloud_free_
protected

puplisher for free voxels as pointcloud

Definition at line 135 of file octree_stamped_pa_node.h.

ros::Publisher cOctreeStampedPaNode::pub_cloud_occupied_
protected

puplisher for occupied voxels as pointcloud

Definition at line 137 of file octree_stamped_pa_node.h.

ros::Publisher cOctreeStampedPaNode::pub_octomap_
protected

puplisher for the octomap (binary data)

Definition at line 131 of file octree_stamped_pa_node.h.

ros::Publisher cOctreeStampedPaNode::pub_octomap_full_
protected

puplisher for the octomap (full data)

Definition at line 133 of file octree_stamped_pa_node.h.

ros::ServiceServer cOctreeStampedPaNode::srv_clear_
protected

service for clearing the octomap

Definition at line 141 of file octree_stamped_pa_node.h.

ros::ServiceServer cOctreeStampedPaNode::srv_getsize_
protected

service for receiving the size of the octomap

Definition at line 146 of file octree_stamped_pa_node.h.

ros::ServiceServer cOctreeStampedPaNode::srv_load_
protected

service for loading a octomap

Definition at line 156 of file octree_stamped_pa_node.h.

ros::ServiceServer cOctreeStampedPaNode::srv_save_
protected

service for saving the octomap

Definition at line 151 of file octree_stamped_pa_node.h.

ros::Subscriber cOctreeStampedPaNode::sub_cloud_
protected

subscriber for a pointcloud

Definition at line 114 of file octree_stamped_pa_node.h.

ros::Subscriber cOctreeStampedPaNode::sub_cloud_old_
protected

subscriber for a pointcloud (old format)

Definition at line 120 of file octree_stamped_pa_node.h.

ros::Subscriber cOctreeStampedPaNode::sub_laser_
protected

subscriber for a laserscan

Definition at line 126 of file octree_stamped_pa_node.h.

tf::TransformListener cOctreeStampedPaNode::tf_listener_
protected

transformation of different frames

Definition at line 110 of file octree_stamped_pa_node.h.


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


octomap_pa
Author(s):
autogenerated on Fri Jun 7 2019 22:04:53