rtabmap_ros::GuiWrapper Class Reference

#include <GuiWrapper.h>

Inheritance diagram for rtabmap_ros::GuiWrapper:

Public Member Functions
	GuiWrapper (int &argc, char **argv)
virtual	~GuiWrapper ()
Public Member Functions inherited from UEventsHandler
void	registerToEventsManager ()
void	unregisterFromEventsManager ()
Public Member Functions inherited from UEventsSender
	UEventsSender ()
virtual	~UEventsSender ()
Public Member Functions inherited from rtabmap_ros::CommonDataSubscriber
	CommonDataSubscriber (bool gui)
int	getQueueSize () const
bool	isApproxSync () const
bool	isDataSubscribed () const
bool	isSubscribedToDepth () const
bool	isSubscribedToOdom () const
bool	isSubscribedToOdomInfo () const
bool	isSubscribedToRGB () const
bool	isSubscribedToRGBD () const
bool	isSubscribedToScan2d () const
bool	isSubscribedToScan3d () const
bool	isSubscribedToStereo () const
const std::string &	name () const
int	rgbdCameras () const
virtual	~CommonDataSubscriber ()

Protected Member Functions
virtual bool	handleEvent (UEvent *anEvent)
Protected Member Functions inherited from UEventsHandler
	UEventsHandler ()
virtual	~UEventsHandler ()
Protected Member Functions inherited from UEventsSender
void	post (UEvent *event, bool async=true) const
Protected Member Functions inherited from rtabmap_ros::CommonDataSubscriber
void	commonSingleCameraCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const cv_bridge::CvImageConstPtr &imageMsg, const cv_bridge::CvImageConstPtr &depthMsg, const sensor_msgs::CameraInfo &rgbCameraInfoMsg, const sensor_msgs::CameraInfo &depthCameraInfoMsg, const sensor_msgs::LaserScan &scanMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_ros::GlobalDescriptor > &globalDescriptorMsgs=std::vector< rtabmap_ros::GlobalDescriptor >(), const std::vector< rtabmap_ros::KeyPoint > &localKeyPoints=std::vector< rtabmap_ros::KeyPoint >(), const std::vector< rtabmap_ros::Point3f > &localPoints3d=std::vector< rtabmap_ros::Point3f >(), const cv::Mat &localDescriptors=cv::Mat())
void	setupCallbacks (ros::NodeHandle &nh, ros::NodeHandle &pnh, const std::string &name)

Private Types
typedef message_filters::sync_policies::ExactTime< rtabmap_ros::Goal, nav_msgs::Path >	MyGoalPathSyncPolicy
typedef message_filters::sync_policies::ExactTime< rtabmap_ros::Info, rtabmap_ros::MapData >	MyInfoMapSyncPolicy

Private Member Functions
virtual void	commonLaserScanCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const sensor_msgs::LaserScan &scan2dMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg, const rtabmap_ros::GlobalDescriptor &globalDescriptor=rtabmap_ros::GlobalDescriptor())
virtual void	commonMultiCameraCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const std::vector< cv_bridge::CvImageConstPtr > &imageMsgs, const std::vector< cv_bridge::CvImageConstPtr > &depthMsgs, const std::vector< sensor_msgs::CameraInfo > &cameraInfoMsgs, const std::vector< sensor_msgs::CameraInfo > &depthCameraInfoMsgs, const sensor_msgs::LaserScan &scan2dMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_ros::GlobalDescriptor > &globalDescriptorMsgs=std::vector< rtabmap_ros::GlobalDescriptor >(), const std::vector< std::vector< rtabmap_ros::KeyPoint > > &localKeyPoints=std::vector< std::vector< rtabmap_ros::KeyPoint > >(), const std::vector< std::vector< rtabmap_ros::Point3f > > &localPoints3d=std::vector< std::vector< rtabmap_ros::Point3f > >(), const std::vector< cv::Mat > &localDescriptors=std::vector< cv::Mat >())
virtual void	commonOdomCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg)
virtual void	commonStereoCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const cv_bridge::CvImageConstPtr &leftImageMsg, const cv_bridge::CvImageConstPtr &rightImageMsg, const sensor_msgs::CameraInfo &leftCamInfoMsg, const sensor_msgs::CameraInfo &rightCamInfoMsg, const sensor_msgs::LaserScan &scan2dMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_ros::GlobalDescriptor > &globalDescriptorMsgs=std::vector< rtabmap_ros::GlobalDescriptor >(), const std::vector< rtabmap_ros::KeyPoint > &localKeyPoints=std::vector< rtabmap_ros::KeyPoint >(), const std::vector< rtabmap_ros::Point3f > &localPoints3d=std::vector< rtabmap_ros::Point3f >(), const cv::Mat &localDescriptors=cv::Mat())
void	defaultCallback (const nav_msgs::OdometryConstPtr &odomMsg)
void	goalPathCallback (const rtabmap_ros::GoalConstPtr &goalMsg, const nav_msgs::PathConstPtr &pathMsg)
void	goalReachedCallback (const std_msgs::BoolConstPtr &value)
void	infoMapCallback (const rtabmap_ros::InfoConstPtr &infoMsg, const rtabmap_ros::MapDataConstPtr &mapMsg)
void	processRequestedMap (const rtabmap_ros::MapData &map)

Private Attributes
std::string	cameraNodeName_
std::string	frameId_
message_filters::Synchronizer< MyGoalPathSyncPolicy > *	goalPathSync_
ros::Subscriber	goalReachedTopic_
message_filters::Subscriber< rtabmap_ros::Goal >	goalTopic_
message_filters::Synchronizer< MyInfoMapSyncPolicy > *	infoMapSync_
message_filters::Subscriber< rtabmap_ros::Info >	infoTopic_
double	lastOdomInfoUpdateTime_
rtabmap::MainWindow *	mainWindow_
message_filters::Subscriber< rtabmap_ros::MapData >	mapDataTopic_
double	maxOdomUpdateRate_
std::string	odomFrameId_
bool	odomSensorSync_
message_filters::Subscriber< nav_msgs::Path >	pathTopic_
rtabmap::PreferencesDialog *	prefDialog_
ros::Publisher	republishNodeDataPub_
std::string	rtabmapNodeName_
tf::TransformListener	tfListener_
bool	waitForTransform_
double	waitForTransformDuration_

Additional Inherited Members
Protected Attributes inherited from rtabmap_ros::CommonDataSubscriber
int	queueSize_
std::string	subscribedTopicsMsg_

Detailed Description

Definition at line 57 of file GuiWrapper.h.

Member Typedef Documentation

MyGoalPathSyncPolicy

typedef message_filters::sync_policies::ExactTime< rtabmap_ros::Goal, nav_msgs::Path> rtabmap_ros::GuiWrapper::MyGoalPathSyncPolicy

private

Definition at line 148 of file GuiWrapper.h.

MyInfoMapSyncPolicy

typedef message_filters::sync_policies::ExactTime< rtabmap_ros::Info, rtabmap_ros::MapData> rtabmap_ros::GuiWrapper::MyInfoMapSyncPolicy

private

Definition at line 143 of file GuiWrapper.h.

Constructor & Destructor Documentation

GuiWrapper()

rtabmap_ros::GuiWrapper::GuiWrapper	(	int &	argc,
		char **	argv
	)

Definition at line 67 of file GuiWrapper.cpp.

~GuiWrapper()

rtabmap_ros::GuiWrapper::~GuiWrapper ( )

virtual

Definition at line 180 of file GuiWrapper.cpp.

Member Function Documentation

commonLaserScanCallback()

void rtabmap_ros::GuiWrapper::commonLaserScanCallback ( const nav_msgs::OdometryConstPtr &  odomMsg, const rtabmap_ros::UserDataConstPtr &  userDataMsg, const sensor_msgs::LaserScan &  scan2dMsg, const sensor_msgs::PointCloud2 &  scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &  odomInfoMsg, const rtabmap_ros::GlobalDescriptor &  globalDescriptor = rtabmap_ros::GlobalDescriptor()  )

privatevirtual

Implements rtabmap_ros::CommonDataSubscriber.

Definition at line 826 of file GuiWrapper.cpp.

commonMultiCameraCallback()

void rtabmap_ros::GuiWrapper::commonMultiCameraCallback ( const nav_msgs::OdometryConstPtr &  odomMsg, const rtabmap_ros::UserDataConstPtr &  userDataMsg, const std::vector< cv_bridge::CvImageConstPtr > &  imageMsgs, const std::vector< cv_bridge::CvImageConstPtr > &  depthMsgs, const std::vector< sensor_msgs::CameraInfo > &  cameraInfoMsgs, const std::vector< sensor_msgs::CameraInfo > &  depthCameraInfoMsgs, const sensor_msgs::LaserScan &  scan2dMsg, const sensor_msgs::PointCloud2 &  scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &  odomInfoMsg, const std::vector< rtabmap_ros::GlobalDescriptor > &  globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(), const std::vector< std::vector< rtabmap_ros::KeyPoint > > &  localKeyPoints = std::vector<std::vector<rtabmap_ros::KeyPoint> >(), const std::vector< std::vector< rtabmap_ros::Point3f > > &  localPoints3d = std::vector<std::vector<rtabmap_ros::Point3f> >(), const std::vector< cv::Mat > &  localDescriptors = std::vector<cv::Mat>()  )

privatevirtual

Implements rtabmap_ros::CommonDataSubscriber.

Definition at line 443 of file GuiWrapper.cpp.

commonOdomCallback()

void rtabmap_ros::GuiWrapper::commonOdomCallback ( const nav_msgs::OdometryConstPtr &  odomMsg, const rtabmap_ros::UserDataConstPtr &  userDataMsg, const rtabmap_ros::OdomInfoConstPtr &  odomInfoMsg  )

privatevirtual

Implements rtabmap_ros::CommonDataSubscriber.

Definition at line 973 of file GuiWrapper.cpp.

commonStereoCallback()

void rtabmap_ros::GuiWrapper::commonStereoCallback ( const nav_msgs::OdometryConstPtr &  odomMsg, const rtabmap_ros::UserDataConstPtr &  userDataMsg, const cv_bridge::CvImageConstPtr &  leftImageMsg, const cv_bridge::CvImageConstPtr &  rightImageMsg, const sensor_msgs::CameraInfo &  leftCamInfoMsg, const sensor_msgs::CameraInfo &  rightCamInfoMsg, const sensor_msgs::LaserScan &  scan2dMsg, const sensor_msgs::PointCloud2 &  scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &  odomInfoMsg, const std::vector< rtabmap_ros::GlobalDescriptor > &  globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(), const std::vector< rtabmap_ros::KeyPoint > &  localKeyPoints = std::vector<rtabmap_ros::KeyPoint>(), const std::vector< rtabmap_ros::Point3f > &  localPoints3d = std::vector<rtabmap_ros::Point3f>(), const cv::Mat &  localDescriptors = cv::Mat()  )

privatevirtual

Definition at line 646 of file GuiWrapper.cpp.

defaultCallback()

void rtabmap_ros::GuiWrapper::defaultCallback ( const nav_msgs::OdometryConstPtr &  odomMsg )

private

goalPathCallback()

void rtabmap_ros::GuiWrapper::goalPathCallback ( const rtabmap_ros::GoalConstPtr &  goalMsg, const nav_msgs::PathConstPtr &  pathMsg  )

private

Definition at line 216 of file GuiWrapper.cpp.

goalReachedCallback()

void rtabmap_ros::GuiWrapper::goalReachedCallback ( const std_msgs::BoolConstPtr &  value )

private

Definition at line 230 of file GuiWrapper.cpp.

handleEvent()

bool rtabmap_ros::GuiWrapper::handleEvent ( UEvent *  anEvent )

protectedvirtual

Implements UEventsHandler.

Definition at line 257 of file GuiWrapper.cpp.

infoMapCallback()

void rtabmap_ros::GuiWrapper::infoMapCallback ( const rtabmap_ros::InfoConstPtr &  infoMsg, const rtabmap_ros::MapDataConstPtr &  mapMsg  )

private

Definition at line 188 of file GuiWrapper.cpp.

processRequestedMap()

void rtabmap_ros::GuiWrapper::processRequestedMap ( const rtabmap_ros::MapData &  map )

private

Definition at line 236 of file GuiWrapper.cpp.

Member Data Documentation

cameraNodeName_

std::string rtabmap_ros::GuiWrapper::cameraNodeName_

private

Definition at line 119 of file GuiWrapper.h.

frameId_

std::string rtabmap_ros::GuiWrapper::frameId_

private

Definition at line 124 of file GuiWrapper.h.

goalPathSync_

message_filters::Synchronizer<MyGoalPathSyncPolicy>* rtabmap_ros::GuiWrapper::goalPathSync_

private

Definition at line 149 of file GuiWrapper.h.

goalReachedTopic_

ros::Subscriber rtabmap_ros::GuiWrapper::goalReachedTopic_

private

Definition at line 139 of file GuiWrapper.h.

goalTopic_

message_filters::Subscriber<rtabmap_ros::Goal> rtabmap_ros::GuiWrapper::goalTopic_

private

Definition at line 137 of file GuiWrapper.h.

infoMapSync_

message_filters::Synchronizer<MyInfoMapSyncPolicy>* rtabmap_ros::GuiWrapper::infoMapSync_

private

Definition at line 144 of file GuiWrapper.h.

infoTopic_

message_filters::Subscriber<rtabmap_ros::Info> rtabmap_ros::GuiWrapper::infoTopic_

private

Definition at line 134 of file GuiWrapper.h.

lastOdomInfoUpdateTime_

double rtabmap_ros::GuiWrapper::lastOdomInfoUpdateTime_

private

Definition at line 120 of file GuiWrapper.h.

mainWindow_

rtabmap::MainWindow* rtabmap_ros::GuiWrapper::mainWindow_

private

Definition at line 118 of file GuiWrapper.h.

mapDataTopic_

message_filters::Subscriber<rtabmap_ros::MapData> rtabmap_ros::GuiWrapper::mapDataTopic_

private

Definition at line 135 of file GuiWrapper.h.

maxOdomUpdateRate_

double rtabmap_ros::GuiWrapper::maxOdomUpdateRate_

private

Definition at line 129 of file GuiWrapper.h.

odomFrameId_

std::string rtabmap_ros::GuiWrapper::odomFrameId_

private

Definition at line 125 of file GuiWrapper.h.

odomSensorSync_

bool rtabmap_ros::GuiWrapper::odomSensorSync_

private

Definition at line 128 of file GuiWrapper.h.

pathTopic_

message_filters::Subscriber<nav_msgs::Path> rtabmap_ros::GuiWrapper::pathTopic_

private

Definition at line 138 of file GuiWrapper.h.

prefDialog_

rtabmap::PreferencesDialog* rtabmap_ros::GuiWrapper::prefDialog_

private

Definition at line 117 of file GuiWrapper.h.

republishNodeDataPub_

ros::Publisher rtabmap_ros::GuiWrapper::republishNodeDataPub_

private

Definition at line 132 of file GuiWrapper.h.

rtabmapNodeName_

std::string rtabmap_ros::GuiWrapper::rtabmapNodeName_

private

Definition at line 121 of file GuiWrapper.h.

tfListener_

tf::TransformListener rtabmap_ros::GuiWrapper::tfListener_

private

Definition at line 130 of file GuiWrapper.h.

waitForTransform_

bool rtabmap_ros::GuiWrapper::waitForTransform_

private

Definition at line 126 of file GuiWrapper.h.

waitForTransformDuration_

double rtabmap_ros::GuiWrapper::waitForTransformDuration_

private

Definition at line 127 of file GuiWrapper.h.

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

• GuiWrapper.h
• GuiWrapper.cpp