virtual_sensor::VirtualSensorNode Class Reference

#include <virtual_sensor_node.hpp>

Classes
class	Column
class	Obstacle
class	Wall

Public Member Functions
void	columnPosesCB (const yocs_msgs::ColumnList::ConstPtr &msg)
bool	init ()
void	spin ()
	VirtualSensorNode ()
void	wallPosesCB (const yocs_msgs::WallList::ConstPtr &msg)
	~VirtualSensorNode ()

Private Member Functions
bool	add (boost::shared_ptr< Obstacle > &new_obs, std::vector< boost::shared_ptr< Obstacle > > &obstacles)

Private Attributes
double	angle_inc_
double	angle_max_
double	angle_min_
ros::Subscriber	column_poses_sub_
std::vector< yocs_msgs::Column >	columns_
double	frequency_
std::string	global_frame_id_
int	hits_count_
double	range_max_
double	range_min_
sensor_msgs::LaserScan	scan_
double	scan_time_
std::string	sensor_frame_id_
ros::Subscriber	table_poses_sub_
tf::TransformListener	tf_listener_
ros::Publisher	virtual_obs_pub_
ros::Subscriber	wall_poses_sub_
std::vector< yocs_msgs::Wall >	walls_

Detailed Description

Definition at line 25 of file virtual_sensor_node.hpp.

Constructor & Destructor Documentation

VirtualSensorNode()

virtual_sensor::VirtualSensorNode::VirtualSensorNode

(

)

Definition at line 14 of file virtual_sensor_node.cpp.

~VirtualSensorNode()

virtual_sensor::VirtualSensorNode::~VirtualSensorNode

(

)

Definition at line 18 of file virtual_sensor_node.cpp.

Member Function Documentation

add()

bool virtual_sensor::VirtualSensorNode::add ( boost::shared_ptr< Obstacle > &  new_obs, std::vector< boost::shared_ptr< Obstacle > > &  obstacles  )

private

Add a new obstacle to obstacles list with some processing:

• remove those out of range
• short by increasing distance to the robot

  Parameters

  new_obs	New obstacle in robot reference system
  obstacles	Current obstacles list

  Returns

  True if added, false otherwise

Definition at line 178 of file virtual_sensor_node.cpp.

columnPosesCB()

void virtual_sensor::VirtualSensorNode::columnPosesCB

(

const yocs_msgs::ColumnList::ConstPtr &

msg

)

Definition at line 70 of file virtual_sensor_node.cpp.

init()

bool virtual_sensor::VirtualSensorNode::init

(

)

Definition at line 23 of file virtual_sensor_node.cpp.

spin()

void virtual_sensor::VirtualSensorNode::spin

(

)

Definition at line 81 of file virtual_sensor_node.cpp.

wallPosesCB()

void virtual_sensor::VirtualSensorNode::wallPosesCB

(

const yocs_msgs::WallList::ConstPtr &

msg

)

Definition at line 75 of file virtual_sensor_node.cpp.

Member Data Documentation

angle_inc_

double virtual_sensor::VirtualSensorNode::angle_inc_

private

Definition at line 128 of file virtual_sensor_node.hpp.

angle_max_

double virtual_sensor::VirtualSensorNode::angle_max_

private

Definition at line 127 of file virtual_sensor_node.hpp.

angle_min_

double virtual_sensor::VirtualSensorNode::angle_min_

private

Definition at line 126 of file virtual_sensor_node.hpp.

column_poses_sub_

ros::Subscriber virtual_sensor::VirtualSensorNode::column_poses_sub_

private

Definition at line 138 of file virtual_sensor_node.hpp.

columns_

std::vector<yocs_msgs::Column> virtual_sensor::VirtualSensorNode::columns_

private

Definition at line 142 of file virtual_sensor_node.hpp.

frequency_

double virtual_sensor::VirtualSensorNode::frequency_

private

Definition at line 132 of file virtual_sensor_node.hpp.

global_frame_id_

std::string virtual_sensor::VirtualSensorNode::global_frame_id_

private

Definition at line 135 of file virtual_sensor_node.hpp.

hits_count_

int virtual_sensor::VirtualSensorNode::hits_count_

private

Definition at line 133 of file virtual_sensor_node.hpp.

range_max_

double virtual_sensor::VirtualSensorNode::range_max_

private

Definition at line 131 of file virtual_sensor_node.hpp.

range_min_

double virtual_sensor::VirtualSensorNode::range_min_

private

Definition at line 130 of file virtual_sensor_node.hpp.

scan_

sensor_msgs::LaserScan virtual_sensor::VirtualSensorNode::scan_

private

Definition at line 140 of file virtual_sensor_node.hpp.

scan_time_

double virtual_sensor::VirtualSensorNode::scan_time_

private

Definition at line 129 of file virtual_sensor_node.hpp.

sensor_frame_id_

std::string virtual_sensor::VirtualSensorNode::sensor_frame_id_

private

Frame id for the output scan

Definition at line 134 of file virtual_sensor_node.hpp.

table_poses_sub_

ros::Subscriber virtual_sensor::VirtualSensorNode::table_poses_sub_

private

Definition at line 139 of file virtual_sensor_node.hpp.

tf_listener_

tf::TransformListener virtual_sensor::VirtualSensorNode::tf_listener_

private

Definition at line 141 of file virtual_sensor_node.hpp.

virtual_obs_pub_

ros::Publisher virtual_sensor::VirtualSensorNode::virtual_obs_pub_

private

Definition at line 136 of file virtual_sensor_node.hpp.

wall_poses_sub_

ros::Subscriber virtual_sensor::VirtualSensorNode::wall_poses_sub_

private

Definition at line 137 of file virtual_sensor_node.hpp.

walls_

std::vector<yocs_msgs::Wall> virtual_sensor::VirtualSensorNode::walls_

private

Definition at line 143 of file virtual_sensor_node.hpp.

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

• virtual_sensor_node.hpp
• virtual_sensor_node.cpp