jsk_pcl_ros::OctomapServerContact Class Reference

#include <octomap_server_contact.h>

Inheritance diagram for jsk_pcl_ros::OctomapServerContact:

Public Member Functions
virtual void	initContactSensor (const ros::NodeHandle &privateNh)
virtual void	insertContactSensor (const jsk_recognition_msgs::ContactSensorArray::ConstPtr &msg)
virtual void	insertContactSensorCallback (const jsk_recognition_msgs::ContactSensorArray::ConstPtr &msg)
virtual void	insertProximityCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud)
virtual void	insertScanProximity (const tf::Point &sensorOriginTf, const PCLPointCloud &pc)
	OctomapServerContact (const ros::NodeHandle &privateNh=ros::NodeHandle("~"))
virtual void	publishAll (const ros::Time &rostime)
virtual void	subscribe ()
virtual void	unsubscribe ()
virtual	~OctomapServerContact ()
Public Member Functions inherited from octomap_server::OctomapServer
bool	clearBBXSrv (BBXSrv::Request &req, BBXSrv::Response &resp)
virtual void	insertCloudCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud)
virtual bool	octomapBinarySrv (OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res)
virtual bool	octomapFullSrv (OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res)
	OctomapServer (const ros::NodeHandle private_nh_=ros::NodeHandle("~"), const ros::NodeHandle &nh_=ros::NodeHandle())
virtual bool	openFile (const std::string &filename)
bool	resetSrv (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
virtual	~OctomapServer ()

Protected Member Functions
virtual void	onInit ()
Protected Member Functions inherited from octomap_server::OctomapServer
void	adjustMapData (nav_msgs::OccupancyGrid &map, const nav_msgs::MapMetaData &oldMapInfo) const
void	filterGroundPlane (const PCLPointCloud &pc, PCLPointCloud &ground, PCLPointCloud &nonground) const
virtual void	handleFreeNode (const OcTreeT::iterator &it)
virtual void	handleFreeNodeInBBX (const OcTreeT::iterator &it)
virtual void	handleNode (const OcTreeT::iterator &it)
virtual void	handleNodeInBBX (const OcTreeT::iterator &it)
virtual void	handleOccupiedNode (const OcTreeT::iterator &it)
virtual void	handleOccupiedNodeInBBX (const OcTreeT::iterator &it)
virtual void	handlePostNodeTraversal (const ros::Time &rostime)
virtual void	handlePreNodeTraversal (const ros::Time &rostime)
virtual void	insertScan (const tf::Point &sensorOrigin, const PCLPointCloud &ground, const PCLPointCloud &nonground)
bool	isInUpdateBBX (const OcTreeT::iterator &it) const
bool	isSpeckleNode (const octomap::OcTreeKey &key) const
bool	mapChanged (const nav_msgs::MapMetaData &oldMapInfo, const nav_msgs::MapMetaData &newMapInfo)
unsigned	mapIdx (const octomap::OcTreeKey &key) const
unsigned	mapIdx (int i, int j) const
void	publishBinaryOctoMap (const ros::Time &rostime=ros::Time::now()) const
void	publishFullOctoMap (const ros::Time &rostime=ros::Time::now()) const
void	publishProjected2DMap (const ros::Time &rostime=ros::Time::now())
void	reconfigureCallback (octomap_server::OctomapServerConfig &config, uint32_t level)
virtual void	update2DMap (const OcTreeT::iterator &it, bool occupied)

Protected Attributes
ros::ServiceServer	m_clearBBXService
std_msgs::ColorRGBA	m_colorFrontier
std_msgs::ColorRGBA	m_colorUnknown
message_filters::Subscriber< jsk_recognition_msgs::ContactSensorArray >	m_contactSensorSub
ros::Publisher	m_fromarkerPub
ros::Publisher	m_frontierPointCloudPub
double	m_maxRangeProximity
double	m_occupancyMaxX
double	m_occupancyMaxY
double	m_occupancyMinX
double	m_occupancyMinY
ros::ServiceServer	m_octomapBinaryService
ros::ServiceServer	m_octomapFullService
octomap::OcTreeContact *	m_octreeContact
double	m_offsetVisualizeUnknown
message_filters::Subscriber< sensor_msgs::PointCloud2 > *	m_pointProximitySub
bool	m_publishFrontierSpace
bool	m_publishUnknownSpace
ros::ServiceServer	m_resetService
boost::shared_ptr< robot_self_filter::SelfMaskNamedLink >	m_selfMask
boost::shared_ptr< tf::MessageFilter< jsk_recognition_msgs::ContactSensorArray > >	m_tfContactSensorSub
tf::MessageFilter< sensor_msgs::PointCloud2 > *	m_tfPointProximitySub
ros::Publisher	m_umarkerPub
ros::Publisher	m_unknownPointCloudPub
bool	m_useContactSurface
Protected Attributes inherited from octomap_server::OctomapServer
std::string	m_baseFrameId
ros::Publisher	m_binaryMapPub
ros::ServiceServer	m_clearBBXService
ros::Publisher	m_cmapPub
ros::Publisher	m_collisionObjectPub
std_msgs::ColorRGBA	m_color
double	m_colorFactor
std_msgs::ColorRGBA	m_colorFree
bool	m_compressMap
boost::recursive_mutex	m_config_mutex
bool	m_filterGroundPlane
bool	m_filterSpeckles
ros::Publisher	m_fmapPub
ros::Publisher	m_fmarkerPub
ros::Publisher	m_fullMapPub
nav_msgs::OccupancyGrid	m_gridmap
double	m_groundFilterAngle
double	m_groundFilterDistance
double	m_groundFilterPlaneDistance
bool	m_incrementalUpdate
bool	m_initConfig
octomap::KeyRay	m_keyRay
bool	m_latchedTopics
bool	m_mapOriginChanged
ros::Publisher	m_mapPub
ros::Publisher	m_markerPub
double	m_maxRange
unsigned	m_maxTreeDepth
double	m_minRange
double	m_minSizeX
double	m_minSizeY
unsigned	m_multires2DScale
ros::NodeHandle	m_nh
ros::NodeHandle	m_nh_private
double	m_occupancyMaxZ
double	m_occupancyMinZ
ros::ServiceServer	m_octomapBinaryService
ros::ServiceServer	m_octomapFullService
OcTreeT *	m_octree
octomap::OcTreeKey	m_paddedMinKey
double	m_pointcloudMaxX
double	m_pointcloudMaxY
double	m_pointcloudMaxZ
double	m_pointcloudMinX
double	m_pointcloudMinY
double	m_pointcloudMinZ
ros::Publisher	m_pointCloudPub
message_filters::Subscriber< sensor_msgs::PointCloud2 > *	m_pointCloudSub
bool	m_projectCompleteMap
bool	m_publish2DMap
bool	m_publishFreeSpace
dynamic_reconfigure::Server< OctomapServerConfig >	m_reconfigureServer
double	m_res
ros::ServiceServer	m_resetService
tf::TransformListener	m_tfListener
tf::MessageFilter< sensor_msgs::PointCloud2 > *	m_tfPointCloudSub
unsigned	m_treeDepth
octomap::OcTreeKey	m_updateBBXMax
octomap::OcTreeKey	m_updateBBXMin
bool	m_useColoredMap
bool	m_useHeightMap
std::string	m_worldFrameId

Additional Inherited Members
Public Types inherited from octomap_server::OctomapServer
typedef octomap_msgs::BoundingBoxQuery	BBXSrv
typedef octomap_msgs::GetOctomap	OctomapSrv
typedef octomap::OcTree	OcTreeT
typedef pcl::PointXYZ	PCLPoint
typedef pcl::PointCloud< pcl::PointXYZ >	PCLPointCloud
Static Protected Member Functions inherited from octomap_server::OctomapServer
static std_msgs::ColorRGBA	heightMapColor (double h)
static void	updateMaxKey (const octomap::OcTreeKey &in, octomap::OcTreeKey &max)
static void	updateMinKey (const octomap::OcTreeKey &in, octomap::OcTreeKey &min)

Detailed Description

Definition at line 52 of file octomap_server_contact.h.

Constructor & Destructor Documentation

OctomapServerContact()

jsk_pcl_ros::OctomapServerContact::OctomapServerContact

(

const ros::NodeHandle &

privateNh = ros::NodeHandle("~")

)

Definition at line 45 of file octomap_server_contact_nodelet.cpp.

~OctomapServerContact()

jsk_pcl_ros::OctomapServerContact::~OctomapServerContact ( )

virtual

Definition at line 118 of file octomap_server_contact_nodelet.cpp.

Member Function Documentation

initContactSensor()

void jsk_pcl_ros::OctomapServerContact::initContactSensor ( const ros::NodeHandle &  privateNh )

virtual

Definition at line 121 of file octomap_server_contact_nodelet.cpp.

insertContactSensor()

void jsk_pcl_ros::OctomapServerContact::insertContactSensor ( const jsk_recognition_msgs::ContactSensorArray::ConstPtr &  msg )

virtual

Definition at line 315 of file octomap_server_contact_nodelet.cpp.

insertContactSensorCallback()

void jsk_pcl_ros::OctomapServerContact::insertContactSensorCallback ( const jsk_recognition_msgs::ContactSensorArray::ConstPtr &  msg )

virtual

Definition at line 459 of file octomap_server_contact_nodelet.cpp.

insertProximityCallback()

void jsk_pcl_ros::OctomapServerContact::insertProximityCallback ( const sensor_msgs::PointCloud2::ConstPtr &  cloud )

virtual

Definition at line 174 of file octomap_server_contact_nodelet.cpp.

insertScanProximity()

void jsk_pcl_ros::OctomapServerContact::insertScanProximity ( const tf::Point &  sensorOriginTf, const PCLPointCloud &  pc  )

virtual

Definition at line 209 of file octomap_server_contact_nodelet.cpp.

onInit()

void jsk_pcl_ros::OctomapServerContact::onInit ( )

protectedvirtual

Definition at line 852 of file octomap_server_contact_nodelet.cpp.

publishAll()

void jsk_pcl_ros::OctomapServerContact::publishAll ( const ros::Time &  rostime )

virtual

Reimplemented from octomap_server::OctomapServer.

Definition at line 466 of file octomap_server_contact_nodelet.cpp.

subscribe()

virtual void jsk_pcl_ros::OctomapServerContact::subscribe ( )

inlinevirtual

Definition at line 66 of file octomap_server_contact.h.

unsubscribe()

virtual void jsk_pcl_ros::OctomapServerContact::unsubscribe ( )

inlinevirtual

Definition at line 67 of file octomap_server_contact.h.

Member Data Documentation

m_clearBBXService

ros::ServiceServer jsk_pcl_ros::OctomapServerContact::m_clearBBXService

protected

Definition at line 77 of file octomap_server_contact.h.

m_colorFrontier

std_msgs::ColorRGBA jsk_pcl_ros::OctomapServerContact::m_colorFrontier

protected

Definition at line 80 of file octomap_server_contact.h.

m_colorUnknown

std_msgs::ColorRGBA jsk_pcl_ros::OctomapServerContact::m_colorUnknown

protected

Definition at line 79 of file octomap_server_contact.h.

m_contactSensorSub

message_filters::Subscriber<jsk_recognition_msgs::ContactSensorArray> jsk_pcl_ros::OctomapServerContact::m_contactSensorSub

protected

Definition at line 75 of file octomap_server_contact.h.

m_fromarkerPub

ros::Publisher jsk_pcl_ros::OctomapServerContact::m_fromarkerPub

protected

Definition at line 74 of file octomap_server_contact.h.

m_frontierPointCloudPub

ros::Publisher jsk_pcl_ros::OctomapServerContact::m_frontierPointCloudPub

protected

Definition at line 74 of file octomap_server_contact.h.

m_maxRangeProximity

double jsk_pcl_ros::OctomapServerContact::m_maxRangeProximity

protected

Definition at line 87 of file octomap_server_contact.h.

m_occupancyMaxX

double jsk_pcl_ros::OctomapServerContact::m_occupancyMaxX

protected

Definition at line 90 of file octomap_server_contact.h.

m_occupancyMaxY

double jsk_pcl_ros::OctomapServerContact::m_occupancyMaxY

protected

Definition at line 92 of file octomap_server_contact.h.

m_occupancyMinX

double jsk_pcl_ros::OctomapServerContact::m_occupancyMinX

protected

Definition at line 89 of file octomap_server_contact.h.

m_occupancyMinY

double jsk_pcl_ros::OctomapServerContact::m_occupancyMinY

protected

Definition at line 91 of file octomap_server_contact.h.

m_octomapBinaryService

ros::ServiceServer jsk_pcl_ros::OctomapServerContact::m_octomapBinaryService

protected

Definition at line 77 of file octomap_server_contact.h.

m_octomapFullService

ros::ServiceServer jsk_pcl_ros::OctomapServerContact::m_octomapFullService

protected

Definition at line 77 of file octomap_server_contact.h.

m_octreeContact

octomap::OcTreeContact* jsk_pcl_ros::OctomapServerContact::m_octreeContact

protected

Definition at line 98 of file octomap_server_contact.h.

m_offsetVisualizeUnknown

double jsk_pcl_ros::OctomapServerContact::m_offsetVisualizeUnknown

protected

Definition at line 83 of file octomap_server_contact.h.

m_pointProximitySub

message_filters::Subscriber<sensor_msgs::PointCloud2>* jsk_pcl_ros::OctomapServerContact::m_pointProximitySub

protected

Definition at line 72 of file octomap_server_contact.h.

m_publishFrontierSpace

bool jsk_pcl_ros::OctomapServerContact::m_publishFrontierSpace

protected

Definition at line 85 of file octomap_server_contact.h.

m_publishUnknownSpace

bool jsk_pcl_ros::OctomapServerContact::m_publishUnknownSpace

protected

Definition at line 82 of file octomap_server_contact.h.

m_resetService

ros::ServiceServer jsk_pcl_ros::OctomapServerContact::m_resetService

protected

Definition at line 77 of file octomap_server_contact.h.

m_selfMask

boost::shared_ptr<robot_self_filter::SelfMaskNamedLink> jsk_pcl_ros::OctomapServerContact::m_selfMask

protected

Definition at line 96 of file octomap_server_contact.h.

m_tfContactSensorSub

boost::shared_ptr<tf::MessageFilter<jsk_recognition_msgs::ContactSensorArray> > jsk_pcl_ros::OctomapServerContact::m_tfContactSensorSub

protected

Definition at line 76 of file octomap_server_contact.h.

m_tfPointProximitySub

tf::MessageFilter<sensor_msgs::PointCloud2>* jsk_pcl_ros::OctomapServerContact::m_tfPointProximitySub

protected

Definition at line 73 of file octomap_server_contact.h.

m_umarkerPub

ros::Publisher jsk_pcl_ros::OctomapServerContact::m_umarkerPub

protected

Definition at line 71 of file octomap_server_contact.h.

m_unknownPointCloudPub

ros::Publisher jsk_pcl_ros::OctomapServerContact::m_unknownPointCloudPub

protected

Definition at line 71 of file octomap_server_contact.h.

m_useContactSurface

bool jsk_pcl_ros::OctomapServerContact::m_useContactSurface

protected

Definition at line 94 of file octomap_server_contact.h.

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

• octomap_server_contact.h
• octomap_server_contact_nodelet.cpp