RobotLinksFilter Class Reference

List of all members.

Classes
struct	LASERPOINT
struct	LINK
Public Member Functions
bool	InitRobotLinksFromOpenRAVE (const string &robotname)
	RobotLinksFilter (const string &robotname)
virtual	~RobotLinksFilter ()
Private Member Functions
bool	compute_convex_hull (const vector< Vector > &verts, vector< Vector > &vconvexplanes)
void	noFilterCallback (const sensor_msgs::PointCloudConstPtr &cloud)
void	PointCloudCallback (const sensor_msgs::PointCloudConstPtr &_pointcloudin)
void	PruneWithAccurateTiming (const sensor_msgs::PointCloud &pointcloudin, vector< LASERPOINT > &vlaserpoints)
void	PruneWithSimpleTiming (const sensor_msgs::PointCloud &pointcloudin, vector< LASERPOINT > &vlaserpoints)
Static Private Member Functions
static Transform	GetTransform (const btTransform &bt)
static Transform	GetTransform (const geometry_msgs::Pose &pose)
Private Attributes
bool	_bAccurateTiming
	if true, will interpolate the convex hulls for every time stamp
double	_convexpadding
double	_min_sensor_dist
boost::shared_ptr < tf::MessageFilter < sensor_msgs::PointCloud > >	_mn
ros::NodeHandle	_nh
ros::Subscriber	_no_filter_sub
sensor_msgs::PointCloud	_pointcloudout
ros::Publisher	_pointCloudPublisher
string	_robotname
ros::NodeHandle	_root_handle
boost::shared_ptr < ros::NodeHandle >	_ros
std::string	_sensor_frame
boost::shared_ptr < message_filters::Subscriber < sensor_msgs::PointCloud > >	_sub
tf::TransformListener	_tf
vector< LASERPOINT >	_vlaserpoints
vector< LINK >	_vLinkHulls

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Detailed Description

Definition at line 60 of file robotlinks_filter_node.cpp.

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Constructor & Destructor Documentation

RobotLinksFilter::RobotLinksFilter

(

const string &

robotname

)

[inline]

Definition at line 98 of file robotlinks_filter_node.cpp.

virtual RobotLinksFilter::~RobotLinksFilter

(

)

[inline, virtual]

Definition at line 125 of file robotlinks_filter_node.cpp.

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Member Function Documentation

bool RobotLinksFilter::compute_convex_hull	(	const vector< Vector > &	verts,
		vector< Vector > &	vconvexplanes
	)		[inline, private]

Definition at line 381 of file robotlinks_filter_node.cpp.

static Transform RobotLinksFilter::GetTransform

(

const btTransform &

bt

)

[inline, static, private]

Definition at line 424 of file robotlinks_filter_node.cpp.

static Transform RobotLinksFilter::GetTransform

(

const geometry_msgs::Pose &

pose

)

[inline, static, private]

Definition at line 430 of file robotlinks_filter_node.cpp.

bool RobotLinksFilter::InitRobotLinksFromOpenRAVE

(

const string &

robotname

)

[inline]

Definition at line 132 of file robotlinks_filter_node.cpp.

void RobotLinksFilter::noFilterCallback

(

const sensor_msgs::PointCloudConstPtr &

cloud

)

[inline, private]

Definition at line 186 of file robotlinks_filter_node.cpp.

void RobotLinksFilter::PointCloudCallback

(

const sensor_msgs::PointCloudConstPtr &

_pointcloudin

)

[inline, private]

Definition at line 191 of file robotlinks_filter_node.cpp.

void RobotLinksFilter::PruneWithAccurateTiming	(	const sensor_msgs::PointCloud &	pointcloudin,
		vector< LASERPOINT > &	vlaserpoints
	)		[inline, private]

prune all the points that are inside the convex hulls of the robot links Uses a different timestamp for every laser point cloud

Definition at line 237 of file robotlinks_filter_node.cpp.

void RobotLinksFilter::PruneWithSimpleTiming	(	const sensor_msgs::PointCloud &	pointcloudin,
		vector< LASERPOINT > &	vlaserpoints
	)		[inline, private]

prune all the points that are inside the convex hulls of the robot links Uses the header timestamp for all laser point clouds

Definition at line 317 of file robotlinks_filter_node.cpp.

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Member Data Documentation

bool RobotLinksFilter::_bAccurateTiming [private]

if true, will interpolate the convex hulls for every time stamp

Definition at line 95 of file robotlinks_filter_node.cpp.

double RobotLinksFilter::_convexpadding [private]

Definition at line 94 of file robotlinks_filter_node.cpp.

double RobotLinksFilter::_min_sensor_dist [private]

Definition at line 94 of file robotlinks_filter_node.cpp.

boost::shared_ptr< tf::MessageFilter<sensor_msgs::PointCloud> > RobotLinksFilter::_mn [private]

Definition at line 83 of file robotlinks_filter_node.cpp.

ros::NodeHandle RobotLinksFilter::_nh [private]

Definition at line 82 of file robotlinks_filter_node.cpp.

ros::Subscriber RobotLinksFilter::_no_filter_sub [private]

Definition at line 87 of file robotlinks_filter_node.cpp.

sensor_msgs::PointCloud RobotLinksFilter::_pointcloudout [private]

Definition at line 92 of file robotlinks_filter_node.cpp.

ros::Publisher RobotLinksFilter::_pointCloudPublisher [private]

Definition at line 86 of file robotlinks_filter_node.cpp.

string RobotLinksFilter::_robotname [private]

Definition at line 93 of file robotlinks_filter_node.cpp.

ros::NodeHandle RobotLinksFilter::_root_handle [private]

Definition at line 82 of file robotlinks_filter_node.cpp.

boost::shared_ptr<ros::NodeHandle> RobotLinksFilter::_ros [private]

Definition at line 90 of file robotlinks_filter_node.cpp.

std::string RobotLinksFilter::_sensor_frame [private]

Definition at line 85 of file robotlinks_filter_node.cpp.

boost::shared_ptr< message_filters::Subscriber<sensor_msgs::PointCloud> > RobotLinksFilter::_sub [private]

Definition at line 84 of file robotlinks_filter_node.cpp.

tf::TransformListener RobotLinksFilter::_tf [private]

Definition at line 81 of file robotlinks_filter_node.cpp.

vector<LASERPOINT> RobotLinksFilter::_vlaserpoints [private]

Definition at line 91 of file robotlinks_filter_node.cpp.

vector<LINK> RobotLinksFilter::_vLinkHulls [private]

Definition at line 89 of file robotlinks_filter_node.cpp.

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

• robotlinks_filter_node.cpp