#include <but_server.h>

Public Types
typedef pcl::PointCloud < pcl::PointXYZ >	tPCLPointCloud
	Type of the used pointcloud.
Public Member Functions
	CButServer (const std::string &filename="")
	Constructor - load file.
void	pause (bool bPause)
	Pause-resume server.
void	reset ()
	Reset server and all plugins.
virtual	~CButServer ()
	Destructor.
Protected Types
typedef std::vector < CServerPluginBase * >	tVecPlugins
	All plugins vector type.
Protected Member Functions
void	onOcMapDataChanged (tButServerOcMapConstPtr mapdata, const ros::Time &stamp)
	On octomap data changed.
bool	onPause (ButServerPause::Request &request, ButServerPause::Response &response)
	On pause service call.
bool	onReset (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
	On reset service call.
bool	onUseInputColor (srs_env_model::UseInputColor::Request &req, srs_env_model::UseInputColor::Response &res)
	Use/do not use color service callback.
void	publishAll (const ros::Time &rostime)
	Publish all.
void	publishPlugins (const ros::Time &rostime)
	Publish all.
Protected Attributes
bool	m_bIsPaused
	Is server running now.
bool	m_bUseOldIMP
	Use old interactive server plugin? TODO: Remov this when new is will be finished.
int	m_frameCounter
	Current frame counter.
bool	m_latchedTopics
ros::NodeHandle	m_nh
	Node handle.
int	m_numPCFramesProcessed
	Every N-th frame should be processed when including point-cloud.
boost::shared_ptr< CCMapPlugin >	m_plugCMap
	Collision map.
boost::shared_ptr < CCollisionObjectPlugin >	m_plugCollisionObject
	Collision object plugin.
boost::shared_ptr < CCompressedPointCloudPlugin >	m_plugCompressedPointCloud
	Compressed pointcloud plugin.
boost::shared_ptr< CExamplePlugin >	m_plugExample
	Create example plugin.
boost::shared_ptr < CExampleCrawlerPlugin >	m_plugExampleCrawler
	Create crawler plugin holder.
boost::shared_ptr < CIMarkersPlugin >	m_plugIMarkers
	Interactive markers server plugin.
boost::shared_ptr < CPointCloudPlugin >	m_plugInputPointCloud
	Incoming depth points cloud.
tVecPlugins	m_plugins
	All plugins.
boost::shared_ptr < CCollisionGridPlugin >	m_plugMap2D
	2D map plugin
boost::shared_ptr < CMarkerArrayPlugin >	m_plugMarkerArray
	Marker array publisher plugin.
boost::shared_ptr< CObjTreePlugin >	m_plugObjTree
	ObjTree plugin.
boost::shared_ptr < CPointCloudPlugin >	m_plugOcMapPointCloud
	Output depth points cloud - whole octomap.
boost::shared_ptr< COctoMapPlugin >	m_plugOctoMap
	Octo map plugin.
boost::shared_ptr < COldIMarkersPlugin >	m_plugOldIMarkers
	Old interactive markers plugin.
boost::shared_ptr < CPointCloudPlugin >	m_plugVisiblePointCloud
	Visible points point cloud.
ros::ServiceServer	m_servicePause
	Pause service.
ros::ServiceServer	m_serviceReset
	Reset service.
ros::ServiceServer	m_serviceUseInputColor
	Use input color service.

Detailed Description

BUT dynamic scene server class.

Definition at line 96 of file but_server.h.

Member Typedef Documentation

typedef pcl::PointCloud<pcl::PointXYZ> srs_env_model::CButServer::tPCLPointCloud

Type of the used pointcloud.

Definition at line 100 of file but_server.h.

typedef std::vector<CServerPluginBase * > srs_env_model::CButServer::tVecPlugins [protected]

All plugins vector type.

Definition at line 173 of file but_server.h.

Constructor & Destructor Documentation

srs_env_model::CButServer::CButServer ( const std::string & filename = "" )

Constructor - load file.

Swap function template.

octomap_server: A Tool to serve 3D OctoMaps in ROS (binary and as visualization) (inspired by the ROS map_saver)

Author:: A. Hornung, University of Freiburg, Copyright (C) 2010-2011.

See also:: http://octomap.sourceforge.net/ License: BSD Copyright (c) 2010-2011, A. Hornung, University of Freiburg All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

* Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the University of Freiburg nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. Constructor

Definition at line 65 of file but_server.cpp.

srs_env_model::CButServer::~CButServer ( ) [virtual]

Destructor.

Destructor

Definition at line 159 of file but_server.cpp.

Member Function Documentation

void srs_env_model::CButServer::onOcMapDataChanged	(	tButServerOcMapConstPtr	mapdata,
		const ros::Time &	stamp
	)		`[inline, protected]`

On octomap data changed.

Definition at line 120 of file but_server.h.

bool srs_env_model::CButServer::onPause	(	ButServerPause::Request &	request,
		ButServerPause::Response &	response
	)		`[protected]`

On pause service call.

On pause service call

Definition at line 220 of file but_server.cpp.

bool srs_env_model::CButServer::onReset	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)		`[inline, protected]`

On reset service call.

Definition at line 126 of file but_server.h.

bool srs_env_model::CButServer::onUseInputColor	(	srs_env_model::UseInputColor::Request &	req,
		srs_env_model::UseInputColor::Response &	res
	)		`[protected]`