srs_env_model::CCollisionGridPlugin Class Reference

#include <collision_grid_plugin.h>

Inheritance diagram for srs_env_model::CCollisionGridPlugin:

List of all members.

Public Member Functions
	CCollisionGridPlugin (const std::string &name)
	Constructor.
void	enable (bool enabled)
	Enable or disable publishing.
virtual void	init (ros::NodeHandle &node_handle)
	Initialize plugin - called in server constructor.
virtual void	pause (bool bPause, ros::NodeHandle &node_handle)
	Pause/resume plugin. All publishers and subscribers are disconnected on pause.
virtual	~CCollisionGridPlugin ()
	Destructor.
Protected Member Functions
virtual void	handleFreeNode (tButServerOcTree::iterator &it, const SMapWithParameters &mp)
	Handle free node (does nothing here)
virtual void	handleOccupiedNode (tButServerOcTree::iterator &it, const SMapWithParameters &mp)
	hook that is called when traversing occupied nodes of the updated Octree (does nothing here)
virtual void	newMapDataCB (SMapWithParameters &par)
	Set used octomap frame id and timestamp.
virtual void	publishInternal (const ros::Time &timestamp)
	Called when new scan was inserted and now all can be published.
bool	shouldPublish ()
	Should plugin publish data?
Protected Attributes
bool	m_bConvert
	Conversion between frame id's must be done...
ros::Publisher	m_gridPublisher
	Collision object publisher.
std::string	m_gridPublisherName
	Collision object publisher name.
bool	m_latchedTopics
double	m_minSizeX
	Map limits.
double	m_minSizeY
unsigned	m_multires2DScale
	Grid scaling.
std::string	m_ocFrameId
	Crawled octomap frame id.
Eigen::Matrix3f	m_ocToGridRot
	Transformation from octomap to the collision object frame id - rotation.
Eigen::Vector3f	m_ocToGridTrans
	Transformation from octomap to the collision object frame id - translation.
octomap::OcTreeKey	m_paddedMinKey
	Padded key minimum.
bool	m_publishGrid
	Is publishing enabled?
tf::TransformListener	m_tfListener
	Transform listener.

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Detailed Description

Definition at line 40 of file collision_grid_plugin.h.

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Constructor & Destructor Documentation

srs_env_model::CCollisionGridPlugin::CCollisionGridPlugin

(

const std::string &

name

)

Constructor.

Definition at line 34 of file collision_grid_plugin.cpp.

srs_env_model::CCollisionGridPlugin::~CCollisionGridPlugin

(

)

[virtual]

Destructor.

Definition at line 47 of file collision_grid_plugin.cpp.

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Member Function Documentation

void srs_env_model::CCollisionGridPlugin::enable

(

bool

enabled

)

[inline]

Enable or disable publishing.

Definition at line 50 of file collision_grid_plugin.h.

void srs_env_model::CCollisionGridPlugin::handleFreeNode	(	tButServerOcTree::iterator &	it,
		const SMapWithParameters &	mp
	)		[protected, virtual]

Handle free node (does nothing here)

Free node handler

Definition at line 228 of file collision_grid_plugin.cpp.

void srs_env_model::CCollisionGridPlugin::handleOccupiedNode	(	tButServerOcTree::iterator &	it,
		const SMapWithParameters &	mp
	)		[protected, virtual]

hook that is called when traversing occupied nodes of the updated Octree (does nothing here)

Occupied node handler

Definition at line 201 of file collision_grid_plugin.cpp.

void srs_env_model::CCollisionGridPlugin::init

(

ros::NodeHandle &

node_handle

)

[virtual]

Initialize plugin - called in server constructor.

Reimplemented from srs_env_model::CServerPluginBase.

Definition at line 60 of file collision_grid_plugin.cpp.

void srs_env_model::CCollisionGridPlugin::newMapDataCB

(

SMapWithParameters &

par

)

[protected, virtual]

Set used octomap frame id and timestamp.

Implements srs_env_model::COctomapCrawlerBase< tButServerOcTree::NodeType >.

Definition at line 85 of file collision_grid_plugin.cpp.

void srs_env_model::CCollisionGridPlugin::pause	(	bool	bPause,
		ros::NodeHandle &	node_handle
	)		[virtual]

Pause/resume plugin. All publishers and subscribers are disconnected on pause.

Pause/resume plugin. All publishers and subscribers are disconnected on pause

Reimplemented from srs_env_model::CServerPluginBase.

Definition at line 255 of file collision_grid_plugin.cpp.

void srs_env_model::CCollisionGridPlugin::publishInternal

(

const ros::Time &

timestamp

)

[protected, virtual]

Called when new scan was inserted and now all can be published.

Implements srs_env_model::CServerPluginBase.

Definition at line 75 of file collision_grid_plugin.cpp.

bool srs_env_model::CCollisionGridPlugin::shouldPublish

(

)

[protected, virtual]

Should plugin publish data?

Implements srs_env_model::CServerPluginBase.

Definition at line 53 of file collision_grid_plugin.cpp.

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Member Data Documentation

bool srs_env_model::CCollisionGridPlugin::m_bConvert [protected]

Conversion between frame id's must be done...

Definition at line 110 of file collision_grid_plugin.h.

ros::Publisher srs_env_model::CCollisionGridPlugin::m_gridPublisher [protected]

Collision object publisher.

Definition at line 85 of file collision_grid_plugin.h.

std::string srs_env_model::CCollisionGridPlugin::m_gridPublisherName [protected]

Collision object publisher name.

Definition at line 82 of file collision_grid_plugin.h.

bool srs_env_model::CCollisionGridPlugin::m_latchedTopics [protected]

Definition at line 91 of file collision_grid_plugin.h.

double srs_env_model::CCollisionGridPlugin::m_minSizeX [protected]

Map limits.

Definition at line 106 of file collision_grid_plugin.h.

double srs_env_model::CCollisionGridPlugin::m_minSizeY [protected]

Definition at line 107 of file collision_grid_plugin.h.

unsigned srs_env_model::CCollisionGridPlugin::m_multires2DScale [protected]

Grid scaling.

Definition at line 113 of file collision_grid_plugin.h.

std::string srs_env_model::CCollisionGridPlugin::m_ocFrameId [protected]

Crawled octomap frame id.

Definition at line 94 of file collision_grid_plugin.h.

Eigen::Matrix3f srs_env_model::CCollisionGridPlugin::m_ocToGridRot [protected]

Transformation from octomap to the collision object frame id - rotation.

Definition at line 97 of file collision_grid_plugin.h.

Eigen::Vector3f srs_env_model::CCollisionGridPlugin::m_ocToGridTrans [protected]

Transformation from octomap to the collision object frame id - translation.

Definition at line 100 of file collision_grid_plugin.h.

octomap::OcTreeKey srs_env_model::CCollisionGridPlugin::m_paddedMinKey [protected]

Padded key minimum.

Definition at line 103 of file collision_grid_plugin.h.

bool srs_env_model::CCollisionGridPlugin::m_publishGrid [protected]

Is publishing enabled?

Definition at line 79 of file collision_grid_plugin.h.

tf::TransformListener srs_env_model::CCollisionGridPlugin::m_tfListener [protected]

Transform listener.

Definition at line 88 of file collision_grid_plugin.h.

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

• collision_grid_plugin.h
• collision_grid_plugin.cpp