srs_env_model::CCollisionObjectPlugin Class Reference

#include <collision_object_plugin.h>

Inheritance diagram for srs_env_model::CCollisionObjectPlugin:

List of all members.

Public Member Functions
	CCollisionObjectPlugin (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)
	Connect/disconnect plugin to/from all topics.
bool	shouldPublish ()
	Should plugin publish data?
virtual	~CCollisionObjectPlugin ()
	Destructor.
Protected Member Functions
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.
Protected Attributes
bool	m_bConvert
	Does point need to be converted from ocmap frame id to the collision objects frame id?
std::string	m_coFrameId
	Used frame id (input data will be transformed to it)
ros::Publisher	m_coPublisher
	Collision object publisher.
std::string	m_coPublisherName
	Collision object publisher name.
bool	m_latchedTopics
std::string	m_ocFrameId
	Crawled octomap frame id.
Eigen::Matrix3f	m_ocToCoRot
	Transformation from octomap to the collision object frame id - rotation.
Eigen::Vector3f	m_ocToCoTrans
	Transformation from octomap to the collision object frame id - translation.
bool	m_publishCollisionObject
	Is publishing enabled?
tf::TransformListener	m_tfListener
	Transform listener.

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Detailed Description

Definition at line 40 of file collision_object_plugin.h.

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Constructor & Destructor Documentation

srs_env_model::CCollisionObjectPlugin::CCollisionObjectPlugin

(

const std::string &

name

)

Constructor.

Definition at line 34 of file collision_object_plugin.cpp.

srs_env_model::CCollisionObjectPlugin::~CCollisionObjectPlugin

(

)

[virtual]

Destructor.

Definition at line 47 of file collision_object_plugin.cpp.

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Member Function Documentation

void srs_env_model::CCollisionObjectPlugin::enable

(

bool

enabled

)

[inline]

Enable or disable publishing.

Definition at line 50 of file collision_object_plugin.h.

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

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

Definition at line 141 of file collision_object_plugin.cpp.

void srs_env_model::CCollisionObjectPlugin::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_object_plugin.cpp.

void srs_env_model::CCollisionObjectPlugin::newMapDataCB

(

SMapWithParameters &

par

)

[protected, virtual]

Set used octomap frame id and timestamp.

We need no transformation - frames are the same...

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

Definition at line 79 of file collision_object_plugin.cpp.

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

Connect/disconnect plugin to/from all topics.

Reimplemented from srs_env_model::CServerPluginBase.

Definition at line 168 of file collision_object_plugin.cpp.

void srs_env_model::CCollisionObjectPlugin::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 71 of file collision_object_plugin.cpp.

bool srs_env_model::CCollisionObjectPlugin::shouldPublish

(

)

[virtual]

Should plugin publish data?

Implements srs_env_model::CServerPluginBase.

Definition at line 53 of file collision_object_plugin.cpp.

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Member Data Documentation

bool srs_env_model::CCollisionObjectPlugin::m_bConvert [protected]

Does point need to be converted from ocmap frame id to the collision objects frame id?

Definition at line 103 of file collision_object_plugin.h.

std::string srs_env_model::CCollisionObjectPlugin::m_coFrameId [protected]

Used frame id (input data will be transformed to it)

Definition at line 91 of file collision_object_plugin.h.

ros::Publisher srs_env_model::CCollisionObjectPlugin::m_coPublisher [protected]

Collision object publisher.

Definition at line 82 of file collision_object_plugin.h.

std::string srs_env_model::CCollisionObjectPlugin::m_coPublisherName [protected]

Collision object publisher name.

Definition at line 79 of file collision_object_plugin.h.

bool srs_env_model::CCollisionObjectPlugin::m_latchedTopics [protected]

Definition at line 88 of file collision_object_plugin.h.

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

Crawled octomap frame id.

Definition at line 94 of file collision_object_plugin.h.

Eigen::Matrix3f srs_env_model::CCollisionObjectPlugin::m_ocToCoRot [protected]

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

Definition at line 97 of file collision_object_plugin.h.

Eigen::Vector3f srs_env_model::CCollisionObjectPlugin::m_ocToCoTrans [protected]

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

Definition at line 100 of file collision_object_plugin.h.

bool srs_env_model::CCollisionObjectPlugin::m_publishCollisionObject [protected]

Is publishing enabled?

Definition at line 76 of file collision_object_plugin.h.

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

Transform listener.

Definition at line 85 of file collision_object_plugin.h.

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

• collision_object_plugin.h
• collision_object_plugin.cpp