#include <limited_point_cloud_plugin.h>

Inheritance diagram for srs_env_model::CLimitedPointCloudPlugin:

Public Member Functions
	CLimitedPointCloudPlugin (const std::string &name)
	Constructor.
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.
virtual bool	wantsMap ()
	Wants plugin new map data?
virtual	~CLimitedPointCloudPlugin ()
	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.
void	onCameraPositionChangedCB (const srs_env_model_msgs::RVIZCameraPosition::ConstPtr &position)
	On camera position changed callback.
virtual void	publishInternal (const ros::Time &timestamp)
	Called when new scan was inserted and now all can be published.
void	spinThread ()
Protected Attributes
ros::CallbackQueue	callback_queue_
bool	m_bSpinThread
	Spin out own input callback thread.
bool	m_bTransformCamera
	Should camera position and orientation be transformed?
std::string	m_cameraFrameId
	Camera frame id.
std::string	m_cameraPositionTopic
boost::recursive_mutex	m_camPosMutex
ros::Subscriber	m_camPosSubscriber
	Subscriber - camera position.
Eigen::Matrix3f	m_camToOcRot
	Transformation from camera to the octomap frame id - rotation.
Eigen::Vector3f	m_camToOcTrans
	Transformation from camera to the octomap frame id - translation.
long	m_countHidden
long	m_countVisible
	Counters.
float	m_d
	Last part of the plane equation.
float	m_dBuf
Eigen::Vector3f	m_normal
	Camera normalized normal - part of the plane equation.
Eigen::Vector3f	m_normalBuf
tf::MessageFilter < srs_env_model_msgs::RVIZCameraPosition > *	m_tfCamPosSub
	Message filter (we only want point cloud 2 messages)
float	max
float	min
volatile bool	need_to_terminate_
ros::NodeHandle	node_handle_
boost::scoped_ptr< boost::thread >	spin_thread_

Detailed Description

Definition at line 43 of file limited_point_cloud_plugin.h.

Constructor & Destructor Documentation

srs_env_model::CLimitedPointCloudPlugin::CLimitedPointCloudPlugin ( const std::string & name )

Constructor.

Constructor

Definition at line 37 of file limited_point_cloud_plugin.cpp.

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

Destructor.

Destructor - kill thread

Definition at line 47 of file limited_point_cloud_plugin.cpp.

Member Function Documentation

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

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

Reimplemented from srs_env_model::CPointCloudPlugin.

Definition at line 223 of file limited_point_cloud_plugin.cpp.

void srs_env_model::CLimitedPointCloudPlugin::init ( ros::NodeHandle & node_handle ) [virtual]

Initialize plugin - called in server constructor.

Reimplemented from srs_env_model::CPointCloudPlugin.

Definition at line 71 of file limited_point_cloud_plugin.cpp.

void srs_env_model::CLimitedPointCloudPlugin::newMapDataCB ( SMapWithParameters & par ) [protected, virtual]

Set used octomap frame id and timestamp.

Set used octomap frame id and timestamp

Reimplemented from srs_env_model::CPointCloudPlugin.

Definition at line 118 of file limited_point_cloud_plugin.cpp.

void srs_env_model::CLimitedPointCloudPlugin::onCameraPositionChangedCB ( const srs_env_model_msgs::RVIZCameraPosition::ConstPtr & cameraPosition ) [protected]

On camera position changed callback.

On camera position changed callback

Definition at line 250 of file limited_point_cloud_plugin.cpp.