#include <map2d_plugin.h>
Public Member Functions | |
| CMap2DPlugin (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 | ~CMap2DPlugin () |
| 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 ×tamp) |
| 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... | |
| bool | m_latchedTopics |
| std::string | m_map2DFrameId |
| Used frame id (input data will be transformed to it) | |
| ros::Publisher | m_map2DPublisher |
| Collision object publisher. | |
| std::string | m_map2DPublisherName |
| Collision object publisher name. | |
| double | m_minSizeX |
| Map limits. | |
| double | m_minSizeY |
| std::string | m_ocFrameId |
| Crawled octomap frame id. | |
| Eigen::Matrix3f | m_ocToMap2DRot |
| Transformation from octomap to the collision object frame id - rotation. | |
| Eigen::Vector3f | m_ocToMap2DTrans |
| Transformation from octomap to the collision object frame id - translation. | |
| octomap::OcTreeKey | m_paddedMinKey |
| Padded key minimum. | |
| bool | m_publishMap2D |
| Is publishing enabled? | |
| tf::TransformListener | m_tfListener |
| Transform listener. | |
Detailed Description
Definition at line 40 of file map2d_plugin.h.
Constructor & Destructor Documentation
| srs_env_model::CMap2DPlugin::CMap2DPlugin | ( | const std::string & | name | ) |
Constructor.
Definition at line 34 of file map2d_plugin.cpp.
| srs_env_model::CMap2DPlugin::~CMap2DPlugin | ( | ) | [virtual] |
Destructor.
Definition at line 48 of file map2d_plugin.cpp.
Member Function Documentation
| void srs_env_model::CMap2DPlugin::enable | ( | bool | enabled | ) | [inline] |
Enable or disable publishing.
Definition at line 50 of file map2d_plugin.h.
| void srs_env_model::CMap2DPlugin::handleFreeNode | ( | tButServerOcTree::iterator & | it, |
| const SMapWithParameters & | mp | ||
| ) | [protected, virtual] |
Handle free node (does nothing here)
Free node handler
Definition at line 243 of file map2d_plugin.cpp.
| void srs_env_model::CMap2DPlugin::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 216 of file map2d_plugin.cpp.
| void srs_env_model::CMap2DPlugin::init | ( | ros::NodeHandle & | node_handle | ) | [virtual] |
Initialize plugin - called in server constructor.
Reimplemented from srs_env_model::CServerPluginBase.
Definition at line 61 of file map2d_plugin.cpp.
| void srs_env_model::CMap2DPlugin::newMapDataCB | ( | SMapWithParameters & | par | ) | [protected, virtual] |
Set used octomap frame id and timestamp.
Implements srs_env_model::COctomapCrawlerBase< tButServerOcTree::NodeType >.
Definition at line 82 of file map2d_plugin.cpp.
| void srs_env_model::CMap2DPlugin::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 270 of file map2d_plugin.cpp.
| void srs_env_model::CMap2DPlugin::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 74 of file map2d_plugin.cpp.
| bool srs_env_model::CMap2DPlugin::shouldPublish | ( | ) | [protected, virtual] |
Should plugin publish data?
Implements srs_env_model::CServerPluginBase.
Definition at line 54 of file map2d_plugin.cpp.
Member Data Documentation
bool srs_env_model::CMap2DPlugin::m_bConvert [protected] |
Conversion between frame id's must be done...
Definition at line 113 of file map2d_plugin.h.
bool srs_env_model::CMap2DPlugin::m_latchedTopics [protected] |
Definition at line 91 of file map2d_plugin.h.
std::string srs_env_model::CMap2DPlugin::m_map2DFrameId [protected] |
Used frame id (input data will be transformed to it)
Definition at line 94 of file map2d_plugin.h.
Collision object publisher.
Definition at line 85 of file map2d_plugin.h.
std::string srs_env_model::CMap2DPlugin::m_map2DPublisherName [protected] |
Collision object publisher name.
Definition at line 82 of file map2d_plugin.h.
double srs_env_model::CMap2DPlugin::m_minSizeX [protected] |
Map limits.
Definition at line 109 of file map2d_plugin.h.
double srs_env_model::CMap2DPlugin::m_minSizeY [protected] |
Definition at line 110 of file map2d_plugin.h.
std::string srs_env_model::CMap2DPlugin::m_ocFrameId [protected] |
Crawled octomap frame id.
Definition at line 97 of file map2d_plugin.h.
Eigen::Matrix3f srs_env_model::CMap2DPlugin::m_ocToMap2DRot [protected] |
Transformation from octomap to the collision object frame id - rotation.
Definition at line 100 of file map2d_plugin.h.
Eigen::Vector3f srs_env_model::CMap2DPlugin::m_ocToMap2DTrans [protected] |
Transformation from octomap to the collision object frame id - translation.
Definition at line 103 of file map2d_plugin.h.
octomap::OcTreeKey srs_env_model::CMap2DPlugin::m_paddedMinKey [protected] |
Padded key minimum.
Definition at line 106 of file map2d_plugin.h.
bool srs_env_model::CMap2DPlugin::m_publishMap2D [protected] |
Is publishing enabled?
Definition at line 79 of file map2d_plugin.h.
Transform listener.
Definition at line 88 of file map2d_plugin.h.
The documentation for this class was generated from the following files: