#include <octomap_plugin.h>

Inheritance diagram for srs_env_model::COctoMapPlugin:

Public Types
typedef boost::signal< void(SMapWithParameters &) >	tSigOnNewData
	On new octomap data signal.
Public Member Functions
	COctoMapPlugin (const std::string &name)
	Constructor.
	COctoMapPlugin (const std::string &name, const std::string &filename)
	Constructor - load data from the file.
void	crawl (const ros::Time &currentTime)
	Crawl octomap.
double	getResolution ()
	Get octomap resolution.
tSigOnNewData &	getSigOnNewData ()
unsigned	getSize ()
	Get current octomap size.
unsigned	getTreeDepth ()
	Get current tree depth.
virtual void	init (ros::NodeHandle &node_handle)
	Initialize plugin - called in server constructor.
void	insertCloud (tPointCloud::ConstPtr cloud)
	Insert pointcloud.
virtual void	pause (bool bPause, ros::NodeHandle &node_handle)
	Pause/resume plugin. All publishers and subscribers are disconnected on pause.
void	reset (bool clearLoaded=true)
	Reset octomap.
virtual	~COctoMapPlugin ()
	Destructor.
Protected Member Functions
bool	addCubeCB (srs_env_model::AddCube::Request &req, srs_env_model::AddCube::Response &res)
	Remove cube as a service - callback.
void	addCubeGizmo (const geometry_msgs::Pose &pose, const geometry_msgs::Point &size)
	For debugging purpouses - add cubical interactive marker to the scene.
long int	doObjectTesting (CTestingObjectBase *object)
	Do octomap testing by object.
void	fillMapParameters (const ros::Time &time)
	Fill map parameters.
void	filterCloud (tPointCloudConstPtr &cloud)
	Use pointcloud to raycast filter map.
bool	getTreeDepthCB (srs_env_model::GetTreeDepth::Request &req, srs_env_model::GetTreeDepth::Response &res)
	Get octomap tree depth - service callback.
void	insertScan (const tf::Point &sensorOriginTf, const tPointCloud &ground, const tPointCloud &nonground)
	Insert scan to the octomap.
bool	loadFullOctreeCB (srs_env_model::LoadSaveRequest &req, srs_env_model::LoadSaveResponse &res)
	Load map service callback - full octree.
bool	loadOctreeCB (srs_env_model::LoadSaveRequest &req, srs_env_model::LoadSaveResponse &res)
	Load map service callback.
virtual void	publishInternal (const ros::Time &timestamp)
	Publishing callback.
bool	removeCubeCB (srs_env_model::RemoveCube::Request &req, srs_env_model::RemoveCube::Response &res)
	Remove cube as a service - callback.
bool	resetOctomapCB (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
	Reset octomap service callback.
bool	saveFullOctreeCB (srs_env_model::LoadSaveRequest &req, srs_env_model::LoadSaveResponse &res)
	Save map service callback - full octree.
bool	saveOctreeCB (srs_env_model::LoadSaveRequest &req, srs_env_model::LoadSaveResponse &res)
	Save map service callback.
bool	setCrawlingDepthCB (srs_env_model::SetCrawlingDepth::Request &req, srs_env_model::SetCrawlingDepth::Response &res)
	Set crawling depth - service callback.
void	setDefaults ()
	Set octomap default parameters.
virtual bool	shouldPublish ()
	Should something be published?
Protected Attributes
int	filecounter
uint8_t	m_b
bool	m_bFilterWithInput
	Use input cloud to raycast filter data?
bool	m_bMapLoaded
	Was map loaded.
bool	m_bNewDataToFilter
	New input data inserted, do raycast filtering.
bool	m_bNotFirst
	First frame is already inserted.
bool	m_bPublishOctomap
	Should octomap be published.
bool	m_bRemoveOutdated
	Should be outdated nodes be removed?
unsigned char	m_crawlDepth
	Maximal depth of tree used when crawling.
boost::shared_ptr < CPointCloudPlugin >	m_filterCloudPlugin
	Filter pointcloud plugin.
COcFilterGround	m_filterGround
bool	m_filterGroundPlane
	Should ground plane be filtered?
COcFilterRaycast	m_filterRaycast
COcFilterSingleSpecles	m_filterSingleSpecles
uint8_t	m_g
octomap::KeyRay	m_keyRay
	Temporary storage for ray casting.
bool	m_latchedTopics
SMapWithParameters	m_mapParameters
	Octomap parameters.
ros::Publisher	m_ocPublisher
	Octomap publisher.
std::string	m_ocPublisherName
	Octomap publisher name.
float	m_probDeleted
	Deleted node probability.
uint8_t	m_r
	Created geometry color.
CPcToOcRegistration	m_registration
	Registration module.
bool	m_removeSpecles
	Remove specle nodes now.
CTestingObjectBase *	m_removeTester
	Filtering object.
ros::ServiceServer	m_serviceAddCube
	Add oriented box to the octomap service.
ros::ServiceServer	m_serviceGetTreeDepth
	Get octtree depth service.
ros::ServiceServer	m_serviceLoadFullMap
	Load full map service.
ros::ServiceServer	m_serviceLoadMap
	Load map service.
ros::ServiceServer	m_serviceRemoveCube
	Remove oriented box from octomap service.
ros::ServiceServer	m_serviceResetOctomap
	Reset octomap service.
ros::ServiceServer	m_serviceSaveFullMap
	Save full map service.
ros::ServiceServer	m_serviceSaveMap
	Save map service.
ros::ServiceServer	m_serviceSetCrawlDepth
	Set crawling depth.
tSigOnNewData	m_sigOnNewData
	On traversal start.
unsigned int	m_testerLife
	Tester life in scans count.
unsigned int	m_testerLifeCounter
	Tester life counter.
tf::TransformListener	m_tfListener
	Transform listener.

Detailed Description

Octomap plugin

Definition at line 68 of file octomap_plugin.h.

Member Typedef Documentation

typedef boost::signal< void (SMapWithParameters &) > srs_env_model::COctoMapPlugin::tSigOnNewData

On new octomap data signal.

Definition at line 72 of file octomap_plugin.h.

Constructor & Destructor Documentation

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

Constructor.

Definition at line 77 of file octomap_plugin.cpp.

srs_env_model::COctoMapPlugin::COctoMapPlugin	(	const std::string &	name,
		const std::string &	filename
	)

Constructor - load data from the file.

Definition at line 104 of file octomap_plugin.cpp.

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

Destructor.

Destructor

Definition at line 159 of file octomap_plugin.cpp.

Member Function Documentation

bool srs_env_model::COctoMapPlugin::addCubeCB	(	srs_env_model::AddCube::Request &	req,
		srs_env_model::AddCube::Response &	res
	)		`[protected]`

Remove cube as a service - callback.

Definition at line 666 of file octomap_plugin.cpp.

void srs_env_model::COctoMapPlugin::addCubeGizmo	(	const geometry_msgs::Pose &	pose,
		const geometry_msgs::Point &	size
	)		`[protected]`

For debugging purpouses - add cubical interactive marker to the scene.

For debugging purpouses - add cubical interactive marker to the scene

Definition at line 762 of file octomap_plugin.cpp.

void srs_env_model::COctoMapPlugin::crawl ( const ros::Time & currentTime )

Crawl octomap.

Definition at line 504 of file octomap_plugin.cpp.

long int srs_env_model::COctoMapPlugin::doObjectTesting ( srs_env_model::CTestingObjectBase * object ) [protected]

Do octomap testing by object.

Do octomap testing by object

Definition at line 578 of file octomap_plugin.cpp.

void srs_env_model::COctoMapPlugin::fillMapParameters ( const ros::Time & time ) [protected]

Fill map parameters.

Definition at line 545 of file octomap_plugin.cpp.

void srs_env_model::COctoMapPlugin::filterCloud ( tPointCloudConstPtr & cloud ) [protected]

Use pointcloud to raycast filter map.

Use pointcloud to raycast filter map

Definition at line 480 of file octomap_plugin.cpp.

double srs_env_model::COctoMapPlugin::getResolution ( ) [inline]

Get octomap resolution.

Definition at line 100 of file octomap_plugin.h.

tSigOnNewData& srs_env_model::COctoMapPlugin::getSigOnNewData ( ) [inline]

Definition at line 105 of file octomap_plugin.h.

unsigned srs_env_model::COctoMapPlugin::getSize ( ) [inline]

Get current octomap size.

Definition at line 94 of file octomap_plugin.h.

unsigned srs_env_model::COctoMapPlugin::getTreeDepth ( ) [inline]

Get current tree depth.

Definition at line 97 of file octomap_plugin.h.

bool srs_env_model::COctoMapPlugin::getTreeDepthCB	(	srs_env_model::GetTreeDepth::Request &	req,
		srs_env_model::GetTreeDepth::Response &	res
	)		`[protected]`

Get octomap tree depth - service callback.

Get octomap tree depth - service callback

Definition at line 821 of file octomap_plugin.cpp.

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

Initialize plugin - called in server constructor.

Reimplemented from srs_env_model::CServerPluginBase.

Definition at line 167 of file octomap_plugin.cpp.

void srs_env_model::COctoMapPlugin::insertCloud ( tPointCloud::ConstPtr cloud )

Insert pointcloud.

Definition at line 286 of file octomap_plugin.cpp.

void srs_env_model::COctoMapPlugin::insertScan	(	const tf::Point &	sensorOriginTf,
		const tPointCloud &	ground,
		const tPointCloud &	nonground
	)		`[protected]`

Insert scan to the octomap.

Insert pointcloud scan TODO: Modify to add ground

Definition at line 451 of file octomap_plugin.cpp.

bool srs_env_model::COctoMapPlugin::loadFullOctreeCB	(	srs_env_model::LoadSaveRequest &	req,
		srs_env_model::LoadSaveResponse &	res
	)		`[protected]`

Load map service callback - full octree.

Load map service callback

Definition at line 918 of file octomap_plugin.cpp.

bool srs_env_model::COctoMapPlugin::loadOctreeCB	(	srs_env_model::LoadSaveRequest &	req,
		srs_env_model::LoadSaveResponse &	res
	)		`[protected]`

Load map service callback.

Load map service callback

Definition at line 831 of file octomap_plugin.cpp.

void srs_env_model::COctoMapPlugin::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 778 of file octomap_plugin.cpp.

void srs_env_model::COctoMapPlugin::publishInternal ( const ros::Time & timestamp ) [protected, virtual]

Publishing callback.

Publishing function

Implements srs_env_model::CServerPluginBase.

Definition at line 523 of file octomap_plugin.cpp.

bool srs_env_model::COctoMapPlugin::removeCubeCB	(	srs_env_model::RemoveCube::Request &	req,
		srs_env_model::RemoveCube::Response &	res
	)		`[protected]`

Remove cube as a service - callback.

Definition at line 617 of file octomap_plugin.cpp.

void srs_env_model::COctoMapPlugin::reset ( bool clearLoaded = true )

Reset octomap.

Definition at line 466 of file octomap_plugin.cpp.

bool srs_env_model::COctoMapPlugin::resetOctomapCB	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)		`[protected]`

Reset octomap service callback.

Reset octomap - service callback.

Definition at line 558 of file octomap_plugin.cpp.

bool srs_env_model::COctoMapPlugin::saveFullOctreeCB	(	srs_env_model::LoadSaveRequest &	req,
		srs_env_model::LoadSaveResponse &	res
	)		`[protected]`

Save map service callback - full octree.

Load map service callback

Definition at line 1002 of file octomap_plugin.cpp.

bool srs_env_model::COctoMapPlugin::saveOctreeCB	(	srs_env_model::LoadSaveRequest &	req,
		srs_env_model::LoadSaveResponse &	res
	)		`[protected]`

Save map service callback.

Load map service callback

Definition at line 893 of file octomap_plugin.cpp.

bool srs_env_model::COctoMapPlugin::setCrawlingDepthCB	(	srs_env_model::SetCrawlingDepth::Request &	req,
		srs_env_model::SetCrawlingDepth::Response &	res
	)		`[protected]`