plannerMapServer Class Reference

loads and updates a map from an overhead camera More...

#include <plannerMapServer.h>

List of all members.

Public Member Functions
void	loadMapFromMat (nav_msgs::GetMap::Response *resp, cv::Mat *opencvimg, double res, bool negate, double occThresh, double freeThresh, double *origin)
bool	mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
void	mapUpdateCallback (const sensor_msgs::Image &mapImg)
	plannerMapServer ()
Public Attributes
bool	deprecated
std::string	frameID
double	freeThresh
std::string	mapfname
ros::Subscriber	mapImageSubscriber
ros::Publisher	mapPublisher
nav_msgs::GetMap::Response	mapResponse
nav_msgs::MapMetaData	metaDataMessage
ros::Publisher	metadataPublisher
ros::NodeHandle	n
int	negate
double	occThresh
double	origin [3]
double	resolution
ros::ServiceServer	service

---

Detailed Description

loads and updates a map from an overhead camera

This class periodically updates a map from an overhead camera. The map is published for use in creating occupancy grids and path planning. The map is created from the opencv Mat image format.

Definition at line 57 of file plannerMapServer.h.

---

Constructor & Destructor Documentation

plannerMapServer::plannerMapServer

(

)

Constructor

Definition at line 46 of file plannerMapServer.cpp.

---

Member Function Documentation

void plannerMapServer::loadMapFromMat	(	nav_msgs::GetMap::Response *	resp,
		cv::Mat *	opencvimg,
		double	res,
		bool	negate,
		double	occThresh,
		double	freeThresh,
		double *	origin
	)

Load map from an opencv Mat

Parameters:

resp	response for the map
opencvimg	the image to load
res	map resolution
negate	switch the meaning of black and white pixels if true
occThresh	occupied threshold
freeThresh	free threshold
origin	map origin

Definition at line 147 of file plannerMapServer.cpp.

bool plannerMapServer::mapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)

Callback invoked when someone requests our service

Parameters:

req	service request
res	service response

Returns:

true on success

Definition at line 138 of file plannerMapServer.cpp.

void plannerMapServer::mapUpdateCallback

(

const sensor_msgs::Image &

mapImg

)

Callback to update the map

Parameters:

mapImg

the new map image

Definition at line 123 of file plannerMapServer.cpp.

---

Member Data Documentation

bool plannerMapServer::deprecated

Definition at line 65 of file plannerMapServer.h.

std::string plannerMapServer::frameID

Definition at line 66 of file plannerMapServer.h.

double plannerMapServer::freeThresh

Definition at line 61 of file plannerMapServer.h.

std::string plannerMapServer::mapfname

Definition at line 67 of file plannerMapServer.h.

ros::Subscriber plannerMapServer::mapImageSubscriber

Definition at line 72 of file plannerMapServer.h.

ros::Publisher plannerMapServer::mapPublisher

Definition at line 69 of file plannerMapServer.h.

nav_msgs::GetMap::Response plannerMapServer::mapResponse

Definition at line 73 of file plannerMapServer.h.

nav_msgs::MapMetaData plannerMapServer::metaDataMessage

Definition at line 74 of file plannerMapServer.h.

ros::Publisher plannerMapServer::metadataPublisher

Definition at line 70 of file plannerMapServer.h.

ros::NodeHandle plannerMapServer::n

Definition at line 68 of file plannerMapServer.h.

int plannerMapServer::negate

Definition at line 60 of file plannerMapServer.h.

double plannerMapServer::occThresh

Definition at line 62 of file plannerMapServer.h.

double plannerMapServer::origin[3]

Definition at line 64 of file plannerMapServer.h.

double plannerMapServer::resolution

Definition at line 63 of file plannerMapServer.h.

ros::ServiceServer plannerMapServer::service

Definition at line 71 of file plannerMapServer.h.

---

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

• plannerMapServer.h
• plannerMapServer.cpp