#include <occupancy_map_monitor.h>

Public Member Functions
void	addUpdater (const OccupancyMapUpdaterPtr &updater)
ShapeHandle	excludeShape (const shapes::ShapeConstPtr &shape)
	Add this shape to the set of shapes to be filtered out from the octomap.
void	forgetShape (ShapeHandle handle)
	Forget about this shape handle and the shapes it corresponds to.
const std::string &	getMapFrame () const
double	getMapResolution () const
const OccMapTreePtr &	getOcTreePtr ()
	Get a pointer to the underlying octree for this monitor. Lock the tree before reading or writing using this pointer. The value of this pointer stays the same throughout the existance of the monitor instance.
const OccMapTreeConstPtr &	getOcTreePtr () const
	Get a const pointer to the underlying octree for this monitor. Lock the tree before reading this pointer.
const boost::shared_ptr < tf::Transformer > &	getTFClient () const
	OccupancyMapMonitor (const boost::shared_ptr< tf::Transformer > &tf, const std::string &map_frame="", double map_resolution=0.0)
	OccupancyMapMonitor (double map_resolution=0.0)
void	publishDebugInformation (bool flag)
void	setMapFrame (const std::string &frame)
void	setTransformCacheCallback (const TransformCacheProvider &transform_cache_callback)
void	setUpdateCallback (const boost::function< void()> &update_callback)
	Set the callback to trigger when updates to the maintained octomap are received.
void	startMonitor ()
	start the monitor (will begin updating the octomap
void	stopMonitor ()
	~OccupancyMapMonitor ()
Private Member Functions
bool	getShapeTransformCache (std::size_t index, const std::string &target_frame, const ros::Time &target_time, ShapeTransformCache &cache) const
void	initialize ()
bool	loadMapCallback (moveit_msgs::LoadMap::Request &request, moveit_msgs::LoadMap::Response &response)
	Load octree from a binary file (gets rid of current octree data)
bool	saveMapCallback (moveit_msgs::SaveMap::Request &request, moveit_msgs::SaveMap::Response &response)
	Save the current octree to a binary file.
Private Attributes
bool	debug_info_
ros::ServiceServer	load_map_srv_
std::string	map_frame_
double	map_resolution_
std::vector < OccupancyMapUpdaterPtr >	map_updaters_
std::size_t	mesh_handle_count_
std::vector< std::map < ShapeHandle, ShapeHandle > >	mesh_handles_
ros::NodeHandle	nh_
boost::mutex	parameters_lock_
ros::NodeHandle	root_nh_
ros::ServiceServer	save_map_srv_
boost::shared_ptr < tf::Transformer >	tf_
TransformCacheProvider	transform_cache_callback_
OccMapTreePtr	tree_
OccMapTreeConstPtr	tree_const_
boost::scoped_ptr < pluginlib::ClassLoader < OccupancyMapUpdater > >	updater_plugin_loader_

Detailed Description

Definition at line 56 of file occupancy_map_monitor.h.

Constructor & Destructor Documentation

occupancy_map_monitor::OccupancyMapMonitor::OccupancyMapMonitor	(	const boost::shared_ptr< tf::Transformer > &	tf,
		const std::string &	map_frame = `""`,
		double	map_resolution = `0.0`
	)

Definition at line 56 of file occupancy_map_monitor.cpp.

occupancy_map_monitor::OccupancyMapMonitor::OccupancyMapMonitor ( double map_resolution = 0.0 )

Definition at line 47 of file occupancy_map_monitor.cpp.

occupancy_map_monitor::OccupancyMapMonitor::~OccupancyMapMonitor ( )

Definition at line 329 of file occupancy_map_monitor.cpp.

Member Function Documentation

void occupancy_map_monitor::OccupancyMapMonitor::addUpdater ( const OccupancyMapUpdaterPtr & updater )

Definition at line 170 of file occupancy_map_monitor.cpp.

ShapeHandle occupancy_map_monitor::OccupancyMapMonitor::excludeShape ( const shapes::ShapeConstPtr & shape )

Add this shape to the set of shapes to be filtered out from the octomap.

Definition at line 207 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::forgetShape ( ShapeHandle handle )

Forget about this shape handle and the shapes it corresponds to.

Definition at line 226 of file occupancy_map_monitor.cpp.

const std::string& occupancy_map_monitor::OccupancyMapMonitor::getMapFrame ( ) const [inline]

Definition at line 85 of file occupancy_map_monitor.h.

double occupancy_map_monitor::OccupancyMapMonitor::getMapResolution ( ) const [inline]

Definition at line 92 of file occupancy_map_monitor.h.

const OccMapTreePtr& occupancy_map_monitor::OccupancyMapMonitor::getOcTreePtr ( ) [inline]

Get a pointer to the underlying octree for this monitor. Lock the tree before reading or writing using this pointer. The value of this pointer stays the same throughout the existance of the monitor instance.

Definition at line 73 of file occupancy_map_monitor.h.

const OccMapTreeConstPtr& occupancy_map_monitor::OccupancyMapMonitor::getOcTreePtr ( ) const [inline]

Get a const pointer to the underlying octree for this monitor. Lock the tree before reading this pointer.

Definition at line 80 of file occupancy_map_monitor.h.

bool occupancy_map_monitor::OccupancyMapMonitor::getShapeTransformCache	(	std::size_t	index,
		const std::string &	target_frame,
		const ros::Time &	target_time,
		ShapeTransformCache &	cache
	)		const `[private]`

Definition at line 253 of file occupancy_map_monitor.cpp.

const boost::shared_ptr<tf::Transformer>& occupancy_map_monitor::OccupancyMapMonitor::getTFClient ( ) const [inline]

Definition at line 97 of file occupancy_map_monitor.h.

void occupancy_map_monitor::OccupancyMapMonitor::initialize ( ) [private]

Definition at line 67 of file occupancy_map_monitor.cpp.

bool occupancy_map_monitor::OccupancyMapMonitor::loadMapCallback	(	moveit_msgs::LoadMap::Request &	request,
		moveit_msgs::LoadMap::Response &	response
	)		`[private]`

Load octree from a binary file (gets rid of current octree data)

Definition at line 296 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::publishDebugInformation ( bool flag )

Definition at line 194 of file occupancy_map_monitor.cpp.

bool occupancy_map_monitor::OccupancyMapMonitor::saveMapCallback	(	moveit_msgs::SaveMap::Request &	request,
		moveit_msgs::SaveMap::Response &	response
	)		`[private]`