Public Member Functions
	MapMaintener (ros::NodeHandle &n, ros::NodeHandle &pn)
	~MapMaintener ()
Public Attributes
string	mapFrame
string	objectFrame
boost::mutex	publishLock
PM::TransformationParameters	TObjectToMap
Protected Member Functions
void	addRotAndTransCtrl (InteractiveMarker &int_marker, const double w, const double x, const double y, const double z, const std::string name)
void	gotCloud (const sensor_msgs::PointCloud2ConstPtr &cloudMsgIn, const nav_msgs::OdometryConstPtr &odom)
void	makeMenuMarker (std::string name)
void	pauseMapCallback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	processCloud (DP cloud, const TP TScannerToMap)
void	saveMapCallback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	singleScanCallback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	startMapCallback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	stopMapCallback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	update_tf (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
Private Types
typedef PM::DataPoints	DP
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, nav_msgs::Odometry >	MySyncPolicy
typedef PointMatcher< float >	PM
typedef PM::TransformationParameters	TP
Private Attributes
message_filters::Subscriber < sensor_msgs::PointCloud2 >	cloud_sub
ros::Subscriber	cloudSub
MenuHandler::EntryHandle	h_pause
MenuHandler::EntryHandle	h_save
MenuHandler::EntryHandle	h_single
MenuHandler::EntryHandle	h_start
MenuHandler::EntryHandle	h_stop
PM::ICP	icp
PM::DataPointsFilters	inputFilters
int	inputQueueSize
bool	mappingActive
PM::DataPoints	mapPointCloud
PM::DataPointsFilters	mapPostFilters
PM::DataPointsFilters	mapPreFilters
ros::Publisher	mapPub
MenuHandler	menu_handler
ros::NodeHandle &	n
message_filters::Subscriber < nav_msgs::Odometry >	odom_sub
ros::NodeHandle &	pn
ros::Subscriber	scanSub
boost::shared_ptr < InteractiveMarkerServer >	server
bool	singleScan
const float	size_x
const float	size_y
const float	size_z
message_filters::Synchronizer < MySyncPolicy >	sync
tf::TransformListener	tfListener
unique_ptr< PM::Transformation >	transformation
string	vtkFinalMapName
	name of the final vtk map

Detailed Description

Definition at line 35 of file map_maintainer.cpp.

Member Typedef Documentation

typedef PM::DataPoints MapMaintener::DP [private]

Definition at line 38 of file map_maintainer.cpp.

typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, nav_msgs::Odometry> MapMaintener::MySyncPolicy [private]

Definition at line 47 of file map_maintainer.cpp.

typedef PointMatcher<float> MapMaintener::PM [private]

Definition at line 37 of file map_maintainer.cpp.

typedef PM::TransformationParameters MapMaintener::TP [private]

Definition at line 39 of file map_maintainer.cpp.

Constructor & Destructor Documentation

MapMaintener::MapMaintener	(	ros::NodeHandle &	n,
		ros::NodeHandle &	pn
	)

Definition at line 120 of file map_maintainer.cpp.

MapMaintener::~MapMaintener ( )

Definition at line 253 of file map_maintainer.cpp.

Member Function Documentation

void MapMaintener::addRotAndTransCtrl	(	InteractiveMarker &	int_marker,
		const double	w,
		const double	x,
		const double	y,
		const double	z,
		const std::string	name
	)		`[protected]`