Public Member Functions | Protected Attributes
HectorMappingRos Class Reference

#include <HectorMappingRos.h>

List of all members.

Public Member Functions

 HectorMappingRos ()
void initialPoseCallback (const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)
bool mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
void publishMap (MapPublisherContainer &map_, const hectorslam::GridMap &gridMap, ros::Time timestamp, MapLockerInterface *mapMutex=0)
void publishMapLoop (double p_map_pub_period_)
void publishTransform ()
void publishTransformLoop (double p_transform_pub_period_)
bool rosLaserScanToDataContainer (const sensor_msgs::LaserScan &scan, hectorslam::DataContainer &dataContainer, float scaleToMap)
bool rosPointCloudToDataContainer (const sensor_msgs::PointCloud &pointCloud, const tf::StampedTransform &laserTransform, hectorslam::DataContainer &dataContainer, float scaleToMap)
void scanCallback (const sensor_msgs::LaserScan &scan)
void setServiceGetMapData (nav_msgs::GetMap::Response &map_, const hectorslam::GridMap &gridMap)
void staticMapCallback (const nav_msgs::OccupancyGrid &map)
void sysMsgCallback (const std_msgs::String &string)
 ~HectorMappingRos ()

Protected Attributes

HectorDebugInfoProviderdebugInfoProvider
HectorDrawingshectorDrawings
Eigen::Vector3f initial_pose_
tf::MessageFilter
< geometry_msgs::PoseWithCovarianceStamped > * 
initial_pose_filter_
bool initial_pose_set_
message_filters::Subscriber
< geometry_msgs::PoseWithCovarianceStamped > * 
initial_pose_sub_
sensor_msgs::PointCloud laser_point_cloud_
hectorslam::DataContainer laserScanContainer
int lastGetMapUpdateIndex
ros::Time lastMapPublishTime
ros::Time lastScanTime
Eigen::Vector3f lastSlamPose
boost::thread * map__publish_thread_
tf::Transform map_to_odom_
std::vector
< MapPublisherContainer
mapPubContainer
ros::Subscriber mapSubscriber_
ros::NodeHandle node_
ros::Publisher odometryPublisher_
bool p_advertise_map_service_
std::string p_base_frame_
float p_laser_z_max_value_
float p_laser_z_min_value_
std::string p_map_frame_
int p_map_multi_res_levels_
double p_map_pub_period_
double p_map_resolution_
int p_map_size_
double p_map_start_x_
double p_map_start_y_
double p_map_update_angle_threshold_
double p_map_update_distance_threshold_
bool p_map_with_known_poses_
std::string p_odom_frame_
std::string p_pose_update_topic_
bool p_pub_debug_output_
bool p_pub_drawings
bool p_pub_map_odom_transform_
bool p_pub_map_scanmatch_transform_
bool p_pub_odometry_
int p_scan_subscriber_queue_size_
std::string p_scan_topic_
float p_sqr_laser_max_dist_
float p_sqr_laser_min_dist_
std::string p_sys_msg_topic_
std::string p_tf_map_scanmatch_transform_frame_name_
bool p_timing_output_
std::string p_twist_update_topic_
double p_update_factor_free_
double p_update_factor_occupied_
bool p_use_tf_pose_start_estimate_
bool p_use_tf_scan_transformation_
PoseInfoContainer poseInfoContainer_
ros::Publisher posePublisher_
ros::Publisher poseUpdatePublisher_
laser_geometry::LaserProjection projector_
ros::Publisher scan_point_cloud_publisher_
ros::Subscriber scanSubscriber_
hectorslam::HectorSlamProcessorslamProcessor
ros::Subscriber sysMsgSubscriber_
tf::TransformListener tf_
tf::TransformBroadcastertfB_
ros::Publisher twistUpdatePublisher_

Detailed Description

Definition at line 67 of file HectorMappingRos.h.


Constructor & Destructor Documentation

Definition at line 46 of file HectorMappingRos.cpp.

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Member Function Documentation

void HectorMappingRos::initialPoseCallback ( const geometry_msgs::PoseWithCovarianceStampedConstPtr &  msg)

Definition at line 545 of file HectorMappingRos.cpp.

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

Definition at line 366 of file HectorMappingRos.cpp.

void HectorMappingRos::publishMap ( MapPublisherContainer map_,
const hectorslam::GridMap gridMap,
ros::Time  timestamp,
MapLockerInterface mapMutex = 0 
)

Definition at line 374 of file HectorMappingRos.cpp.

void HectorMappingRos::publishMapLoop ( double  p_map_pub_period_)

Definition at line 520 of file HectorMappingRos.cpp.

void HectorMappingRos::publishTransformLoop ( double  p_transform_pub_period_)
bool HectorMappingRos::rosLaserScanToDataContainer ( const sensor_msgs::LaserScan &  scan,
hectorslam::DataContainer dataContainer,
float  scaleToMap 
)

Definition at line 422 of file HectorMappingRos.cpp.

bool HectorMappingRos::rosPointCloudToDataContainer ( const sensor_msgs::PointCloud &  pointCloud,
const tf::StampedTransform laserTransform,
hectorslam::DataContainer dataContainer,
float  scaleToMap 
)

Definition at line 450 of file HectorMappingRos.cpp.

void HectorMappingRos::scanCallback ( const sensor_msgs::LaserScan &  scan)

Definition at line 229 of file HectorMappingRos.cpp.

void HectorMappingRos::setServiceGetMapData ( nav_msgs::GetMap::Response &  map_,
const hectorslam::GridMap gridMap 
)

Definition at line 487 of file HectorMappingRos.cpp.

void HectorMappingRos::staticMapCallback ( const nav_msgs::OccupancyGrid &  map)

Definition at line 540 of file HectorMappingRos.cpp.

void HectorMappingRos::sysMsgCallback ( const std_msgs::String &  string)

Definition at line 355 of file HectorMappingRos.cpp.


Member Data Documentation

Definition at line 98 of file HectorMappingRos.h.

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Eigen::Vector3f HectorMappingRos::initial_pose_ [protected]

Definition at line 141 of file HectorMappingRos.h.

tf::MessageFilter<geometry_msgs::PoseWithCovarianceStamped>* HectorMappingRos::initial_pose_filter_ [protected]

Definition at line 110 of file HectorMappingRos.h.

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message_filters::Subscriber<geometry_msgs::PoseWithCovarianceStamped>* HectorMappingRos::initial_pose_sub_ [protected]

Definition at line 109 of file HectorMappingRos.h.

sensor_msgs::PointCloud HectorMappingRos::laser_point_cloud_ [protected]

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Eigen::Vector3f HectorMappingRos::lastSlamPose [protected]

Definition at line 138 of file HectorMappingRos.h.

boost::thread* HectorMappingRos::map__publish_thread_ [protected]

Definition at line 127 of file HectorMappingRos.h.

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std::string HectorMappingRos::p_base_frame_ [protected]

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std::string HectorMappingRos::p_map_frame_ [protected]

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std::string HectorMappingRos::p_odom_frame_ [protected]

Definition at line 149 of file HectorMappingRos.h.

std::string HectorMappingRos::p_pose_update_topic_ [protected]

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std::string HectorMappingRos::p_scan_topic_ [protected]

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std::string HectorMappingRos::p_sys_msg_topic_ [protected]

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std::string HectorMappingRos::p_twist_update_topic_ [protected]

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


hector_mapping
Author(s): Stefan Kohlbrecher
autogenerated on Wed Aug 26 2015 11:45:03