velodyne_height_map::HeightMap Class Reference

#include <heightmap.h>

List of all members.

Public Member Functions
	HeightMap (ros::NodeHandle node, ros::NodeHandle private_nh)
void	processData (const VPointCloud::ConstPtr &scan)
	~HeightMap ()
Private Member Functions
void	constructFullClouds (const VPointCloud::ConstPtr &scan, unsigned npoints, size_t &obs_count, size_t &empty_count)
void	constructGridClouds (const VPointCloud::ConstPtr &scan, unsigned npoints, size_t &obs_count, size_t &empty_count)
Private Attributes
VPointCloud	clear_cloud_
ros::Publisher	clear_publisher_
bool	full_clouds_
int	grid_dim_
double	height_diff_threshold_
double	m_per_cell_
VPointCloud	obstacle_cloud_
ros::Publisher	obstacle_publisher_
ros::Subscriber	velodyne_scan_

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Detailed Description

Definition at line 21 of file heightmap.h.

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Constructor & Destructor Documentation

velodyne_height_map::HeightMap::HeightMap	(	ros::NodeHandle	node,
		ros::NodeHandle	private_nh
	)

Constructor

Parameters:

node	NodeHandle of this instance
private_nh	private NodeHandle of this instance

Definition at line 40 of file heightmap.cpp.

velodyne_height_map::HeightMap::~HeightMap

(

)

Definition at line 64 of file heightmap.cpp.

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Member Function Documentation

void velodyne_height_map::HeightMap::constructFullClouds	(	const VPointCloud::ConstPtr &	scan,
		unsigned	npoints,
		size_t &	obs_count,
		size_t &	empty_count
	)		[private]

Definition at line 66 of file heightmap.cpp.

void velodyne_height_map::HeightMap::constructGridClouds	(	const VPointCloud::ConstPtr &	scan,
		unsigned	npoints,
		size_t &	obs_count,
		size_t &	empty_count
	)		[private]

Definition at line 113 of file heightmap.cpp.

void velodyne_height_map::HeightMap::processData

(

const VPointCloud::ConstPtr &

scan

)

callback to process data input

Parameters:

scan	vector of input 3D data points
stamp	time stamp of data
frame_id	data frame of reference

point cloud input callback

Definition at line 188 of file heightmap.cpp.

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Member Data Documentation

VPointCloud velodyne_height_map::HeightMap::clear_cloud_ [private]

Definition at line 57 of file heightmap.h.

ros::Publisher velodyne_height_map::HeightMap::clear_publisher_ [private]

Definition at line 62 of file heightmap.h.

bool velodyne_height_map::HeightMap::full_clouds_ [private]

Definition at line 53 of file heightmap.h.

int velodyne_height_map::HeightMap::grid_dim_ [private]

Definition at line 50 of file heightmap.h.

double velodyne_height_map::HeightMap::height_diff_threshold_ [private]

Definition at line 52 of file heightmap.h.

double velodyne_height_map::HeightMap::m_per_cell_ [private]

Definition at line 51 of file heightmap.h.

VPointCloud velodyne_height_map::HeightMap::obstacle_cloud_ [private]

Definition at line 56 of file heightmap.h.

ros::Publisher velodyne_height_map::HeightMap::obstacle_publisher_ [private]

Definition at line 61 of file heightmap.h.

ros::Subscriber velodyne_height_map::HeightMap::velodyne_scan_ [private]

Definition at line 60 of file heightmap.h.

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

• heightmap.h
• heightmap.cpp