#include <map_accessibility_analysis_server.h>

Inheritance diagram for MapAccessibilityAnalysisServer:

Public Member Functions
	MapAccessibilityAnalysisServer (ros::NodeHandle nh)
	~MapAccessibilityAnalysisServer ()
Protected Types
typedef message_filters::sync_policies::ApproximateTime < nav_msgs::GridCells, nav_msgs::GridCells >	InflatedObstaclesSyncPolicy
Protected Member Functions
bool	checkPerimeterCallback (cob_map_accessibility_analysis::CheckPerimeterAccessibility::Request &req, cob_map_accessibility_analysis::CheckPerimeterAccessibility::Response &res)
bool	checkPolygonCallback (cob_3d_mapping_msgs::GetApproachPoseForPolygon::Request &req, cob_3d_mapping_msgs::GetApproachPoseForPolygon::Response &res)
bool	checkPose2DArrayCallback (cob_map_accessibility_analysis::CheckPointAccessibility::Request &req, cob_map_accessibility_analysis::CheckPointAccessibility::Response &res)
void	dynamicObstaclesInit (ros::NodeHandle &nh)
cv::Point	getRobotLocationInPixelCoordinates ()
void	inflatedObstacleDataCallback (const nav_msgs::GridCells::ConstPtr &obstacles_data, const nav_msgs::GridCells::ConstPtr &inflated_obstacles_data)
void	inflationInit (ros::NodeHandle &nh)
std::vector< geometry_msgs::Point >	loadRobotFootprint (XmlRpc::XmlRpcValue &footprint_list)
void	mapDataCallback (const nav_msgs::OccupancyGrid::ConstPtr &map_msg_data)
void	mapInit (ros::NodeHandle &nh_map)
void	obstacleDataCallback (const nav_msgs::GridCells::ConstPtr &obstacles_data)
Protected Attributes
bool	approach_path_accessibility_check_
cv::Mat	inflated_map_
image_transport::Publisher	inflated_map_image_pub_
message_filters::Subscriber < nav_msgs::GridCells >	inflated_obstacles_sub_
boost::shared_ptr < message_filters::Synchronizer < InflatedObstaclesSyncPolicy > >	inflated_obstacles_sub_sync_
cv::Mat	inflated_original_map_
double	inverse_map_resolution_
image_transport::ImageTransport *	it_
ros::Time	last_update_time_obstacles_
bool	map_data_recieved_
std::string	map_link_name_
ros::Subscriber	map_msg_sub_
cv::Point2d	map_origin_
ros::ServiceServer	map_perimeter_accessibility_check_server_
ros::ServiceServer	map_points_accessibility_check_server_
ros::ServiceServer	map_polygon_accessibility_check_server_
double	map_resolution_
boost::mutex	mutex_inflated_map_
ros::NodeHandle	node_handle_
ros::Duration	obstacle_topic_update_delay_
double	obstacle_topic_update_rate_
message_filters::Subscriber < nav_msgs::GridCells >	obstacles_sub_
cv::Mat	original_map_
bool	publish_inflated_map_
std::string	robot_base_link_name_
double	robot_radius_
tf::TransformListener	tf_listener_

Detailed Description

Definition at line 64 of file map_accessibility_analysis_server.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime<nav_msgs::GridCells, nav_msgs::GridCells> MapAccessibilityAnalysisServer::InflatedObstaclesSyncPolicy [protected]

Definition at line 121 of file map_accessibility_analysis_server.h.

Constructor & Destructor Documentation

MapAccessibilityAnalysisServer::MapAccessibilityAnalysisServer ( ros::NodeHandle nh )

Definition at line 23 of file map_accessibility_analysis_server.cpp.

MapAccessibilityAnalysisServer::~MapAccessibilityAnalysisServer ( )

Definition at line 88 of file map_accessibility_analysis_server.cpp.

Member Function Documentation

bool MapAccessibilityAnalysisServer::checkPerimeterCallback	(	cob_map_accessibility_analysis::CheckPerimeterAccessibility::Request &	req,
		cob_map_accessibility_analysis::CheckPerimeterAccessibility::Response &	res
	)		`[protected]`

Definition at line 387 of file map_accessibility_analysis_server.cpp.

bool MapAccessibilityAnalysisServer::checkPolygonCallback	(	cob_3d_mapping_msgs::GetApproachPoseForPolygon::Request &	req,
		cob_3d_mapping_msgs::GetApproachPoseForPolygon::Response &	res
	)		`[protected]`

Definition at line 429 of file map_accessibility_analysis_server.cpp.

bool MapAccessibilityAnalysisServer::checkPose2DArrayCallback	(	cob_map_accessibility_analysis::CheckPointAccessibility::Request &	req,
		cob_map_accessibility_analysis::CheckPointAccessibility::Response &	res
	)		`[protected]`

Definition at line 355 of file map_accessibility_analysis_server.cpp.

void MapAccessibilityAnalysisServer::dynamicObstaclesInit ( ros::NodeHandle & nh ) [protected]

Definition at line 269 of file map_accessibility_analysis_server.cpp.

cv::Point MapAccessibilityAnalysisServer::getRobotLocationInPixelCoordinates ( ) [protected]

Definition at line 544 of file map_accessibility_analysis_server.cpp.

void MapAccessibilityAnalysisServer::inflatedObstacleDataCallback	(	const nav_msgs::GridCells::ConstPtr &	obstacles_data,
		const nav_msgs::GridCells::ConstPtr &	inflated_obstacles_data
	)		`[protected]`