Public Member Functions | Private Member Functions | Private Attributes
occupancy_map_monitor::OccupancyMapMonitor Class Reference

#include <occupancy_map_monitor.h>

List of all members.

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 OccMapTreePtrgetOcTreePtr ()
 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 OccMapTreeConstPtrgetOcTreePtr () 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
bool isActive () 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)
 OccupancyMapMonitor (const boost::shared_ptr< tf::Transformer > &tf, ros::NodeHandle &nh, const std::string &map_frame="", 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 active_
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 55 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 52 of file occupancy_map_monitor.cpp.

Definition at line 46 of file occupancy_map_monitor.cpp.

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

Definition at line 59 of file occupancy_map_monitor.cpp.

Definition at line 341 of file occupancy_map_monitor.cpp.


Member Function Documentation

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

Definition at line 172 of file occupancy_map_monitor.cpp.

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

Definition at line 213 of file occupancy_map_monitor.cpp.

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

Definition at line 233 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.

Definition at line 92 of file occupancy_map_monitor.h.

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.

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 260 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.

Definition at line 66 of file occupancy_map_monitor.cpp.

Definition at line 120 of file occupancy_map_monitor.h.

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 305 of file occupancy_map_monitor.cpp.

Definition at line 200 of file occupancy_map_monitor.cpp.

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

Save the current octree to a binary file.

Definition at line 288 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::setMapFrame ( const std::string &  frame)

Definition at line 207 of file occupancy_map_monitor.cpp.

Definition at line 251 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::setUpdateCallback ( const boost::function< void()> &  update_callback) [inline]

Set the callback to trigger when updates to the maintained octomap are received.

Definition at line 111 of file occupancy_map_monitor.h.

start the monitor (will begin updating the octomap

Definition at line 326 of file occupancy_map_monitor.cpp.

Definition at line 334 of file occupancy_map_monitor.cpp.


Member Data Documentation

Definition at line 158 of file occupancy_map_monitor.h.

Definition at line 149 of file occupancy_map_monitor.h.

Definition at line 156 of file occupancy_map_monitor.h.

Definition at line 138 of file occupancy_map_monitor.h.

Definition at line 139 of file occupancy_map_monitor.h.

std::vector<OccupancyMapUpdaterPtr> occupancy_map_monitor::OccupancyMapMonitor::map_updaters_ [private]

Definition at line 146 of file occupancy_map_monitor.h.

Definition at line 151 of file occupancy_map_monitor.h.

Definition at line 147 of file occupancy_map_monitor.h.

Definition at line 154 of file occupancy_map_monitor.h.

Definition at line 140 of file occupancy_map_monitor.h.

Definition at line 153 of file occupancy_map_monitor.h.

Definition at line 155 of file occupancy_map_monitor.h.

Definition at line 137 of file occupancy_map_monitor.h.

Definition at line 148 of file occupancy_map_monitor.h.

Definition at line 142 of file occupancy_map_monitor.h.

Definition at line 143 of file occupancy_map_monitor.h.

Definition at line 145 of file occupancy_map_monitor.h.


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


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Mon Apr 23 2018 10:25:10