pointcloud_octomap_updater.h
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00034 
00035 /* Author: Jon Binney, Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PERCEPTION_POINTCLOUD_OCTOMAP_UPDATER_
00038 #define MOVEIT_PERCEPTION_POINTCLOUD_OCTOMAP_UPDATER_
00039 
00040 #include <ros/ros.h>
00041 #include <tf/tf.h>
00042 #include <tf/message_filter.h>
00043 #include <message_filters/subscriber.h>
00044 #include <sensor_msgs/PointCloud2.h>
00045 #include <moveit/occupancy_map_monitor/occupancy_map_updater.h>
00046 #include <moveit/point_containment_filter/shape_mask.h>
00047 
00048 namespace occupancy_map_monitor
00049 {
00050 class PointCloudOctomapUpdater : public OccupancyMapUpdater
00051 {
00052 public:
00053   PointCloudOctomapUpdater();
00054   virtual ~PointCloudOctomapUpdater();
00055 
00056   virtual bool setParams(XmlRpc::XmlRpcValue& params);
00057 
00058   virtual bool initialize();
00059   virtual void start();
00060   virtual void stop();
00061   virtual ShapeHandle excludeShape(const shapes::ShapeConstPtr& shape);
00062   virtual void forgetShape(ShapeHandle handle);
00063 
00064 protected:
00065   virtual void updateMask(const sensor_msgs::PointCloud2& cloud, const Eigen::Vector3d& sensor_origin,
00066                           std::vector<int>& mask);
00067 
00068 private:
00069   bool getShapeTransform(ShapeHandle h, Eigen::Affine3d& transform) const;
00070   void cloudMsgCallback(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);
00071   void stopHelper();
00072 
00073   ros::NodeHandle root_nh_;
00074   ros::NodeHandle private_nh_;
00075   boost::shared_ptr<tf::Transformer> tf_;
00076 
00077   /* params */
00078   std::string point_cloud_topic_;
00079   double scale_;
00080   double padding_;
00081   double max_range_;
00082   unsigned int point_subsample_;
00083   std::string filtered_cloud_topic_;
00084   ros::Publisher filtered_cloud_publisher_;
00085 
00086   message_filters::Subscriber<sensor_msgs::PointCloud2>* point_cloud_subscriber_;
00087   tf::MessageFilter<sensor_msgs::PointCloud2>* point_cloud_filter_;
00088 
00089   /* used to store all cells in the map which a given ray passes through during raycasting.
00090      we cache this here because it dynamically pre-allocates a lot of memory in its contsructor */
00091   octomap::KeyRay key_ray_;
00092 
00093   boost::scoped_ptr<point_containment_filter::ShapeMask> shape_mask_;
00094   std::vector<int> mask_;
00095 };
00096 }
00097 
00098 #endif


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