#include <octree_stamped_native_node.h>

Inheritance diagram for cOctreeStampedNativeNode:

Public Member Functions
	cOctreeStampedNativeNode ()
	default constructor
void	publishOctomap (void)
	function for publishing the octomap
	~cOctreeStampedNativeNode ()
	default destructor
Protected Member Functions
void	addLaserCallbackSub (const sensor_msgs::LaserScanConstPtr &msg)
	callback function for receiving a laserscan
void	addPointcloudCallbackSub (const sensor_msgs::PointCloud2ConstPtr &msg)
	callback function for receiving a pointcloud
void	addPointcloudOldCallbackSub (const sensor_msgs::PointCloudConstPtr &msg)
	callback function for receiving a pointcloud (old format)
bool	clearCallbackSrv (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	getSizeCallbackSrv (octomap_pa::OctomapPaGetSize::Request &req, octomap_pa::OctomapPaGetSize::Response &res)
bool	loadCallbackSrv (octomap_pa::OctomapPaFileName::Request &req, octomap_pa::OctomapPaFileName::Response &res)
bool	saveCallbackSrv (octomap_pa::OctomapPaFileName::Request &req, octomap_pa::OctomapPaFileName::Response &res)
Protected Attributes
cAddCloudParameter	addparams_
int	count_cloud_
	number of inserted pointclouds
int	count_cloud_old_
	number of inserted pointclouds (old format)
int	count_laser_
	number of inserted laser scans
ros::NodeHandle	nh_
	node handler for topic subscription and advertising
cOctreeBasePaNodeParameter	nodeparams_
	parameters
ros::Publisher	pub_cloud_free_
	puplisher for free voxels as pointcloud
ros::Publisher	pub_cloud_occupied_
	puplisher for occupied voxels as pointcloud
ros::Publisher	pub_octomap_
	puplisher for the octomap (binary data)
ros::Publisher	pub_octomap_full_
	puplisher for the octomap (full data)
ros::ServiceServer	srv_clear_
	service for clearing the octomap
ros::ServiceServer	srv_getsize_
	service for receiving the size of the octomap
ros::ServiceServer	srv_load_
	service for loading a octomap
ros::ServiceServer	srv_save_
	service for saving the octomap
ros::Subscriber	sub_cloud_
	subscriber for a pointcloud
ros::Subscriber	sub_cloud_old_
	subscriber for a pointcloud (old format)
ros::Subscriber	sub_laser_
	subscriber for a laserscan
tf::TransformListener	tf_listener_
	transformation of different frames

Detailed Description

Definition at line 82 of file octree_stamped_native_node.h.

Constructor & Destructor Documentation

cOctreeStampedNativeNode::cOctreeStampedNativeNode ( )

default constructor

Definition at line 67 of file octree_stamped_native_node.cpp.

cOctreeStampedNativeNode::~cOctreeStampedNativeNode ( )

default destructor

Definition at line 177 of file octree_stamped_native_node.cpp.

Member Function Documentation

void cOctreeStampedNativeNode::addLaserCallbackSub ( const sensor_msgs::LaserScanConstPtr & msg ) [protected]

callback function for receiving a laserscan

Definition at line 256 of file octree_stamped_native_node.cpp.

void cOctreeStampedNativeNode::addPointcloudCallbackSub ( const sensor_msgs::PointCloud2ConstPtr & msg ) [protected]

callback function for receiving a pointcloud

Definition at line 200 of file octree_stamped_native_node.cpp.

void cOctreeStampedNativeNode::addPointcloudOldCallbackSub ( const sensor_msgs::PointCloudConstPtr & msg ) [protected]

callback function for receiving a pointcloud (old format)

Definition at line 228 of file octree_stamped_native_node.cpp.

bool cOctreeStampedNativeNode::clearCallbackSrv	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[protected]`

Definition at line 286 of file octree_stamped_native_node.cpp.

bool cOctreeStampedNativeNode::getSizeCallbackSrv	(	octomap_pa::OctomapPaGetSize::Request &	req,
		octomap_pa::OctomapPaGetSize::Response &	res
	)		`[protected]`

Definition at line 302 of file octree_stamped_native_node.cpp.

bool cOctreeStampedNativeNode::loadCallbackSrv	(	octomap_pa::OctomapPaFileName::Request &	req,
		octomap_pa::OctomapPaFileName::Response &	res
	)		`[protected]`

Definition at line 337 of file octree_stamped_native_node.cpp.

void cOctreeStampedNativeNode::publishOctomap ( void )

function for publishing the octomap

Definition at line 182 of file octree_stamped_native_node.cpp.

bool cOctreeStampedNativeNode::saveCallbackSrv	(	octomap_pa::OctomapPaFileName::Request &	req,
		octomap_pa::OctomapPaFileName::Response &	res
	)		`[protected]`