ohm_tsd_slam::ThreadGrid Class Reference

Class implementing a thread generating an occupancy grid. More...

#include <ThreadGrid.h>

Inheritance diagram for ohm_tsd_slam::ThreadGrid:

List of all members.

Public Member Functions
	ThreadGrid (obvious::TsdGrid *grid, ros::NodeHandle *const nh, const double xOffset, const double yOffset)
virtual	~ThreadGrid ()
Protected Member Functions
virtual void	eventLoop (void)
Private Member Functions
bool	getMapServCallBack (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
Private Attributes
double	_cellSize
ros::ServiceServer	_getMapServ
double *	_gridCoords
ros::Publisher	_gridPub
unsigned int	_height
bool	_objectInflation
unsigned int	_objInflateFactor
nav_msgs::OccupancyGrid *	_occGrid
char *	_occGridContent
unsigned int	_width

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Detailed Description

Class implementing a thread generating an occupancy grid.

Author:

Philipp Koch, Stefan May

Definition at line 20 of file ThreadGrid.h.

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Constructor & Destructor Documentation

ohm_tsd_slam::ThreadGrid::ThreadGrid	(	obvious::TsdGrid *	grid,
		ros::NodeHandle *const	nh,
		const double	xOffset,
		const double	yOffset
	)

Constructor

Parameters:

grid	Representation
nh	Ros nodehandle
parentNode	Pointer to main mapping instance

Definition at line 12 of file ThreadGrid.cpp.

ohm_tsd_slam::ThreadGrid::~ThreadGrid

(

)

[virtual]

Destructor

Definition at line 56 of file ThreadGrid.cpp.

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Member Function Documentation

void ohm_tsd_slam::ThreadGrid::eventLoop

(

void

)

[protected, virtual]

eventLoop Thread event loop

Implements ohm_tsd_slam::ThreadSLAM.

Definition at line 65 of file ThreadGrid.cpp.

bool ohm_tsd_slam::ThreadGrid::getMapServCallBack	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)		[private]

getMapServCallBack Ros service callback method for the get map service

Parameters:

req	Request
res	Response

Returns:

true in case of success

Definition at line 112 of file ThreadGrid.cpp.

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Member Data Documentation

double ohm_tsd_slam::ThreadGrid::_cellSize [private]

Grid resolution

Definition at line 89 of file ThreadGrid.h.

ros::ServiceServer ohm_tsd_slam::ThreadGrid::_getMapServ [private]

Ros get map service

Definition at line 64 of file ThreadGrid.h.

double* ohm_tsd_slam::ThreadGrid::_gridCoords [private]

Buffer for grid coordinates

Definition at line 74 of file ThreadGrid.h.

ros::Publisher ohm_tsd_slam::ThreadGrid::_gridPub [private]

Occupancy grid publisher

Definition at line 94 of file ThreadGrid.h.

unsigned int ohm_tsd_slam::ThreadGrid::_height [private]

Grid dimension

Definition at line 84 of file ThreadGrid.h.

bool ohm_tsd_slam::ThreadGrid::_objectInflation [private]

Object inflation control flag

Definition at line 104 of file ThreadGrid.h.

unsigned int ohm_tsd_slam::ThreadGrid::_objInflateFactor [private]

Object inflation factor

Definition at line 99 of file ThreadGrid.h.

nav_msgs::OccupancyGrid* ohm_tsd_slam::ThreadGrid::_occGrid [private]

Occupancy grid

Definition at line 59 of file ThreadGrid.h.

char* ohm_tsd_slam::ThreadGrid::_occGridContent [private]

Buffer for occupancy grid content

Definition at line 69 of file ThreadGrid.h.

unsigned int ohm_tsd_slam::ThreadGrid::_width [private]

Grid dimension

Definition at line 79 of file ThreadGrid.h.

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

• ThreadGrid.h
• ThreadGrid.cpp