Node that requests WIFI signals based on the distance traveled by the robot, visualises them via RViz and provides the possibility to run an interpolation to get a dense map from it. More...

Public Member Functions
	DistanceMeasure ()
Private Member Functions
double	convertSignalToColor (heatmap::wifi_signal &signal)
	Converts a signal quality value to a color value used for RViz markers.
std::vector< double >	interpolateAndVisualize (std::vector< geometry_msgs::Point32 > &measure_points, std::vector< int > &measure_data, geometry_msgs::Polygon &poly, double interpolation_spacing, double shepard_power)
	Processes a list of measuring data, interpolates it and visualizes it in RViz.
void	polygonCallback (const geometry_msgs::PolygonStamped &poly)
visualization_msgs::Marker	prepareSphereMarker (double color_g, double sphere_size, tf::Vector3 &pos)
	Creates a sphere RViz marker for publishing.
bool	startInterpolation (heatmap::interpolation_service::Request &req, heatmap::interpolation_service::Response &res)
Private Attributes
int	av_sig
heatmap::wifi_signal	current_sig
std::vector< int >	data_list
ros::Publisher	interpol_marker_pub
int	marker_id
ros::Publisher	marker_pub
std::vector< tf::Vector3 >	measure_list
ros::NodeHandle	n
geometry_msgs::PolygonStamped	polygon
int	quality_max
int	sig_count
ros::Subscriber	signal_sub

Detailed Description

Node that requests WIFI signals based on the distance traveled by the robot, visualises them via RViz and provides the possibility to run an interpolation to get a dense map from it.

Definition at line 34 of file distance_measure.cpp.

Constructor & Destructor Documentation

heatmap::DistanceMeasure::DistanceMeasure ( ) [inline]

Definition at line 183 of file distance_measure.cpp.

Member Function Documentation

double heatmap::DistanceMeasure::convertSignalToColor ( heatmap::wifi_signal & signal ) [inline, private]

Converts a signal quality value to a color value used for RViz markers.

Parameters:

signal Signal to convert

Returns:: Value between 0 and 1 representing the signal quality, 0 means really bad, 1 means really good

Definition at line 53 of file distance_measure.cpp.

std::vector<double> heatmap::DistanceMeasure::interpolateAndVisualize	(	std::vector< geometry_msgs::Point32 > &	measure_points,
		std::vector< int > &	measure_data,
		geometry_msgs::Polygon &	poly,
		double	interpolation_spacing,
		double	shepard_power
	)		`[inline, private]`

Processes a list of measuring data, interpolates it and visualizes it in RViz.

Parameters:

measure_points	List of measuring points (x, y coordinates)
measure_data	List of measuring data according to measure_points
poly	Polygon specifying the measuring area
interpolation_spacing	The space between the interpolated points
shepard_power	Determines how strong the distance between points is weighted. For more information read the wikipedia article

Returns:: List of interpolated data

Definition at line 118 of file distance_measure.cpp.

void heatmap::DistanceMeasure::polygonCallback ( const geometry_msgs::PolygonStamped & poly ) [inline, private]

Definition at line 176 of file distance_measure.cpp.

visualization_msgs::Marker heatmap::DistanceMeasure::prepareSphereMarker	(	double	color_g,
		double	sphere_size,
		tf::Vector3 &	pos
	)		`[inline, private]`

Creates a sphere RViz marker for publishing.

Parameters:

color_g	The color for the marker, in range of 0 to 1, 0 is pure red, 1 is pure green
sphere_size	The radius of the sphere
pos	The position of the marker on the map

Returns:: A marker

Definition at line 71 of file distance_measure.cpp.

bool heatmap::DistanceMeasure::startInterpolation	(	heatmap::interpolation_service::Request &	req,
		heatmap::interpolation_service::Response &	res
	)		`[inline, private]`