mrpt::graphslam::TNeighborAgentMapProps Struct Reference

Struct holding a COccupancyGridMap2D (as well as subscribers for updating it) for a specific running GraphSlamAgent instance. More...

#include <TNeighborAgentMapProps.h>

List of all members.

Public Member Functions
size_t	getNodeCount ()
	Return how many nodes have been registered in the fetched robot trajectory.
void	readROSParameters ()
void	setupComm ()
void	setupPubs ()
void	setupSubs ()
	TNeighborAgentMapProps (mrpt::utils::COutputLogger *logger_in, const mrpt_msgs::GraphSlamAgent &agent_in, ros::NodeHandle *nh_in)
void	updateGridMap (const nav_msgs::OccupancyGrid::ConstPtr &nav_gridmap)
	Callback method to be called when new data in the map topic is available.
void	updateRobotTrajectory (const nav_msgs::Path::ConstPtr &nav_robot_traj)
	Callback method to be called when new data in the Estimated Trajectory topic is available.
Public Attributes
const mrpt_msgs::GraphSlamAgent &	agent
	Pointer to the GraphSlamAgent instance of the neighbor.
bool	has_init_class
bool	has_setup_comm
mrpt::utils::COutputLogger *	m_logger
nav_msgs::OccupancyGrid::ConstPtr	nav_map
	Map generated by the corresponding agent - in ROS form.
nav_msgs::Path::ConstPtr	nav_robot_trajectory
	Trajectory of the correspondign agent - in ROS form.
ros::NodeHandle *	nh
size_t	queue_size
Subscriber instances
ros::Subscriber	map_sub
	Map subscriber instance.
ros::Subscriber	robot_trajectory_sub
Topic names
std::string	map_topic
	Map topic to subscribe and fetch the map from.
std::string	robot_trajectory_topic

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Detailed Description

Struct holding a COccupancyGridMap2D (as well as subscribers for updating it) for a specific running GraphSlamAgent instance.

Note:

used in the global map-merging procedure

Definition at line 28 of file TNeighborAgentMapProps.h.

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Constructor & Destructor Documentation

TNeighborAgentMapProps::TNeighborAgentMapProps	(	mrpt::utils::COutputLogger *	logger_in,
		const mrpt_msgs::GraphSlamAgent &	agent_in,
		ros::NodeHandle *	nh_in
	)

Definition at line 21 of file TNeighborAgentMapProps.cpp.

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Member Function Documentation

size_t mrpt::graphslam::TNeighborAgentMapProps::getNodeCount

(

)

[inline]

Return how many nodes have been registered in the fetched robot trajectory.

Definition at line 53 of file TNeighborAgentMapProps.h.

void TNeighborAgentMapProps::readROSParameters

(

)

Definition at line 49 of file TNeighborAgentMapProps.cpp.

void TNeighborAgentMapProps::setupComm

(

)

Definition at line 68 of file TNeighborAgentMapProps.cpp.

void mrpt::graphslam::TNeighborAgentMapProps::setupPubs

(

)

void TNeighborAgentMapProps::setupSubs

(

)

Definition at line 75 of file TNeighborAgentMapProps.cpp.

void TNeighborAgentMapProps::updateGridMap

(

const nav_msgs::OccupancyGrid::ConstPtr &

nav_gridmap

)

Callback method to be called when new data in the map topic is available.

Definition at line 88 of file TNeighborAgentMapProps.cpp.

void TNeighborAgentMapProps::updateRobotTrajectory

(

const nav_msgs::Path::ConstPtr &

nav_robot_traj

)

Callback method to be called when new data in the Estimated Trajectory topic is available.

Definition at line 93 of file TNeighborAgentMapProps.cpp.

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Member Data Documentation

const mrpt_msgs::GraphSlamAgent& mrpt::graphslam::TNeighborAgentMapProps::agent

Pointer to the GraphSlamAgent instance of the neighbor.

Definition at line 57 of file TNeighborAgentMapProps.h.

bool mrpt::graphslam::TNeighborAgentMapProps::has_init_class

Definition at line 75 of file TNeighborAgentMapProps.h.

bool mrpt::graphslam::TNeighborAgentMapProps::has_setup_comm

Definition at line 76 of file TNeighborAgentMapProps.h.

mrpt::utils::COutputLogger* mrpt::graphslam::TNeighborAgentMapProps::m_logger

Definition at line 77 of file TNeighborAgentMapProps.h.

ros::Subscriber mrpt::graphslam::TNeighborAgentMapProps::map_sub

Map subscriber instance.

Definition at line 65 of file TNeighborAgentMapProps.h.

std::string mrpt::graphslam::TNeighborAgentMapProps::map_topic

Map topic to subscribe and fetch the map from.

Definition at line 71 of file TNeighborAgentMapProps.h.

nav_msgs::OccupancyGrid::ConstPtr mrpt::graphslam::TNeighborAgentMapProps::nav_map

Map generated by the corresponding agent - in ROS form.

Definition at line 59 of file TNeighborAgentMapProps.h.

nav_msgs::Path::ConstPtr mrpt::graphslam::TNeighborAgentMapProps::nav_robot_trajectory

Trajectory of the correspondign agent - in ROS form.

Definition at line 61 of file TNeighborAgentMapProps.h.

ros::NodeHandle* mrpt::graphslam::TNeighborAgentMapProps::nh

Definition at line 55 of file TNeighborAgentMapProps.h.

size_t mrpt::graphslam::TNeighborAgentMapProps::queue_size

Definition at line 74 of file TNeighborAgentMapProps.h.

ros::Subscriber mrpt::graphslam::TNeighborAgentMapProps::robot_trajectory_sub

Definition at line 66 of file TNeighborAgentMapProps.h.

std::string mrpt::graphslam::TNeighborAgentMapProps::robot_trajectory_topic

Definition at line 72 of file TNeighborAgentMapProps.h.

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

• TNeighborAgentMapProps.h
• TNeighborAgentMapProps.cpp