map_merge::MapMerging Class Reference

#include <map_merge.h>

List of all members.

Public Member Functions
void	executemapMerging ()
void	executeposeEstimation ()
void	executetopicSubscribing ()
	MapMerging ()
void	mapMerging ()
void	poseEstimation ()
	Estimates initial positions of grids.
void	spin ()
void	topicSubscribing ()
Private Types
typedef std::vector < std::reference_wrapper < nav_msgs::OccupancyGrid > >	grids_view_t
Private Member Functions
void	fullMapUpdate (const nav_msgs::OccupancyGrid::ConstPtr &msg, PosedMap &map)
bool	getInitPose (const std::string &name, geometry_msgs::Pose &pose)
bool	isRobotMapTopic (const ros::master::TopicInfo &topic)
void	partialMapUpdate (const map_msgs::OccupancyGridUpdate::ConstPtr &msg, PosedMap &map)
std::string	robotNameFromTopic (const std::string &topic)
Private Attributes
grids_view_t	all_grids_view_
double	confidence_treshold_
double	discovery_rate_
grids_view_t	estimated_grids_view_
double	estimation_rate_
bool	have_initial_poses_
std::forward_list< PosedMap >	maps_
size_t	maps_size_
nav_msgs::OccupancyGrid	merged_map_
ros::Publisher	merged_map_publisher_
boost::shared_mutex	merging_mutex_
double	merging_rate_
ros::NodeHandle	node_
std::string	robot_map_topic_
std::string	robot_map_updates_topic_
std::string	robot_namespace_
std::unordered_map < std::string, PosedMap * >	robots_

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Detailed Description

Definition at line 65 of file map_merge.h.

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Member Typedef Documentation

typedef std::vector<std::reference_wrapper<nav_msgs::OccupancyGrid> > map_merge::MapMerging::grids_view_t [private]

Definition at line 91 of file map_merge.h.

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Constructor & Destructor Documentation

map_merge::MapMerging::MapMerging

(

)

Definition at line 54 of file map_merge.cpp.

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Member Function Documentation

void map_merge::MapMerging::executemapMerging

(

)

Definition at line 401 of file map_merge.cpp.

void map_merge::MapMerging::executeposeEstimation

(

)

Definition at line 419 of file map_merge.cpp.

void map_merge::MapMerging::executetopicSubscribing

(

)

Definition at line 410 of file map_merge.cpp.

void map_merge::MapMerging::fullMapUpdate	(	const nav_msgs::OccupancyGrid::ConstPtr &	msg,
		PosedMap &	map
	)		[private]

Definition at line 252 of file map_merge.cpp.

bool map_merge::MapMerging::getInitPose	(	const std::string &	name,
		geometry_msgs::Pose &	pose
	)		[private]

Definition at line 378 of file map_merge.cpp.

bool map_merge::MapMerging::isRobotMapTopic

(

const ros::master::TopicInfo &

topic

)

[private]

Definition at line 354 of file map_merge.cpp.

void map_merge::MapMerging::mapMerging

(

)

Definition at line 160 of file map_merge.cpp.

void map_merge::MapMerging::partialMapUpdate	(	const map_msgs::OccupancyGridUpdate::ConstPtr &	msg,
		PosedMap &	map
	)		[private]

Definition at line 290 of file map_merge.cpp.

void map_merge::MapMerging::poseEstimation

(

)

Estimates initial positions of grids.

Relevant only if initial poses are not known

Definition at line 188 of file map_merge.cpp.

std::string map_merge::MapMerging::robotNameFromTopic

(

const std::string &

topic

)

[private]

Definition at line 335 of file map_merge.cpp.

void map_merge::MapMerging::spin

(

)

Definition at line 434 of file map_merge.cpp.

void map_merge::MapMerging::topicSubscribing

(

)

Definition at line 82 of file map_merge.cpp.

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Member Data Documentation

grids_view_t map_merge::MapMerging::all_grids_view_ [private]

Definition at line 93 of file map_merge.h.

double map_merge::MapMerging::confidence_treshold_ [private]

Definition at line 74 of file map_merge.h.

double map_merge::MapMerging::discovery_rate_ [private]

Definition at line 72 of file map_merge.h.

grids_view_t map_merge::MapMerging::estimated_grids_view_ [private]

Definition at line 96 of file map_merge.h.

double map_merge::MapMerging::estimation_rate_ [private]

Definition at line 73 of file map_merge.h.

bool map_merge::MapMerging::have_initial_poses_ [private]

Definition at line 78 of file map_merge.h.

std::forward_list<PosedMap> map_merge::MapMerging::maps_ [private]

Definition at line 87 of file map_merge.h.

size_t map_merge::MapMerging::maps_size_ [private]

Definition at line 88 of file map_merge.h.

nav_msgs::OccupancyGrid map_merge::MapMerging::merged_map_ [private]

Definition at line 81 of file map_merge.h.

ros::Publisher map_merge::MapMerging::merged_map_publisher_ [private]

Definition at line 82 of file map_merge.h.

boost::shared_mutex map_merge::MapMerging::merging_mutex_ [private]

Definition at line 100 of file map_merge.h.

double map_merge::MapMerging::merging_rate_ [private]

Definition at line 71 of file map_merge.h.

ros::NodeHandle map_merge::MapMerging::node_ [private]

Definition at line 68 of file map_merge.h.

std::string map_merge::MapMerging::robot_map_topic_ [private]

Definition at line 75 of file map_merge.h.

std::string map_merge::MapMerging::robot_map_updates_topic_ [private]

Definition at line 76 of file map_merge.h.

std::string map_merge::MapMerging::robot_namespace_ [private]

Definition at line 77 of file map_merge.h.

std::unordered_map<std::string, PosedMap*> map_merge::MapMerging::robots_ [private]

Definition at line 85 of file map_merge.h.

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

• map_merge.h
• map_merge.cpp