hector_elevation_mapping::ElevationMapping Class Reference

#include <hector_elevation_mapping.h>

Inheritance diagram for hector_elevation_mapping::ElevationMapping:

Public Member Functions
void	cloudCallback (const sensor_msgs::PointCloud2ConstPtr &pointcloud2_sensor_msg)
	cloudCallback get called if a new 3D point cloud is avaible More...
virtual void	onInit ()
	Default plugin constructor. More...
void	sysMessageCallback (const std_msgs::String &string)
	sysMessageCallback This function listen to system messages More...
void	timerCallback (const ros::TimerEvent &event)
	timerCallback publishes periodically a height pose update More...
void	updateParamsCallback (const nav_msgs::MapMetaData &map_meta_data)
	updateMapParamsCallback updates the map meta information if someone has changed it More...
	~ElevationMapping ()
	Default deconstructor. More...
Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
	Nodelet ()
virtual	~Nodelet ()

Private Attributes
std::vector< double >	cell_variance
hector_elevation_msgs::ElevationMapMetaData	elevation_map_meta
hector_elevation_msgs::ElevationGrid	global_elevation_map
std::string	global_elevation_map_topic
std::string	grid_map_topic
tf::TransformListener	listener
hector_elevation_msgs::ElevationGrid	local_elevation_map
std::string	local_elevation_map_topic
std::string	local_map_frame_id
std::string	map_frame_id
nav_msgs::MapMetaData	map_meta
int	max_height
int	max_height_levels
double	max_observable_distance
ros::NodeHandle	nHandle
ros::NodeHandle	nPrivateHandle
std::string	point_cloud_topic
std::string	pose_update_topic
double	poseupdate_height_covariance
double	poseupdate_pub_period
int	poseupdate_used_pattern_size
ros::Publisher	pub_global_map
ros::Publisher	pub_global_map_meta
ros::Publisher	pub_height_update
ros::Publisher	pub_local_map
ros::Publisher	pub_local_map_meta
bool	publish_poseupdate
std::string	sensor_frame_id
double	sensor_variance
ros::Subscriber	sub_grid_map_info
ros::Subscriber	sub_pointCloud
ros::Subscriber	sub_sysMessage
std::string	sys_msg_topic
ros::Timer	timer
HectorMapTools::CoordinateTransformer< float >	world_map_transform

Additional Inherited Members
Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const
ros::NodeHandle &	getMTNodeHandle () const
ros::NodeHandle &	getMTPrivateNodeHandle () const
const V_string &	getMyArgv () const
const std::string &	getName () const
ros::NodeHandle &	getNodeHandle () const
ros::NodeHandle &	getPrivateNodeHandle () const
const M_string &	getRemappingArgs () const
ros::CallbackQueueInterface &	getSTCallbackQueue () const
std::string	getSuffixedName (const std::string &suffix) const

Detailed Description

Definition at line 26 of file hector_elevation_mapping.h.

Constructor & Destructor Documentation

hector_elevation_mapping::ElevationMapping::~ElevationMapping

(

)

Default deconstructor.

Definition at line 98 of file hector_elevation_mapping.cpp.

Member Function Documentation

void hector_elevation_mapping::ElevationMapping::cloudCallback

(

const sensor_msgs::PointCloud2ConstPtr &

pointcloud2_sensor_msg

)

cloudCallback get called if a new 3D point cloud is avaible

Parameters

[in]

pointcloud2_sensor_msg

contains the 3D point cloud

Definition at line 224 of file hector_elevation_mapping.cpp.

void hector_elevation_mapping::ElevationMapping::onInit ( )

virtual

Default plugin constructor.

Implements nodelet::Nodelet.

Definition at line 12 of file hector_elevation_mapping.cpp.

void hector_elevation_mapping::ElevationMapping::sysMessageCallback

(

const std_msgs::String &

string

)

sysMessageCallback This function listen to system messages

Parameters

[in]

string

parameter contains system messages, like "reset"

Definition at line 175 of file hector_elevation_mapping.cpp.

void hector_elevation_mapping::ElevationMapping::timerCallback

(

const ros::TimerEvent &

event

)

timerCallback publishes periodically a height pose update

Parameters

[in]

event

is not used

todo check if min/max index is inside map

Definition at line 103 of file hector_elevation_mapping.cpp.

void hector_elevation_mapping::ElevationMapping::updateParamsCallback

(

const nav_msgs::MapMetaData &

map_meta_data

)

updateMapParamsCallback updates the map meta information if someone has changed it

Parameters

[in]

map_meta_data

map meta information like grid resolution or origin

Definition at line 191 of file hector_elevation_mapping.cpp.

Member Data Documentation

std::vector<double> hector_elevation_mapping::ElevationMapping::cell_variance

private

Definition at line 84 of file hector_elevation_mapping.h.

hector_elevation_msgs::ElevationMapMetaData hector_elevation_mapping::ElevationMapping::elevation_map_meta

private

Definition at line 81 of file hector_elevation_mapping.h.

hector_elevation_msgs::ElevationGrid hector_elevation_mapping::ElevationMapping::global_elevation_map

private

Definition at line 83 of file hector_elevation_mapping.h.

std::string hector_elevation_mapping::ElevationMapping::global_elevation_map_topic

private

Definition at line 99 of file hector_elevation_mapping.h.

std::string hector_elevation_mapping::ElevationMapping::grid_map_topic

private

Definition at line 99 of file hector_elevation_mapping.h.

tf::TransformListener hector_elevation_mapping::ElevationMapping::listener

private

Definition at line 64 of file hector_elevation_mapping.h.

hector_elevation_msgs::ElevationGrid hector_elevation_mapping::ElevationMapping::local_elevation_map

private

Definition at line 82 of file hector_elevation_mapping.h.

std::string hector_elevation_mapping::ElevationMapping::local_elevation_map_topic

private

Definition at line 99 of file hector_elevation_mapping.h.

std::string hector_elevation_mapping::ElevationMapping::local_map_frame_id

private

Definition at line 98 of file hector_elevation_mapping.h.

std::string hector_elevation_mapping::ElevationMapping::map_frame_id

private

Definition at line 98 of file hector_elevation_mapping.h.

nav_msgs::MapMetaData hector_elevation_mapping::ElevationMapping::map_meta

private

Definition at line 86 of file hector_elevation_mapping.h.

int hector_elevation_mapping::ElevationMapping::max_height

private

Definition at line 92 of file hector_elevation_mapping.h.

int hector_elevation_mapping::ElevationMapping::max_height_levels

private

Definition at line 92 of file hector_elevation_mapping.h.

double hector_elevation_mapping::ElevationMapping::max_observable_distance

private

Definition at line 89 of file hector_elevation_mapping.h.

ros::NodeHandle hector_elevation_mapping::ElevationMapping::nHandle

private

Definition at line 65 of file hector_elevation_mapping.h.

ros::NodeHandle hector_elevation_mapping::ElevationMapping::nPrivateHandle

private

Definition at line 66 of file hector_elevation_mapping.h.

std::string hector_elevation_mapping::ElevationMapping::point_cloud_topic

private

Definition at line 99 of file hector_elevation_mapping.h.

std::string hector_elevation_mapping::ElevationMapping::pose_update_topic

private

Definition at line 99 of file hector_elevation_mapping.h.

double hector_elevation_mapping::ElevationMapping::poseupdate_height_covariance

private

Definition at line 95 of file hector_elevation_mapping.h.

double hector_elevation_mapping::ElevationMapping::poseupdate_pub_period

private

Definition at line 94 of file hector_elevation_mapping.h.

int hector_elevation_mapping::ElevationMapping::poseupdate_used_pattern_size

private

Definition at line 96 of file hector_elevation_mapping.h.

ros::Publisher hector_elevation_mapping::ElevationMapping::pub_global_map

private

Definition at line 74 of file hector_elevation_mapping.h.

ros::Publisher hector_elevation_mapping::ElevationMapping::pub_global_map_meta

private

Definition at line 75 of file hector_elevation_mapping.h.

ros::Publisher hector_elevation_mapping::ElevationMapping::pub_height_update

private

Definition at line 77 of file hector_elevation_mapping.h.

ros::Publisher hector_elevation_mapping::ElevationMapping::pub_local_map

private

Definition at line 72 of file hector_elevation_mapping.h.

ros::Publisher hector_elevation_mapping::ElevationMapping::pub_local_map_meta

private

Definition at line 73 of file hector_elevation_mapping.h.

bool hector_elevation_mapping::ElevationMapping::publish_poseupdate

private

Definition at line 91 of file hector_elevation_mapping.h.

std::string hector_elevation_mapping::ElevationMapping::sensor_frame_id

private

Definition at line 98 of file hector_elevation_mapping.h.

double hector_elevation_mapping::ElevationMapping::sensor_variance

private

Definition at line 88 of file hector_elevation_mapping.h.

ros::Subscriber hector_elevation_mapping::ElevationMapping::sub_grid_map_info

private

Definition at line 70 of file hector_elevation_mapping.h.

ros::Subscriber hector_elevation_mapping::ElevationMapping::sub_pointCloud

private

Definition at line 68 of file hector_elevation_mapping.h.

ros::Subscriber hector_elevation_mapping::ElevationMapping::sub_sysMessage

private

Definition at line 69 of file hector_elevation_mapping.h.

std::string hector_elevation_mapping::ElevationMapping::sys_msg_topic

private

Definition at line 99 of file hector_elevation_mapping.h.

ros::Timer hector_elevation_mapping::ElevationMapping::timer

private

Definition at line 79 of file hector_elevation_mapping.h.

HectorMapTools::CoordinateTransformer<float> hector_elevation_mapping::ElevationMapping::world_map_transform

private

Definition at line 62 of file hector_elevation_mapping.h.

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

• hector_elevation_mapping.h
• hector_elevation_mapping.cpp