#include <octomap_server_contact.h>

Inheritance diagram for jsk_pcl_ros::OctomapServerContact:

[legend]

Public Member Functions
virtual void	initContactSensor (const ros::NodeHandle &privateNh)

virtual void	insertContactSensor (const jsk_recognition_msgs::ContactSensorArray::ConstPtr &msg)

virtual void	insertContactSensorCallback (const jsk_recognition_msgs::ContactSensorArray::ConstPtr &msg)

virtual void	insertProximityCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud)

virtual void	insertScanProximity (const tf::Point &sensorOriginTf, const PCLPointCloud &pc)

	OctomapServerContact (const ros::NodeHandle &privateNh=ros::NodeHandle("~"))

virtual void	publishAll (const ros::Time &rostime)

virtual void	subscribe ()

virtual void	unsubscribe ()

virtual	~OctomapServerContact ()

Public Member Functions inherited from octomap_server::OctomapServer
bool	clearBBXSrv (BBXSrv::Request &req, BBXSrv::Response &resp)

virtual void	insertCloudCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud)

virtual bool	octomapBinarySrv (OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res)

virtual bool	octomapFullSrv (OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res)

	OctomapServer (const ros::NodeHandle private_nh_=ros::NodeHandle("~"), const ros::NodeHandle &nh_=ros::NodeHandle())

virtual bool	openFile (const std::string &filename)

bool	resetSrv (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)

virtual	~OctomapServer ()

Public Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
	DiagnosticNodelet (const std::string &name)

Public Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
	ConnectionBasedNodelet ()

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 ()

Protected Member Functions
virtual void	onInit ()

Protected Member Functions inherited from octomap_server::OctomapServer
void	adjustMapData (nav_msgs::OccupancyGrid &map, const nav_msgs::MapMetaData &oldMapInfo) const

void	filterGroundPlane (const PCLPointCloud &pc, PCLPointCloud &ground, PCLPointCloud &nonground) const

virtual void	handleFreeNode (const OcTreeT::iterator &it)

virtual void	handleFreeNodeInBBX (const OcTreeT::iterator &it)

virtual void	handleNode (const OcTreeT::iterator &it)

virtual void	handleNodeInBBX (const OcTreeT::iterator &it)

virtual void	handleOccupiedNode (const OcTreeT::iterator &it)

virtual void	handleOccupiedNodeInBBX (const OcTreeT::iterator &it)

virtual void	handlePostNodeTraversal (const ros::Time &rostime)

virtual void	handlePreNodeTraversal (const ros::Time &rostime)

virtual void	insertScan (const tf::Point &sensorOrigin, const PCLPointCloud &ground, const PCLPointCloud &nonground)

bool	isInUpdateBBX (const OcTreeT::iterator &it) const

bool	isSpeckleNode (const octomap::OcTreeKey &key) const

bool	mapChanged (const nav_msgs::MapMetaData &oldMapInfo, const nav_msgs::MapMetaData &newMapInfo)

unsigned	mapIdx (int i, int j) const

unsigned	mapIdx (const octomap::OcTreeKey &key) const

void	publishBinaryOctoMap (const ros::Time &rostime=ros::Time::now()) const

void	publishFullOctoMap (const ros::Time &rostime=ros::Time::now()) const

void	reconfigureCallback (octomap_server::OctomapServerConfig &config, uint32_t level)

virtual void	update2DMap (const OcTreeT::iterator &it, bool occupied)

Protected Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
virtual void	updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)

Protected Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, const std::string &topic, int queue_size)

virtual void	cameraConnectionBaseCallback ()

virtual void	cameraConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual void	cameraInfoConnectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	imageConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual bool	isSubscribed ()

virtual void	onInitPostProcess ()

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)

virtual void	warnOnInitPostProcessCalledCallback (const ros::WallTimerEvent &event)

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

Protected Attributes
ros::ServiceServer	m_clearBBXService

std_msgs::ColorRGBA	m_colorFrontier

std_msgs::ColorRGBA	m_colorUnknown

message_filters::Subscriber< jsk_recognition_msgs::ContactSensorArray >	m_contactSensorSub

ros::Publisher	m_fromarkerPub

ros::Publisher	m_frontierPointCloudPub

double	m_maxRangeProximity

double	m_occupancyMaxX

double	m_occupancyMaxY

double	m_occupancyMinX

double	m_occupancyMinY

ros::ServiceServer	m_octomapBinaryService

ros::ServiceServer	m_octomapFullService

octomap::OcTreeContact *	m_octreeContact

double	m_offsetVisualizeUnknown

message_filters::Subscriber< sensor_msgs::PointCloud2 > *	m_pointProximitySub

bool	m_publishFrontierSpace

bool	m_publishUnknownSpace

ros::ServiceServer	m_resetService

boost::shared_ptr< robot_self_filter::SelfMaskNamedLink >	m_selfMask

boost::shared_ptr< tf::MessageFilter< jsk_recognition_msgs::ContactSensorArray > >	m_tfContactSensorSub

tf::MessageFilter< sensor_msgs::PointCloud2 > *	m_tfPointProximitySub

ros::Publisher	m_umarkerPub

ros::Publisher	m_unknownPointCloudPub

bool	m_useContactSurface

Protected Attributes inherited from octomap_server::OctomapServer
std::string	m_baseFrameId

ros::Publisher	m_binaryMapPub

ros::ServiceServer	m_clearBBXService

ros::Publisher	m_cmapPub

ros::Publisher	m_collisionObjectPub

std_msgs::ColorRGBA	m_color

double	m_colorFactor

std_msgs::ColorRGBA	m_colorFree

bool	m_compressMap

boost::recursive_mutex	m_config_mutex

bool	m_filterGroundPlane

bool	m_filterSpeckles

ros::Publisher	m_fmapPub

ros::Publisher	m_fmarkerPub

ros::Publisher	m_fullMapPub

nav_msgs::OccupancyGrid	m_gridmap

double	m_groundFilterAngle

double	m_groundFilterDistance

double	m_groundFilterPlaneDistance

bool	m_incrementalUpdate

bool	m_initConfig

octomap::KeyRay	m_keyRay

bool	m_latchedTopics

bool	m_mapOriginChanged

ros::Publisher	m_mapPub

ros::Publisher	m_markerPub

double	m_maxRange

unsigned	m_maxTreeDepth

double	m_minSizeX

double	m_minSizeY

unsigned	m_multires2DScale

ros::NodeHandle	m_nh

ros::NodeHandle	m_nh_private

double	m_occupancyMaxZ

double	m_occupancyMinZ

ros::ServiceServer	m_octomapBinaryService

ros::ServiceServer	m_octomapFullService

OcTreeT *	m_octree

octomap::OcTreeKey	m_paddedMinKey

double	m_pointcloudMaxX

double	m_pointcloudMaxY

double	m_pointcloudMaxZ

double	m_pointcloudMinX

double	m_pointcloudMinY

double	m_pointcloudMinZ

ros::Publisher	m_pointCloudPub

message_filters::Subscriber< sensor_msgs::PointCloud2 > *	m_pointCloudSub

bool	m_projectCompleteMap

bool	m_publish2DMap

bool	m_publishFreeSpace

dynamic_reconfigure::Server< OctomapServerConfig >	m_reconfigureServer

double	m_res

ros::ServiceServer	m_resetService

tf::TransformListener	m_tfListener

tf::MessageFilter< sensor_msgs::PointCloud2 > *	m_tfPointCloudSub

unsigned	m_treeDepth

octomap::OcTreeKey	m_updateBBXMax

octomap::OcTreeKey	m_updateBBXMin

bool	m_useColoredMap

bool	m_useHeightMap

std::string	m_worldFrameId

Protected Attributes inherited from jsk_topic_tools::DiagnosticNodelet
TimeredDiagnosticUpdater::Ptr	diagnostic_updater_

const std::string	name_

jsk_topic_tools::VitalChecker::Ptr	vital_checker_

Protected Attributes inherited from jsk_topic_tools::ConnectionBasedNodelet
bool	always_subscribe_

std::vector< image_transport::CameraPublisher >	camera_publishers_

boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

std::vector< image_transport::Publisher >	image_publishers_

boost::shared_ptr< ros::NodeHandle >	nh_

bool	on_init_post_process_called_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

bool	subscribed_

ros::WallTimer	timer_warn_never_subscribed_

ros::WallTimer	timer_warn_on_init_post_process_called_

bool	verbose_connection_

Additional Inherited Members
Public Types inherited from octomap_server::OctomapServer
typedef octomap_msgs::BoundingBoxQuery	BBXSrv

typedef octomap_msgs::GetOctomap	OctomapSrv

typedef octomap::OcTree	OcTreeT

typedef pcl::PointXYZ	PCLPoint

typedef pcl::PointCloud< pcl::PointXYZ >	PCLPointCloud

Public Types inherited from jsk_topic_tools::DiagnosticNodelet
typedef boost::shared_ptr< DiagnosticNodelet >	Ptr

Static Protected Member Functions inherited from octomap_server::OctomapServer
static std_msgs::ColorRGBA	heightMapColor (double h)

static void	updateMaxKey (const octomap::OcTreeKey &in, octomap::OcTreeKey &max)

static void	updateMinKey (const octomap::OcTreeKey &in, octomap::OcTreeKey &min)

Detailed Description

Definition at line 52 of file octomap_server_contact.h.

Constructor & Destructor Documentation

jsk_pcl_ros::OctomapServerContact::OctomapServerContact ( const ros::NodeHandle & privateNh = ros::NodeHandle("~") )

Definition at line 45 of file octomap_server_contact_nodelet.cpp.

jsk_pcl_ros::OctomapServerContact::~OctomapServerContact ( )

virtual

Definition at line 118 of file octomap_server_contact_nodelet.cpp.

Member Function Documentation

void jsk_pcl_ros::OctomapServerContact::initContactSensor ( const ros::NodeHandle & privateNh )

virtual

Definition at line 121 of file octomap_server_contact_nodelet.cpp.

void jsk_pcl_ros::OctomapServerContact::insertContactSensor ( const jsk_recognition_msgs::ContactSensorArray::ConstPtr & msg )

virtual

Definition at line 307 of file octomap_server_contact_nodelet.cpp.

void jsk_pcl_ros::OctomapServerContact::insertContactSensorCallback ( const jsk_recognition_msgs::ContactSensorArray::ConstPtr & msg )

virtual

Definition at line 451 of file octomap_server_contact_nodelet.cpp.

void jsk_pcl_ros::OctomapServerContact::insertProximityCallback ( const sensor_msgs::PointCloud2::ConstPtr & cloud )

virtual

Definition at line 174 of file octomap_server_contact_nodelet.cpp.

void jsk_pcl_ros::OctomapServerContact::insertScanProximity	(	const tf::Point &	sensorOriginTf,
		const PCLPointCloud &	pc
	)

virtual

Definition at line 209 of file octomap_server_contact_nodelet.cpp.

void jsk_pcl_ros::OctomapServerContact::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 844 of file octomap_server_contact_nodelet.cpp.

void jsk_pcl_ros::OctomapServerContact::publishAll ( const ros::Time & rostime )

virtual

Reimplemented from octomap_server::OctomapServer.

Definition at line 458 of file octomap_server_contact_nodelet.cpp.

virtual void jsk_pcl_ros::OctomapServerContact::subscribe ( )

inlinevirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 66 of file octomap_server_contact.h.

virtual void jsk_pcl_ros::OctomapServerContact::unsubscribe ( )

inlinevirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 67 of file octomap_server_contact.h.

Member Data Documentation

ros::ServiceServer jsk_pcl_ros::OctomapServerContact::m_clearBBXService

protected

Definition at line 77 of file octomap_server_contact.h.

std_msgs::ColorRGBA jsk_pcl_ros::OctomapServerContact::m_colorFrontier

protected

Definition at line 80 of file octomap_server_contact.h.

std_msgs::ColorRGBA jsk_pcl_ros::OctomapServerContact::m_colorUnknown

protected

Definition at line 79 of file octomap_server_contact.h.

message_filters::Subscriber<jsk_recognition_msgs::ContactSensorArray> jsk_pcl_ros::OctomapServerContact::m_contactSensorSub

protected

Definition at line 75 of file octomap_server_contact.h.

ros::Publisher jsk_pcl_ros::OctomapServerContact::m_fromarkerPub

protected

Definition at line 74 of file octomap_server_contact.h.

ros::Publisher jsk_pcl_ros::OctomapServerContact::m_frontierPointCloudPub

protected

Definition at line 74 of file octomap_server_contact.h.

double jsk_pcl_ros::OctomapServerContact::m_maxRangeProximity

protected

Definition at line 87 of file octomap_server_contact.h.

double jsk_pcl_ros::OctomapServerContact::m_occupancyMaxX

protected

Definition at line 90 of file octomap_server_contact.h.

double jsk_pcl_ros::OctomapServerContact::m_occupancyMaxY

protected

Definition at line 92 of file octomap_server_contact.h.

double jsk_pcl_ros::OctomapServerContact::m_occupancyMinX

protected

Definition at line 89 of file octomap_server_contact.h.

double jsk_pcl_ros::OctomapServerContact::m_occupancyMinY

protected

Definition at line 91 of file octomap_server_contact.h.

ros::ServiceServer jsk_pcl_ros::OctomapServerContact::m_octomapBinaryService

protected

Definition at line 77 of file octomap_server_contact.h.

ros::ServiceServer jsk_pcl_ros::OctomapServerContact::m_octomapFullService

protected

Definition at line 77 of file octomap_server_contact.h.

octomap::OcTreeContact* jsk_pcl_ros::OctomapServerContact::m_octreeContact

protected

Definition at line 98 of file octomap_server_contact.h.

double jsk_pcl_ros::OctomapServerContact::m_offsetVisualizeUnknown

protected

Definition at line 83 of file octomap_server_contact.h.

message_filters::Subscriber<sensor_msgs::PointCloud2>* jsk_pcl_ros::OctomapServerContact::m_pointProximitySub

protected

Definition at line 72 of file octomap_server_contact.h.

bool jsk_pcl_ros::OctomapServerContact::m_publishFrontierSpace

protected

Definition at line 85 of file octomap_server_contact.h.

bool jsk_pcl_ros::OctomapServerContact::m_publishUnknownSpace

protected

Definition at line 82 of file octomap_server_contact.h.

ros::ServiceServer jsk_pcl_ros::OctomapServerContact::m_resetService

protected

Definition at line 77 of file octomap_server_contact.h.

boost::shared_ptr<robot_self_filter::SelfMaskNamedLink> jsk_pcl_ros::OctomapServerContact::m_selfMask

protected

Definition at line 96 of file octomap_server_contact.h.

boost::shared_ptr<tf::MessageFilter<jsk_recognition_msgs::ContactSensorArray> > jsk_pcl_ros::OctomapServerContact::m_tfContactSensorSub

protected

Definition at line 76 of file octomap_server_contact.h.

tf::MessageFilter<sensor_msgs::PointCloud2>* jsk_pcl_ros::OctomapServerContact::m_tfPointProximitySub

protected

Definition at line 73 of file octomap_server_contact.h.

ros::Publisher jsk_pcl_ros::OctomapServerContact::m_umarkerPub

protected

Definition at line 71 of file octomap_server_contact.h.

ros::Publisher jsk_pcl_ros::OctomapServerContact::m_unknownPointCloudPub

protected

Definition at line 71 of file octomap_server_contact.h.

bool jsk_pcl_ros::OctomapServerContact::m_useContactSurface

protected

Definition at line 94 of file octomap_server_contact.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation