Public Member Functions | Private Member Functions | Private Attributes | List of all members
occupancy_map_monitor::OccupancyMapMonitor Class Reference

#include <occupancy_map_monitor.h>

Public Member Functions

void addUpdater (const OccupancyMapUpdaterPtr &updater)
 
ShapeHandle excludeShape (const shapes::ShapeConstPtr &shape)
 Add this shape to the set of shapes to be filtered out from the octomap. More...
 
void forgetShape (ShapeHandle handle)
 Forget about this shape handle and the shapes it corresponds to. More...
 
const std::string & getMapFrame () const
 
double getMapResolution () const
 
const OccMapTreePtrgetOcTreePtr ()
 Get a pointer to the underlying octree for this monitor. Lock the tree before reading or writing using this pointer. The value of this pointer stays the same throughout the existance of the monitor instance. More...
 
const OccMapTreeConstPtrgetOcTreePtr () const
 Get a const pointer to the underlying octree for this monitor. Lock the tree before reading this pointer. More...
 
const boost::shared_ptr< tf::Transformer > & getTFClient () const
 
bool isActive () const
 
 OccupancyMapMonitor (const boost::shared_ptr< tf::Transformer > &tf, const std::string &map_frame="", double map_resolution=0.0)
 
 OccupancyMapMonitor (double map_resolution=0.0)
 
 OccupancyMapMonitor (const boost::shared_ptr< tf::Transformer > &tf, ros::NodeHandle &nh, const std::string &map_frame="", double map_resolution=0.0)
 
void publishDebugInformation (bool flag)
 
void setMapFrame (const std::string &frame)
 
void setTransformCacheCallback (const TransformCacheProvider &transform_cache_callback)
 
void setUpdateCallback (const boost::function< void()> &update_callback)
 Set the callback to trigger when updates to the maintained octomap are received. More...
 
void startMonitor ()
 start the monitor (will begin updating the octomap More...
 
void stopMonitor ()
 
 ~OccupancyMapMonitor ()
 

Private Member Functions

bool getShapeTransformCache (std::size_t index, const std::string &target_frame, const ros::Time &target_time, ShapeTransformCache &cache) const
 
void initialize ()
 
bool loadMapCallback (moveit_msgs::LoadMap::Request &request, moveit_msgs::LoadMap::Response &response)
 Load octree from a binary file (gets rid of current octree data) More...
 
bool saveMapCallback (moveit_msgs::SaveMap::Request &request, moveit_msgs::SaveMap::Response &response)
 Save the current octree to a binary file. More...
 

Private Attributes

bool active_
 
bool debug_info_
 
ros::ServiceServer load_map_srv_
 
std::string map_frame_
 
double map_resolution_
 
std::vector< OccupancyMapUpdaterPtr > map_updaters_
 
std::size_t mesh_handle_count_
 
std::vector< std::map< ShapeHandle, ShapeHandle > > mesh_handles_
 
ros::NodeHandle nh_
 
boost::mutex parameters_lock_
 
ros::NodeHandle root_nh_
 
ros::ServiceServer save_map_srv_
 
boost::shared_ptr< tf::Transformertf_
 
TransformCacheProvider transform_cache_callback_
 
OccMapTreePtr tree_
 
OccMapTreeConstPtr tree_const_
 
std::unique_ptr< pluginlib::ClassLoader< OccupancyMapUpdater > > updater_plugin_loader_
 

Detailed Description

Definition at line 57 of file occupancy_map_monitor.h.

Constructor & Destructor Documentation

occupancy_map_monitor::OccupancyMapMonitor::OccupancyMapMonitor ( const boost::shared_ptr< tf::Transformer > &  tf,
const std::string &  map_frame = "",
double  map_resolution = 0.0 
)

Definition at line 52 of file occupancy_map_monitor.cpp.

occupancy_map_monitor::OccupancyMapMonitor::OccupancyMapMonitor ( double  map_resolution = 0.0)

Definition at line 46 of file occupancy_map_monitor.cpp.

occupancy_map_monitor::OccupancyMapMonitor::OccupancyMapMonitor ( const boost::shared_ptr< tf::Transformer > &  tf,
ros::NodeHandle nh,
const std::string &  map_frame = "",
double  map_resolution = 0.0 
)

Definition at line 59 of file occupancy_map_monitor.cpp.

occupancy_map_monitor::OccupancyMapMonitor::~OccupancyMapMonitor ( )

Definition at line 341 of file occupancy_map_monitor.cpp.

Member Function Documentation

void occupancy_map_monitor::OccupancyMapMonitor::addUpdater ( const OccupancyMapUpdaterPtr &  updater)

Definition at line 172 of file occupancy_map_monitor.cpp.

ShapeHandle occupancy_map_monitor::OccupancyMapMonitor::excludeShape ( const shapes::ShapeConstPtr shape)

Add this shape to the set of shapes to be filtered out from the octomap.

Definition at line 213 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::forgetShape ( ShapeHandle  handle)

Forget about this shape handle and the shapes it corresponds to.

Definition at line 233 of file occupancy_map_monitor.cpp.

const std::string& occupancy_map_monitor::OccupancyMapMonitor::getMapFrame ( ) const
inline

Definition at line 87 of file occupancy_map_monitor.h.

double occupancy_map_monitor::OccupancyMapMonitor::getMapResolution ( ) const
inline

Definition at line 94 of file occupancy_map_monitor.h.

const OccMapTreePtr& occupancy_map_monitor::OccupancyMapMonitor::getOcTreePtr ( )
inline

Get a pointer to the underlying octree for this monitor. Lock the tree before reading or writing using this pointer. The value of this pointer stays the same throughout the existance of the monitor instance.

Definition at line 75 of file occupancy_map_monitor.h.

const OccMapTreeConstPtr& occupancy_map_monitor::OccupancyMapMonitor::getOcTreePtr ( ) const
inline

Get a const pointer to the underlying octree for this monitor. Lock the tree before reading this pointer.

Definition at line 82 of file occupancy_map_monitor.h.

bool occupancy_map_monitor::OccupancyMapMonitor::getShapeTransformCache ( std::size_t  index,
const std::string &  target_frame,
const ros::Time target_time,
ShapeTransformCache cache 
) const
private

Definition at line 260 of file occupancy_map_monitor.cpp.

const boost::shared_ptr<tf::Transformer>& occupancy_map_monitor::OccupancyMapMonitor::getTFClient ( ) const
inline

Definition at line 99 of file occupancy_map_monitor.h.

void occupancy_map_monitor::OccupancyMapMonitor::initialize ( )
private

Definition at line 66 of file occupancy_map_monitor.cpp.

bool occupancy_map_monitor::OccupancyMapMonitor::isActive ( ) const
inline

Definition at line 122 of file occupancy_map_monitor.h.

bool occupancy_map_monitor::OccupancyMapMonitor::loadMapCallback ( moveit_msgs::LoadMap::Request &  request,
moveit_msgs::LoadMap::Response &  response 
)
private

Load octree from a binary file (gets rid of current octree data)

Definition at line 305 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::publishDebugInformation ( bool  flag)

Definition at line 200 of file occupancy_map_monitor.cpp.

bool occupancy_map_monitor::OccupancyMapMonitor::saveMapCallback ( moveit_msgs::SaveMap::Request &  request,
moveit_msgs::SaveMap::Response &  response 
)
private

Save the current octree to a binary file.

Definition at line 288 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::setMapFrame ( const std::string &  frame)

Definition at line 207 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::setTransformCacheCallback ( const TransformCacheProvider transform_cache_callback)

Definition at line 251 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::setUpdateCallback ( const boost::function< void()> &  update_callback)
inline

Set the callback to trigger when updates to the maintained octomap are received.

Definition at line 113 of file occupancy_map_monitor.h.

void occupancy_map_monitor::OccupancyMapMonitor::startMonitor ( )

start the monitor (will begin updating the octomap

Definition at line 326 of file occupancy_map_monitor.cpp.

void occupancy_map_monitor::OccupancyMapMonitor::stopMonitor ( )

Definition at line 334 of file occupancy_map_monitor.cpp.

Member Data Documentation

bool occupancy_map_monitor::OccupancyMapMonitor::active_
private

Definition at line 160 of file occupancy_map_monitor.h.

bool occupancy_map_monitor::OccupancyMapMonitor::debug_info_
private

Definition at line 151 of file occupancy_map_monitor.h.

ros::ServiceServer occupancy_map_monitor::OccupancyMapMonitor::load_map_srv_
private

Definition at line 158 of file occupancy_map_monitor.h.

std::string occupancy_map_monitor::OccupancyMapMonitor::map_frame_
private

Definition at line 140 of file occupancy_map_monitor.h.

double occupancy_map_monitor::OccupancyMapMonitor::map_resolution_
private

Definition at line 141 of file occupancy_map_monitor.h.

std::vector<OccupancyMapUpdaterPtr> occupancy_map_monitor::OccupancyMapMonitor::map_updaters_
private

Definition at line 148 of file occupancy_map_monitor.h.

std::size_t occupancy_map_monitor::OccupancyMapMonitor::mesh_handle_count_
private

Definition at line 153 of file occupancy_map_monitor.h.

std::vector<std::map<ShapeHandle, ShapeHandle> > occupancy_map_monitor::OccupancyMapMonitor::mesh_handles_
private

Definition at line 149 of file occupancy_map_monitor.h.

ros::NodeHandle occupancy_map_monitor::OccupancyMapMonitor::nh_
private

Definition at line 156 of file occupancy_map_monitor.h.

boost::mutex occupancy_map_monitor::OccupancyMapMonitor::parameters_lock_
private

Definition at line 142 of file occupancy_map_monitor.h.

ros::NodeHandle occupancy_map_monitor::OccupancyMapMonitor::root_nh_
private

Definition at line 155 of file occupancy_map_monitor.h.

ros::ServiceServer occupancy_map_monitor::OccupancyMapMonitor::save_map_srv_
private

Definition at line 157 of file occupancy_map_monitor.h.

boost::shared_ptr<tf::Transformer> occupancy_map_monitor::OccupancyMapMonitor::tf_
private

Definition at line 139 of file occupancy_map_monitor.h.

TransformCacheProvider occupancy_map_monitor::OccupancyMapMonitor::transform_cache_callback_
private

Definition at line 150 of file occupancy_map_monitor.h.

OccMapTreePtr occupancy_map_monitor::OccupancyMapMonitor::tree_
private

Definition at line 144 of file occupancy_map_monitor.h.

OccMapTreeConstPtr occupancy_map_monitor::OccupancyMapMonitor::tree_const_
private

Definition at line 145 of file occupancy_map_monitor.h.

std::unique_ptr<pluginlib::ClassLoader<OccupancyMapUpdater> > occupancy_map_monitor::OccupancyMapMonitor::updater_plugin_loader_
private

Definition at line 147 of file occupancy_map_monitor.h.


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


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Wed Jul 18 2018 02:48:55