pointcloud_octomap_updater.h
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34 
35 /* Author: Jon Binney, Ioan Sucan */
36 
37 #ifndef MOVEIT_PERCEPTION_POINTCLOUD_OCTOMAP_UPDATER_
38 #define MOVEIT_PERCEPTION_POINTCLOUD_OCTOMAP_UPDATER_
39 
40 #include <ros/ros.h>
41 #include <tf/tf.h>
42 #include <tf/message_filter.h>
44 #include <sensor_msgs/PointCloud2.h>
47 
48 #include <memory>
49 
50 namespace occupancy_map_monitor
51 {
53 {
54 public:
56  virtual ~PointCloudOctomapUpdater();
57 
58  virtual bool setParams(XmlRpc::XmlRpcValue& params);
59 
60  virtual bool initialize();
61  virtual void start();
62  virtual void stop();
63  virtual ShapeHandle excludeShape(const shapes::ShapeConstPtr& shape);
64  virtual void forgetShape(ShapeHandle handle);
65 
66 protected:
67  virtual void updateMask(const sensor_msgs::PointCloud2& cloud, const Eigen::Vector3d& sensor_origin,
68  std::vector<int>& mask);
69 
70 private:
71  bool getShapeTransform(ShapeHandle h, Eigen::Affine3d& transform) const;
72  void cloudMsgCallback(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);
73  void stopHelper();
74 
78 
79  /* params */
80  std::string point_cloud_topic_;
81  double scale_;
82  double padding_;
83  double max_range_;
84  unsigned int point_subsample_;
85  std::string filtered_cloud_topic_;
87 
90 
91  /* used to store all cells in the map which a given ray passes through during raycasting.
92  we cache this here because it dynamically pre-allocates a lot of memory in its contsructor */
94 
95  std::unique_ptr<point_containment_filter::ShapeMask> shape_mask_;
96  std::vector<int> mask_;
97 };
98 }
99 
100 #endif
virtual bool initialize()
Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams(...
std::unique_ptr< point_containment_filter::ShapeMask > shape_mask_
Base class for classes which update the occupancy map.
message_filters::Subscriber< sensor_msgs::PointCloud2 > * point_cloud_subscriber_
virtual ShapeHandle excludeShape(const shapes::ShapeConstPtr &shape)
bool getShapeTransform(ShapeHandle h, Eigen::Affine3d &transform) const
virtual void updateMask(const sensor_msgs::PointCloud2 &cloud, const Eigen::Vector3d &sensor_origin, std::vector< int > &mask)
void cloudMsgCallback(const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)
virtual bool setParams(XmlRpc::XmlRpcValue &params)
Set updater params using struct that comes from parsing a yaml string. This must be called after setM...
std::shared_ptr< const Shape > ShapeConstPtr
tf::MessageFilter< sensor_msgs::PointCloud2 > * point_cloud_filter_


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Mon Jan 15 2018 03:51:11