#include <GuiWrapper.h>

Inheritance diagram for rtabmap_ros::GuiWrapper:

Public Member Functions
	GuiWrapper (int &argc, char **argv)

virtual	~GuiWrapper ()

Public Member Functions inherited from UEventsHandler
void	registerToEventsManager ()

void	unregisterFromEventsManager ()

Public Member Functions inherited from UEventsSender
	UEventsSender ()

virtual	~UEventsSender ()

Public Member Functions inherited from rtabmap_ros::CommonDataSubscriber
	CommonDataSubscriber (bool gui)

int	getQueueSize () const

bool	isApproxSync () const

bool	isDataSubscribed () const

bool	isSubscribedToDepth () const

bool	isSubscribedToOdom () const

bool	isSubscribedToOdomInfo () const

bool	isSubscribedToRGB () const

bool	isSubscribedToRGBD () const

bool	isSubscribedToScan2d () const

bool	isSubscribedToScan3d () const

bool	isSubscribedToStereo () const

const std::string &	name () const

int	rgbdCameras () const

virtual	~CommonDataSubscriber ()

Protected Member Functions
virtual bool	handleEvent (UEvent *anEvent)

Protected Member Functions inherited from UEventsHandler
	UEventsHandler ()

virtual	~UEventsHandler ()

Protected Member Functions inherited from UEventsSender
void	post (UEvent *event, bool async=true) const

Protected Member Functions inherited from rtabmap_ros::CommonDataSubscriber
void	commonSingleDepthCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const cv_bridge::CvImageConstPtr &imageMsg, const cv_bridge::CvImageConstPtr &depthMsg, const sensor_msgs::CameraInfo &rgbCameraInfoMsg, const sensor_msgs::CameraInfo &depthCameraInfoMsg, const sensor_msgs::LaserScan &scanMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_ros::GlobalDescriptor > &globalDescriptorMsgs=std::vector< rtabmap_ros::GlobalDescriptor >(), const std::vector< rtabmap_ros::KeyPoint > &localKeyPoints=std::vector< rtabmap_ros::KeyPoint >(), const std::vector< rtabmap_ros::Point3f > &localPoints3d=std::vector< rtabmap_ros::Point3f >(), const cv::Mat &localDescriptors=cv::Mat())

void	setupCallbacks (ros::NodeHandle &nh, ros::NodeHandle &pnh, const std::string &name)

Private Types
typedef message_filters::sync_policies::ExactTime< rtabmap_ros::Goal, nav_msgs::Path >	MyGoalPathSyncPolicy

typedef message_filters::sync_policies::ExactTime< rtabmap_ros::Info, rtabmap_ros::MapData >	MyInfoMapSyncPolicy

Private Member Functions
virtual void	commonDepthCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const std::vector< cv_bridge::CvImageConstPtr > &imageMsgs, const std::vector< cv_bridge::CvImageConstPtr > &depthMsgs, const std::vector< sensor_msgs::CameraInfo > &cameraInfoMsgs, const sensor_msgs::LaserScan &scan2dMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_ros::GlobalDescriptor > &globalDescriptorMsgs=std::vector< rtabmap_ros::GlobalDescriptor >(), const std::vector< std::vector< rtabmap_ros::KeyPoint > > &localKeyPoints=std::vector< std::vector< rtabmap_ros::KeyPoint > >(), const std::vector< std::vector< rtabmap_ros::Point3f > > &localPoints3d=std::vector< std::vector< rtabmap_ros::Point3f > >(), const std::vector< cv::Mat > &localDescriptors=std::vector< cv::Mat >())

virtual void	commonLaserScanCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const sensor_msgs::LaserScan &scan2dMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg, const rtabmap_ros::GlobalDescriptor &globalDescriptor=rtabmap_ros::GlobalDescriptor())

virtual void	commonOdomCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg)

virtual void	commonStereoCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const cv_bridge::CvImageConstPtr &leftImageMsg, const cv_bridge::CvImageConstPtr &rightImageMsg, const sensor_msgs::CameraInfo &leftCamInfoMsg, const sensor_msgs::CameraInfo &rightCamInfoMsg, const sensor_msgs::LaserScan &scan2dMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_ros::GlobalDescriptor > &globalDescriptorMsgs=std::vector< rtabmap_ros::GlobalDescriptor >(), const std::vector< rtabmap_ros::KeyPoint > &localKeyPoints=std::vector< rtabmap_ros::KeyPoint >(), const std::vector< rtabmap_ros::Point3f > &localPoints3d=std::vector< rtabmap_ros::Point3f >(), const cv::Mat &localDescriptors=cv::Mat())

void	defaultCallback (const nav_msgs::OdometryConstPtr &odomMsg)

void	goalPathCallback (const rtabmap_ros::GoalConstPtr &goalMsg, const nav_msgs::PathConstPtr &pathMsg)

void	goalReachedCallback (const std_msgs::BoolConstPtr &value)

void	infoMapCallback (const rtabmap_ros::InfoConstPtr &infoMsg, const rtabmap_ros::MapDataConstPtr &mapMsg)

void	processRequestedMap (const rtabmap_ros::MapData &map)

Private Attributes
std::string	cameraNodeName_

std::string	frameId_

message_filters::Synchronizer< MyGoalPathSyncPolicy > *	goalPathSync_

ros::Subscriber	goalReachedTopic_

message_filters::Subscriber< rtabmap_ros::Goal >	goalTopic_

message_filters::Synchronizer< MyInfoMapSyncPolicy > *	infoMapSync_

message_filters::Subscriber< rtabmap_ros::Info >	infoTopic_

double	lastOdomInfoUpdateTime_

rtabmap::MainWindow *	mainWindow_

message_filters::Subscriber< rtabmap_ros::MapData >	mapDataTopic_

double	maxOdomUpdateRate_

std::string	odomFrameId_

bool	odomSensorSync_

message_filters::Subscriber< nav_msgs::Path >	pathTopic_

tf::TransformListener	tfListener_

bool	waitForTransform_

double	waitForTransformDuration_

Additional Inherited Members
Protected Attributes inherited from rtabmap_ros::CommonDataSubscriber
int	queueSize_

std::string	subscribedTopicsMsg_

Detailed Description

Definition at line 56 of file GuiWrapper.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ExactTime< rtabmap_ros::Goal, nav_msgs::Path> rtabmap_ros::GuiWrapper::MyGoalPathSyncPolicy

private

Definition at line 142 of file GuiWrapper.h.

typedef message_filters::sync_policies::ExactTime< rtabmap_ros::Info, rtabmap_ros::MapData> rtabmap_ros::GuiWrapper::MyInfoMapSyncPolicy

private

Definition at line 137 of file GuiWrapper.h.

Constructor & Destructor Documentation

rtabmap_ros::GuiWrapper::GuiWrapper	(	int &	argc,
		char **	argv
	)

Definition at line 65 of file GuiWrapper.cpp.

rtabmap_ros::GuiWrapper::~GuiWrapper ( )

virtual

Definition at line 179 of file GuiWrapper.cpp.

Member Function Documentation

void rtabmap_ros::GuiWrapper::commonDepthCallback	(	const nav_msgs::OdometryConstPtr &	odomMsg,
		const rtabmap_ros::UserDataConstPtr &	userDataMsg,
		const std::vector< cv_bridge::CvImageConstPtr > &	imageMsgs,
		const std::vector< cv_bridge::CvImageConstPtr > &	depthMsgs,
		const std::vector< sensor_msgs::CameraInfo > &	cameraInfoMsgs,
		const sensor_msgs::LaserScan &	scan2dMsg,
		const sensor_msgs::PointCloud2 &	scan3dMsg,
		const rtabmap_ros::OdomInfoConstPtr &	odomInfoMsg,
		const std::vector< rtabmap_ros::GlobalDescriptor > &	globalDescriptorMsgs = `std::vector<rtabmap_ros::GlobalDescriptor>()`,
		const std::vector< std::vector< rtabmap_ros::KeyPoint > > &	localKeyPoints = `std::vector<std::vector<rtabmap_ros::KeyPoint> >()`,
		const std::vector< std::vector< rtabmap_ros::Point3f > > &	localPoints3d = `std::vector<std::vector<rtabmap_ros::Point3f> >()`,
		const std::vector< cv::Mat > &	localDescriptors = `std::vector<cv::Mat>()`
	)

privatevirtual

Implements rtabmap_ros::CommonDataSubscriber.

Definition at line 422 of file GuiWrapper.cpp.

void rtabmap_ros::GuiWrapper::commonLaserScanCallback	(	const nav_msgs::OdometryConstPtr &	odomMsg,
		const rtabmap_ros::UserDataConstPtr &	userDataMsg,
		const sensor_msgs::LaserScan &	scan2dMsg,
		const sensor_msgs::PointCloud2 &	scan3dMsg,
		const rtabmap_ros::OdomInfoConstPtr &	odomInfoMsg,
		const rtabmap_ros::GlobalDescriptor &	globalDescriptor = `rtabmap_ros::GlobalDescriptor()`
	)

privatevirtual

Implements rtabmap_ros::CommonDataSubscriber.

Definition at line 766 of file GuiWrapper.cpp.

void rtabmap_ros::GuiWrapper::commonOdomCallback	(	const nav_msgs::OdometryConstPtr &	odomMsg,
		const rtabmap_ros::UserDataConstPtr &	userDataMsg,
		const rtabmap_ros::OdomInfoConstPtr &	odomInfoMsg
	)

privatevirtual

Implements rtabmap_ros::CommonDataSubscriber.

Definition at line 926 of file GuiWrapper.cpp.

void rtabmap_ros::GuiWrapper::commonStereoCallback	(	const nav_msgs::OdometryConstPtr &	odomMsg,
		const rtabmap_ros::UserDataConstPtr &	userDataMsg,
		const cv_bridge::CvImageConstPtr &	leftImageMsg,
		const cv_bridge::CvImageConstPtr &	rightImageMsg,
		const sensor_msgs::CameraInfo &	leftCamInfoMsg,
		const sensor_msgs::CameraInfo &	rightCamInfoMsg,
		const sensor_msgs::LaserScan &	scan2dMsg,
		const sensor_msgs::PointCloud2 &	scan3dMsg,
		const rtabmap_ros::OdomInfoConstPtr &	odomInfoMsg,
		const std::vector< rtabmap_ros::GlobalDescriptor > &	globalDescriptorMsgs = `std::vector<rtabmap_ros::GlobalDescriptor>()`,
		const std::vector< rtabmap_ros::KeyPoint > &	localKeyPoints = `std::vector<rtabmap_ros::KeyPoint>()`,
		const std::vector< rtabmap_ros::Point3f > &	localPoints3d = `std::vector<rtabmap_ros::Point3f>()`,
		const cv::Mat &	localDescriptors = `cv::Mat()`
	)

privatevirtual

Implements rtabmap_ros::CommonDataSubscriber.

Definition at line 599 of file GuiWrapper.cpp.

void rtabmap_ros::GuiWrapper::defaultCallback ( const nav_msgs::OdometryConstPtr & odomMsg )

private

void rtabmap_ros::GuiWrapper::goalPathCallback	(	const rtabmap_ros::GoalConstPtr &	goalMsg,
		const nav_msgs::PathConstPtr &	pathMsg
	)

private

Definition at line 218 of file GuiWrapper.cpp.

void rtabmap_ros::GuiWrapper::goalReachedCallback ( const std_msgs::BoolConstPtr & value )

private

Definition at line 232 of file GuiWrapper.cpp.

bool rtabmap_ros::GuiWrapper::handleEvent ( UEvent * anEvent )

protectedvirtual

Implements UEventsHandler.

Definition at line 253 of file GuiWrapper.cpp.

void rtabmap_ros::GuiWrapper::infoMapCallback	(	const rtabmap_ros::InfoConstPtr &	infoMsg,
		const rtabmap_ros::MapDataConstPtr &	mapMsg
	)

private

Definition at line 187 of file GuiWrapper.cpp.

void rtabmap_ros::GuiWrapper::processRequestedMap ( const rtabmap_ros::MapData & map )

private

Definition at line 238 of file GuiWrapper.cpp.

Member Data Documentation

std::string rtabmap_ros::GuiWrapper::cameraNodeName_

private

Definition at line 116 of file GuiWrapper.h.

std::string rtabmap_ros::GuiWrapper::frameId_

private

Definition at line 120 of file GuiWrapper.h.

message_filters::Synchronizer<MyGoalPathSyncPolicy>* rtabmap_ros::GuiWrapper::goalPathSync_

private

Definition at line 143 of file GuiWrapper.h.

ros::Subscriber rtabmap_ros::GuiWrapper::goalReachedTopic_

private

Definition at line 133 of file GuiWrapper.h.

message_filters::Subscriber<rtabmap_ros::Goal> rtabmap_ros::GuiWrapper::goalTopic_

private

Definition at line 131 of file GuiWrapper.h.

message_filters::Synchronizer<MyInfoMapSyncPolicy>* rtabmap_ros::GuiWrapper::infoMapSync_

private

Definition at line 138 of file GuiWrapper.h.

message_filters::Subscriber<rtabmap_ros::Info> rtabmap_ros::GuiWrapper::infoTopic_

private

Definition at line 128 of file GuiWrapper.h.

double rtabmap_ros::GuiWrapper::lastOdomInfoUpdateTime_

private

Definition at line 117 of file GuiWrapper.h.

rtabmap::MainWindow* rtabmap_ros::GuiWrapper::mainWindow_

private

Definition at line 115 of file GuiWrapper.h.

message_filters::Subscriber<rtabmap_ros::MapData> rtabmap_ros::GuiWrapper::mapDataTopic_

private

Definition at line 129 of file GuiWrapper.h.

double rtabmap_ros::GuiWrapper::maxOdomUpdateRate_

private

Definition at line 125 of file GuiWrapper.h.

std::string rtabmap_ros::GuiWrapper::odomFrameId_

private

Definition at line 121 of file GuiWrapper.h.

bool rtabmap_ros::GuiWrapper::odomSensorSync_

private

Definition at line 124 of file GuiWrapper.h.

message_filters::Subscriber<nav_msgs::Path> rtabmap_ros::GuiWrapper::pathTopic_

private

Definition at line 132 of file GuiWrapper.h.

tf::TransformListener rtabmap_ros::GuiWrapper::tfListener_

private

Definition at line 126 of file GuiWrapper.h.

bool rtabmap_ros::GuiWrapper::waitForTransform_

private

Definition at line 122 of file GuiWrapper.h.

double rtabmap_ros::GuiWrapper::waitForTransformDuration_

private

Definition at line 123 of file GuiWrapper.h.

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

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation