occupancy_map_monitor::OccupancyMapUpdater Class Reference

Base class for classes which update the occupancy map. More...

#include <occupancy_map_updater.h>

Inheritance diagram for occupancy_map_monitor::OccupancyMapUpdater:

Public Member Functions
virtual ShapeHandle	excludeShape (const shapes::ShapeConstPtr &shape)=0
virtual void	forgetShape (ShapeHandle handle)=0
const std::string &	getType () const
virtual bool	initialize ()=0
	Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams() have been previously called. More...
	OccupancyMapUpdater (const std::string &type)
void	publishDebugInformation (bool flag)
void	setMonitor (OccupancyMapMonitor *monitor)
	This is the first function to be called after construction. More...
virtual bool	setParams (XmlRpc::XmlRpcValue &params)=0
	Set updater params using struct that comes from parsing a yaml string. This must be called after setMonitor() More...
void	setTransformCacheCallback (const TransformCacheProvider &transform_callback)
virtual void	start ()=0
virtual void	stop ()=0
virtual	~OccupancyMapUpdater ()

Protected Member Functions
bool	updateTransformCache (const std::string &target_frame, const ros::Time &target_time)

Static Protected Member Functions
static void	readXmlParam (XmlRpc::XmlRpcValue &params, const std::string &param_name, double *value)
static void	readXmlParam (XmlRpc::XmlRpcValue &params, const std::string &param_name, unsigned int *value)

Protected Attributes
bool	debug_info_
OccupancyMapMonitor *	monitor_
ShapeTransformCache	transform_cache_
TransformCacheProvider	transform_provider_callback_
OccMapTreePtr	tree_
std::string	type_

Detailed Description

Base class for classes which update the occupancy map.

Definition at line 62 of file occupancy_map_updater.h.

Constructor & Destructor Documentation

occupancy_map_monitor::OccupancyMapUpdater::OccupancyMapUpdater

(

const std::string &

type

)

Definition at line 42 of file occupancy_map_updater.cpp.

occupancy_map_monitor::OccupancyMapUpdater::~OccupancyMapUpdater ( )

virtual

Definition at line 46 of file occupancy_map_updater.cpp.

Member Function Documentation

virtual ShapeHandle occupancy_map_monitor::OccupancyMapUpdater::excludeShape ( const shapes::ShapeConstPtr &  shape )

pure virtual

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater, and occupancy_map_monitor::DepthImageOctomapUpdater.

virtual void occupancy_map_monitor::OccupancyMapUpdater::forgetShape ( ShapeHandle  handle )

pure virtual

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater, and occupancy_map_monitor::DepthImageOctomapUpdater.

const std::string& occupancy_map_monitor::OccupancyMapUpdater::getType ( ) const

inline

Definition at line 87 of file occupancy_map_updater.h.

virtual bool occupancy_map_monitor::OccupancyMapUpdater::initialize ( )

pure virtual

Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams() have been previously called.

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater, and occupancy_map_monitor::DepthImageOctomapUpdater.

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

inline

Definition at line 97 of file occupancy_map_updater.h.

void occupancy_map_monitor::OccupancyMapUpdater::readXmlParam ( XmlRpc::XmlRpcValue &  params, const std::string &  param_name, double *  value  )

staticprotected

Definition at line 56 of file occupancy_map_updater.cpp.

void occupancy_map_monitor::OccupancyMapUpdater::readXmlParam ( XmlRpc::XmlRpcValue &  params, const std::string &  param_name, unsigned int *  value  )

staticprotected

Definition at line 67 of file occupancy_map_updater.cpp.

void occupancy_map_monitor::OccupancyMapUpdater::setMonitor

(

OccupancyMapMonitor *

monitor

)

This is the first function to be called after construction.

Definition at line 50 of file occupancy_map_updater.cpp.

virtual bool occupancy_map_monitor::OccupancyMapUpdater::setParams ( XmlRpc::XmlRpcValue &  params )

pure virtual

Set updater params using struct that comes from parsing a yaml string. This must be called after setMonitor()

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater, and occupancy_map_monitor::DepthImageOctomapUpdater.

void occupancy_map_monitor::OccupancyMapUpdater::setTransformCacheCallback ( const TransformCacheProvider &  transform_callback )

inline

Definition at line 92 of file occupancy_map_updater.h.

virtual void occupancy_map_monitor::OccupancyMapUpdater::start ( )

pure virtual

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater, and occupancy_map_monitor::DepthImageOctomapUpdater.

virtual void occupancy_map_monitor::OccupancyMapUpdater::stop ( )

pure virtual

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater, and occupancy_map_monitor::DepthImageOctomapUpdater.

bool occupancy_map_monitor::OccupancyMapUpdater::updateTransformCache ( const std::string &  target_frame, const ros::Time &  target_time  )

protected

Definition at line 73 of file occupancy_map_updater.cpp.

Member Data Documentation

bool occupancy_map_monitor::OccupancyMapUpdater::debug_info_

protected

Definition at line 108 of file occupancy_map_updater.h.

OccupancyMapMonitor* occupancy_map_monitor::OccupancyMapUpdater::monitor_

protected

Definition at line 103 of file occupancy_map_updater.h.

ShapeTransformCache occupancy_map_monitor::OccupancyMapUpdater::transform_cache_

protected

Definition at line 107 of file occupancy_map_updater.h.

TransformCacheProvider occupancy_map_monitor::OccupancyMapUpdater::transform_provider_callback_

protected

Definition at line 106 of file occupancy_map_updater.h.

OccMapTreePtr occupancy_map_monitor::OccupancyMapUpdater::tree_

protected

Definition at line 105 of file occupancy_map_updater.h.

std::string occupancy_map_monitor::OccupancyMapUpdater::type_

protected

Definition at line 104 of file occupancy_map_updater.h.

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

• occupancy_map_updater.h
• occupancy_map_updater.cpp