Public Member Functions | Public Attributes | List of all members
mrpt::graphslam::TNeighborAgentMapProps Struct Reference

Struct holding a COccupancyGridMap2D (as well as subscribers for updating it) for a specific running GraphSlamAgent instance. More...

#include <TNeighborAgentMapProps.h>

Public Member Functions

size_t getNodeCount ()
 Return how many nodes have been registered in the fetched robot trajectory. More...
 
void readROSParameters ()
 
void setupComm ()
 
void setupPubs ()
 
void setupSubs ()
 
 TNeighborAgentMapProps (mrpt::utils::COutputLogger *logger_in, const mrpt_msgs::GraphSlamAgent &agent_in, ros::NodeHandle *nh_in)
 
void updateGridMap (const nav_msgs::OccupancyGrid::ConstPtr &nav_gridmap)
 Callback method to be called when new data in the map topic is available. More...
 
void updateRobotTrajectory (const nav_msgs::Path::ConstPtr &nav_robot_traj)
 Callback method to be called when new data in the Estimated Trajectory topic is available. More...
 

Public Attributes

const mrpt_msgs::GraphSlamAgent & agent
 Pointer to the GraphSlamAgent instance of the neighbor. More...
 
bool has_init_class
 
bool has_setup_comm
 
mrpt::utils::COutputLogger * m_logger
 
nav_msgs::OccupancyGrid::ConstPtr nav_map
 Map generated by the corresponding agent - in ROS form. More...
 
nav_msgs::Path::ConstPtr nav_robot_trajectory
 Trajectory of the correspondign agent - in ROS form. More...
 
ros::NodeHandlenh
 
size_t queue_size
 
Subscriber instances
ros::Subscriber map_sub
 Map subscriber instance. More...
 
ros::Subscriber robot_trajectory_sub
 
Topic names
std::string map_topic
 Map topic to subscribe and fetch the map from. More...
 
std::string robot_trajectory_topic
 

Detailed Description

Struct holding a COccupancyGridMap2D (as well as subscribers for updating it) for a specific running GraphSlamAgent instance.

Note
used in the global map-merging procedure

Definition at line 27 of file TNeighborAgentMapProps.h.

Constructor & Destructor Documentation

TNeighborAgentMapProps::TNeighborAgentMapProps ( mrpt::utils::COutputLogger *  logger_in,
const mrpt_msgs::GraphSlamAgent &  agent_in,
ros::NodeHandle nh_in 
)

Definition at line 27 of file TNeighborAgentMapProps.cpp.

Member Function Documentation

size_t mrpt::graphslam::TNeighborAgentMapProps::getNodeCount ( )
inline

Return how many nodes have been registered in the fetched robot trajectory.

Definition at line 52 of file TNeighborAgentMapProps.h.

void TNeighborAgentMapProps::readROSParameters ( )

Definition at line 55 of file TNeighborAgentMapProps.cpp.

void TNeighborAgentMapProps::setupComm ( )

Definition at line 74 of file TNeighborAgentMapProps.cpp.

void mrpt::graphslam::TNeighborAgentMapProps::setupPubs ( )
void TNeighborAgentMapProps::setupSubs ( )

Definition at line 81 of file TNeighborAgentMapProps.cpp.

void TNeighborAgentMapProps::updateGridMap ( const nav_msgs::OccupancyGrid::ConstPtr &  nav_gridmap)

Callback method to be called when new data in the map topic is available.

Definition at line 94 of file TNeighborAgentMapProps.cpp.

void TNeighborAgentMapProps::updateRobotTrajectory ( const nav_msgs::Path::ConstPtr &  nav_robot_traj)

Callback method to be called when new data in the Estimated Trajectory topic is available.

Definition at line 99 of file TNeighborAgentMapProps.cpp.

Member Data Documentation

const mrpt_msgs::GraphSlamAgent& mrpt::graphslam::TNeighborAgentMapProps::agent

Pointer to the GraphSlamAgent instance of the neighbor.

Definition at line 57 of file TNeighborAgentMapProps.h.

bool mrpt::graphslam::TNeighborAgentMapProps::has_init_class

Definition at line 75 of file TNeighborAgentMapProps.h.

bool mrpt::graphslam::TNeighborAgentMapProps::has_setup_comm

Definition at line 76 of file TNeighborAgentMapProps.h.

mrpt::utils::COutputLogger* mrpt::graphslam::TNeighborAgentMapProps::m_logger

Definition at line 54 of file TNeighborAgentMapProps.h.

ros::Subscriber mrpt::graphslam::TNeighborAgentMapProps::map_sub

Map subscriber instance.

Definition at line 65 of file TNeighborAgentMapProps.h.

std::string mrpt::graphslam::TNeighborAgentMapProps::map_topic

Map topic to subscribe and fetch the map from.

Definition at line 71 of file TNeighborAgentMapProps.h.

nav_msgs::OccupancyGrid::ConstPtr mrpt::graphslam::TNeighborAgentMapProps::nav_map

Map generated by the corresponding agent - in ROS form.

Definition at line 59 of file TNeighborAgentMapProps.h.

nav_msgs::Path::ConstPtr mrpt::graphslam::TNeighborAgentMapProps::nav_robot_trajectory

Trajectory of the correspondign agent - in ROS form.

Definition at line 61 of file TNeighborAgentMapProps.h.

ros::NodeHandle* mrpt::graphslam::TNeighborAgentMapProps::nh

Definition at line 55 of file TNeighborAgentMapProps.h.

size_t mrpt::graphslam::TNeighborAgentMapProps::queue_size

Definition at line 74 of file TNeighborAgentMapProps.h.

ros::Subscriber mrpt::graphslam::TNeighborAgentMapProps::robot_trajectory_sub

Definition at line 66 of file TNeighborAgentMapProps.h.

std::string mrpt::graphslam::TNeighborAgentMapProps::robot_trajectory_topic

Definition at line 72 of file TNeighborAgentMapProps.h.


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


mrpt_graphslam_2d
Author(s): Nikos Koukis
autogenerated on Thu Jun 6 2019 19:37:48