#include <octree_base_pa_ros.h>

Inheritance diagram for cOctreeBasePaRos< OCTREE >:

Public Types
typedef ::octomap::OcTreeKey	OctKey

typedef pcl::PointCloud< pcl::PointXYZ >	PclPointCloud

typedef pcl::PointCloud< pcl::PointXYZ >::ConstPtr	PclPointCloudConstPtr

typedef pcl::PointCloud< pcl::PointXYZ >::Ptr	PclPointCloudPtr

typedef OCTREE	TreeTypeBase

typedef cOctreeBasePaRos< OCTREE >	TreeTypeFull

Public Member Functions
bool	addCloud (const sensor_msgs::PointCloud2ConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())

bool	addCloud (const sensor_msgs::PointCloudConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())

bool	addCloud (const sensor_msgs::LaserScanConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())

virtual void	clear (void)
	clear local timestamps with octomap More...

	cOctreeBasePaRos (double resolution)
	default constructor More...

bool	getChildKey (const OctKey &current, const int current_level, OctKey &child, const int child_pos) const

virtual ros::Time	getLastInsertionTime (void) const

octomap_msgs::OctomapPtr	getOctomap (void) const
	function for getting the binary octomap More...

octomap_msgs::OctomapPtr	getOctomapFull (void) const
	function for getting the full octomap More...

sensor_msgs::PointCloud2Ptr	getOctomapPcd (const int tree_depth=0, const bool expand=false) const
	function for getting the pointcloud equivalent of the octomap More...

sensor_msgs::PointCloud2Ptr	getOctomapPcdFree (const int tree_depth=0, const bool expand=false) const
	similar to getOctomapPcd, but only returning just empty voxels More...

ros::Time	getOutputTime (void) const

bool	getParentKey (const OctKey &current, const int current_level, OctKey &parent) const

geometry_msgs::PointPtr	keyToPoint (const OctKey &key) const
	function for converting from key to point (geometry_msg) More...

void	keyToPoint (const OctKey &key, double &x, double &y, double &z) const
	function for converting from key to real coordinates More...

OctKey	pointToKey (const geometry_msgs::Point &point) const
	functions for converting from point (geometry_msg) to key More...

bool	readFull (const std::string &filename)
	trying to read the given file into the current OcTree More...

virtual void	setLastInsertionTime (const ros::Time &time)

void	setOutputTime (const ros::Time &time)

bool	updateTime (const ros::Time &time)

virtual	~cOctreeBasePaRos ()
	default destructor More...

Public Attributes
cOctreeBasePaRosParameter	rosparams_base_
	parameters More...

Protected Member Functions
bool	addCloud (const PclPointCloudPtr &cloud, const cAddCloudParameter &params, const tf::Transform &transform)

void	getChildKeySimple (const OctKey &current, const int current_level, OctKey &child, const int child_pos) const
	helper function for getChildKey More...

void	getOctomapPcdSub (const OctKey &key, const int current_level, const int min_level, PclPointCloud &cloud) const
	helper function for getOctomapPcd... More...

void	getParentKeySimple (const OctKey &current, const int current_level, OctKey &parent) const
	helper function for getParentKey More...

Protected Attributes
ros::Time	current_output_time_
	internal variable for storing current output time More...

ros::Time	last_insertion_time_
	internal variable for storing last insertion time More...

Detailed Description

template<typename OCTREE>
class cOctreeBasePaRos< OCTREE >

Definition at line 75 of file octree_base_pa_ros.h.

Member Typedef Documentation

template<typename OCTREE>

typedef ::octomap::OcTreeKey cOctreeBasePaRos< OCTREE >::OctKey

Definition at line 86 of file octree_base_pa_ros.h.

template<typename OCTREE>

typedef pcl::PointCloud<pcl::PointXYZ> cOctreeBasePaRos< OCTREE >::PclPointCloud

Definition at line 81 of file octree_base_pa_ros.h.

template<typename OCTREE>

typedef pcl::PointCloud<pcl::PointXYZ>::ConstPtr cOctreeBasePaRos< OCTREE >::PclPointCloudConstPtr

Definition at line 84 of file octree_base_pa_ros.h.

template<typename OCTREE>

typedef pcl::PointCloud<pcl::PointXYZ>::Ptr cOctreeBasePaRos< OCTREE >::PclPointCloudPtr

Definition at line 82 of file octree_base_pa_ros.h.

template<typename OCTREE>

typedef OCTREE cOctreeBasePaRos< OCTREE >::TreeTypeBase

Definition at line 78 of file octree_base_pa_ros.h.

template<typename OCTREE>

typedef cOctreeBasePaRos<OCTREE> cOctreeBasePaRos< OCTREE >::TreeTypeFull

Definition at line 79 of file octree_base_pa_ros.h.

Constructor & Destructor Documentation

template<typename OCTREE>

cOctreeBasePaRos< OCTREE >::cOctreeBasePaRos ( double resolution )

default constructor

template<typename OCTREE>

virtual cOctreeBasePaRos< OCTREE >::~cOctreeBasePaRos ( )

virtual

default destructor

Member Function Documentation

template<typename OCTREE>

bool cOctreeBasePaRos< OCTREE >::addCloud	(	const sensor_msgs::PointCloud2ConstPtr &	cloud,
		const cAddCloudParameter &	params,
		const tf::Transform	transform = `tf::Transform::getIdentity()`
	)

function for filtering and adding a pointcloud (call updateTime() before)

template<typename OCTREE>

bool cOctreeBasePaRos< OCTREE >::addCloud	(	const sensor_msgs::PointCloudConstPtr &	cloud,
		const cAddCloudParameter &	params,
		const tf::Transform	transform = `tf::Transform::getIdentity()`
	)

function for filtering and adding a pointcloud (old format) (call updateTime() before)

template<typename OCTREE>

bool cOctreeBasePaRos< OCTREE >::addCloud	(	const sensor_msgs::LaserScanConstPtr &	cloud,
		const cAddCloudParameter &	params,
		const tf::Transform	transform = `tf::Transform::getIdentity()`
	)

function for filtering and adding a pointcloud (laserscan) (call updateTime() before)

template<typename OCTREE>

bool cOctreeBasePaRos< OCTREE >::addCloud	(	const PclPointCloudPtr &	cloud,
		const cAddCloudParameter &	params,
		const tf::Transform &	transform
	)

protected

internal function for adding a pointlcoud - the cloud will be manipulated !

template<typename OCTREE>

virtual void cOctreeBasePaRos< OCTREE >::clear ( void )

virtual

clear local timestamps with octomap

template<typename OCTREE>

bool cOctreeBasePaRos< OCTREE >::getChildKey	(	const OctKey &	current,
		const int	current_level,
		OctKey &	child,
		const int	child_pos
	)		const

helper function for calculating child key child_pos(bitmask) 0(x)[0=neg;1=pos] | 1(y)[0=neg;1=pos] | 2(z)[0=neg;1=pos] child_pos is the same as for octomap::OctreeNode::getChild() returns true if child key exists

template<typename OCTREE>

void cOctreeBasePaRos< OCTREE >::getChildKeySimple	(	const OctKey &	current,
		const int	current_level,
		OctKey &	child,
		const int	child_pos
	)		const

protected

helper function for getChildKey

template<typename OCTREE>

virtual ros::Time cOctreeBasePaRos< OCTREE >::getLastInsertionTime ( void ) const

virtual

function for returning the time the octomap was last updated (instead of this function use updateTime() )

Reimplemented in cOctreeStampedPaRos.

template<typename OCTREE>

octomap_msgs::OctomapPtr cOctreeBasePaRos< OCTREE >::getOctomap ( void ) const

function for getting the binary octomap

template<typename OCTREE>

octomap_msgs::OctomapPtr cOctreeBasePaRos< OCTREE >::getOctomapFull ( void ) const

function for getting the full octomap

template<typename OCTREE>

sensor_msgs::PointCloud2Ptr cOctreeBasePaRos< OCTREE >::getOctomapPcd	(	const int	tree_depth = `0`,
		const bool	expand = `false`
	)		const

function for getting the pointcloud equivalent of the octomap

template<typename OCTREE>

sensor_msgs::PointCloud2Ptr cOctreeBasePaRos< OCTREE >::getOctomapPcdFree	(	const int	tree_depth = `0`,
		const bool	expand = `false`
	)		const

similar to getOctomapPcd, but only returning just empty voxels

template<typename OCTREE>

void cOctreeBasePaRos< OCTREE >::getOctomapPcdSub	(	const OctKey &	key,
		const int	current_level,
		const int	min_level,
		PclPointCloud &	cloud
	)		const

protected

helper function for getOctomapPcd...

template<typename OCTREE>

ros::Time cOctreeBasePaRos< OCTREE >::getOutputTime ( void ) const

function for returning the time of output messages (instead of this function use updateTime() )

template<typename OCTREE>

bool cOctreeBasePaRos< OCTREE >::getParentKey	(	const OctKey &	current,
		const int	current_level,
		OctKey &	parent
	)		const

helper function for calculating parent key returns true if parent key exists

template<typename OCTREE>

void cOctreeBasePaRos< OCTREE >::getParentKeySimple	(	const OctKey &	current,
		const int	current_level,
		OctKey &	parent
	)		const

protected

helper function for getParentKey

template<typename OCTREE>

geometry_msgs::PointPtr cOctreeBasePaRos< OCTREE >::keyToPoint ( const OctKey & key ) const

function for converting from key to point (geometry_msg)

template<typename OCTREE>

void cOctreeBasePaRos< OCTREE >::keyToPoint	(	const OctKey &	key,
		double &	x,
		double &	y,
		double &	z
	)		const

function for converting from key to real coordinates

template<typename OCTREE>

OctKey cOctreeBasePaRos< OCTREE >::pointToKey ( const geometry_msgs::Point & point ) const

functions for converting from point (geometry_msg) to key

template<typename OCTREE>

bool cOctreeBasePaRos< OCTREE >::readFull ( const std::string & filename )

trying to read the given file into the current OcTree

template<typename OCTREE>

virtual void cOctreeBasePaRos< OCTREE >::setLastInsertionTime ( const ros::Time & time )

virtual

function for setting the time the octomap was last updated (instead of this function use updateTime() )

Reimplemented in cOctreeStampedPaRos.

template<typename OCTREE>

void cOctreeBasePaRos< OCTREE >::setOutputTime ( const ros::Time & time )

function for setting the time of output messages (instead of this function use updateTime() )

template<typename OCTREE>

bool cOctreeBasePaRos< OCTREE >::updateTime ( const ros::Time & time )

function for updating all timestamps (Insertion & Output) returns false if an time jump backwards is detected this might be used for resetting tf_listener

Member Data Documentation

template<typename OCTREE>

ros::Time cOctreeBasePaRos< OCTREE >::current_output_time_

protected

internal variable for storing current output time

Definition at line 171 of file octree_base_pa_ros.h.

template<typename OCTREE>

ros::Time cOctreeBasePaRos< OCTREE >::last_insertion_time_

protected

internal variable for storing last insertion time

Definition at line 169 of file octree_base_pa_ros.h.

template<typename OCTREE>

cOctreeBasePaRosParameter cOctreeBasePaRos< OCTREE >::rosparams_base_

parameters

Definition at line 165 of file octree_base_pa_ros.h.

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

octree_base_pa_ros.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

template<typename OCTREE> class cOctreeBasePaRos< OCTREE >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename OCTREE>
class cOctreeBasePaRos< OCTREE >