#include <occupancy_map_monitor.h>

Public Member Functions
void	addUpdater (const OccupancyMapUpdaterPtr &updater)

ShapeHandle	excludeShape (const shapes::ShapeConstPtr &shape)
	Add this shape to the set of shapes to be filtered out from the octomap. More...

void	forgetShape (ShapeHandle handle)
	Forget about this shape handle and the shapes it corresponds to. More...

const std::string &	getMapFrame () const

double	getMapResolution () const

const collision_detection::OccMapTreePtr &	getOcTreePtr ()
	Get a pointer to the underlying octree for this monitor. Lock the tree before reading or writing using this pointer. The value of this pointer stays the same throughout the existance of the monitor instance. More...

const collision_detection::OccMapTreeConstPtr &	getOcTreePtr () const
	Get a const pointer to the underlying octree for this monitor. Lock the tree before reading this pointer. More...

const std::shared_ptr< tf2_ros::Buffer > &	getTFClient () const

bool	isActive () const

	OccupancyMapMonitor (const std::shared_ptr< tf2_ros::Buffer > &tf_buffer, const std::string &map_frame="", double map_resolution=0.0)

	OccupancyMapMonitor (const std::shared_ptr< tf2_ros::Buffer > &tf_buffer, ros::NodeHandle &nh, const std::string &map_frame="", double map_resolution=0.0)

	OccupancyMapMonitor (double map_resolution=0.0)

void	publishDebugInformation (bool flag)

void	setMapFrame (const std::string &frame)

void	setTransformCacheCallback (const TransformCacheProvider &transform_cache_callback)

void	setUpdateCallback (const boost::function< void()> &update_callback)
	Set the callback to trigger when updates to the maintained octomap are received. More...

void	startMonitor ()
	start the monitor (will begin updating the octomap More...

void	stopMonitor ()

	~OccupancyMapMonitor ()

Private Member Functions
bool	getShapeTransformCache (std::size_t index, const std::string &target_frame, const ros::Time &target_time, ShapeTransformCache &cache) const

void	initialize ()

bool	loadMapCallback (moveit_msgs::LoadMap::Request &request, moveit_msgs::LoadMap::Response &response)
	Load octree from a binary file (gets rid of current octree data) More...

bool	saveMapCallback (moveit_msgs::SaveMap::Request &request, moveit_msgs::SaveMap::Response &response)
	Save the current octree to a binary file. More...

Private Attributes
bool	active_

bool	debug_info_

ros::ServiceServer	load_map_srv_

std::string	map_frame_

double	map_resolution_

std::vector< OccupancyMapUpdaterPtr >	map_updaters_

std::size_t	mesh_handle_count_

std::vector< std::map< ShapeHandle, ShapeHandle > >	mesh_handles_

ros::NodeHandle	nh_

boost::mutex	parameters_lock_

ros::NodeHandle	root_nh_

ros::ServiceServer	save_map_srv_

std::shared_ptr< tf2_ros::Buffer >	tf_buffer_

TransformCacheProvider	transform_cache_callback_

collision_detection::OccMapTreePtr	tree_

collision_detection::OccMapTreeConstPtr	tree_const_

std::unique_ptr< pluginlib::ClassLoader< OccupancyMapUpdater > >	updater_plugin_loader_

Detailed Description

Definition at line 88 of file occupancy_map_monitor.h.

Constructor & Destructor Documentation

◆ OccupancyMapMonitor() [1/3]

occupancy_map_monitor::OccupancyMapMonitor::OccupancyMapMonitor	(	const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer,
		const std::string &	map_frame = `""`,
		double	map_resolution = `0.0`
	)

Definition at line 86 of file occupancy_map_monitor.cpp.

◆ OccupancyMapMonitor() [2/3]

occupancy_map_monitor::OccupancyMapMonitor::OccupancyMapMonitor ( double map_resolution = 0.0 )

Definition at line 80 of file occupancy_map_monitor.cpp.

◆ OccupancyMapMonitor() [3/3]

occupancy_map_monitor::OccupancyMapMonitor::OccupancyMapMonitor	(	const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer,
		ros::NodeHandle &	nh,
		const std::string &	map_frame = `""`,
		double	map_resolution = `0.0`
	)

Definition at line 98 of file occupancy_map_monitor.cpp.

◆ ~OccupancyMapMonitor()

occupancy_map_monitor::OccupancyMapMonitor::~OccupancyMapMonitor ( )

Definition at line 402 of file occupancy_map_monitor.cpp.

Member Function Documentation

◆ addUpdater()

void occupancy_map_monitor::OccupancyMapMonitor::addUpdater ( const OccupancyMapUpdaterPtr & updater )

Definition at line 223 of file occupancy_map_monitor.cpp.

◆ excludeShape()

ShapeHandle occupancy_map_monitor::OccupancyMapMonitor::excludeShape ( const shapes::ShapeConstPtr & shape )

Add this shape to the set of shapes to be filtered out from the octomap.

Definition at line 271 of file occupancy_map_monitor.cpp.

◆ forgetShape()

void occupancy_map_monitor::OccupancyMapMonitor::forgetShape ( ShapeHandle handle )

Forget about this shape handle and the shapes it corresponds to.

Definition at line 291 of file occupancy_map_monitor.cpp.

◆ getMapFrame()

const std::string& occupancy_map_monitor::OccupancyMapMonitor::getMapFrame ( ) const

inline

Definition at line 150 of file occupancy_map_monitor.h.

◆ getMapResolution()

double occupancy_map_monitor::OccupancyMapMonitor::getMapResolution ( ) const

inline

Definition at line 157 of file occupancy_map_monitor.h.

◆ getOcTreePtr() [1/2]

const collision_detection::OccMapTreePtr& occupancy_map_monitor::OccupancyMapMonitor::getOcTreePtr ( )

inline

Get a pointer to the underlying octree for this monitor. Lock the tree before reading or writing using this pointer. The value of this pointer stays the same throughout the existance of the monitor instance.

Definition at line 138 of file occupancy_map_monitor.h.

◆ getOcTreePtr() [2/2]

const collision_detection::OccMapTreeConstPtr& occupancy_map_monitor::OccupancyMapMonitor::getOcTreePtr ( ) const

inline

Get a const pointer to the underlying octree for this monitor. Lock the tree before reading this pointer.

Definition at line 145 of file occupancy_map_monitor.h.

◆ getShapeTransformCache()

bool occupancy_map_monitor::OccupancyMapMonitor::getShapeTransformCache	(	std::size_t	index,
		const std::string &	target_frame,
		const ros::Time &	target_time,
		ShapeTransformCache &	cache
	)		const

private

Definition at line 318 of file occupancy_map_monitor.cpp.

◆ getTFClient()

const std::shared_ptr<tf2_ros::Buffer>& occupancy_map_monitor::OccupancyMapMonitor::getTFClient ( ) const

inline

Definition at line 162 of file occupancy_map_monitor.h.

◆ initialize()

void occupancy_map_monitor::OccupancyMapMonitor::initialize ( )

private

Definition at line 110 of file occupancy_map_monitor.cpp.

◆ isActive()

bool occupancy_map_monitor::OccupancyMapMonitor::isActive ( ) const

inline

Definition at line 185 of file occupancy_map_monitor.h.

◆ loadMapCallback()

bool occupancy_map_monitor::OccupancyMapMonitor::loadMapCallback	(	moveit_msgs::LoadMap::Request &	request,
		moveit_msgs::LoadMap::Response &	response
	)

private

Load octree from a binary file (gets rid of current octree data)

Definition at line 363 of file occupancy_map_monitor.cpp.

◆ publishDebugInformation()

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

Definition at line 258 of file occupancy_map_monitor.cpp.

◆ saveMapCallback()

bool occupancy_map_monitor::OccupancyMapMonitor::saveMapCallback	(	moveit_msgs::SaveMap::Request &	request,
		moveit_msgs::SaveMap::Response &	response
	)

private

Save the current octree to a binary file.

Definition at line 346 of file occupancy_map_monitor.cpp.

◆ setMapFrame()

void occupancy_map_monitor::OccupancyMapMonitor::setMapFrame ( const std::string & frame )

Definition at line 265 of file occupancy_map_monitor.cpp.

◆ setTransformCacheCallback()

void occupancy_map_monitor::OccupancyMapMonitor::setTransformCacheCallback ( const TransformCacheProvider & transform_cache_callback )

Definition at line 309 of file occupancy_map_monitor.cpp.

◆ setUpdateCallback()

void occupancy_map_monitor::OccupancyMapMonitor::setUpdateCallback ( const boost::function< void()> & update_callback )

inline

Set the callback to trigger when updates to the maintained octomap are received.

Definition at line 176 of file occupancy_map_monitor.h.

◆ startMonitor()

void occupancy_map_monitor::OccupancyMapMonitor::startMonitor ( )

start the monitor (will begin updating the octomap

Definition at line 387 of file occupancy_map_monitor.cpp.

◆ stopMonitor()

void occupancy_map_monitor::OccupancyMapMonitor::stopMonitor ( )

Definition at line 395 of file occupancy_map_monitor.cpp.

Member Data Documentation

◆ active_

bool occupancy_map_monitor::OccupancyMapMonitor::active_

private

Definition at line 223 of file occupancy_map_monitor.h.

◆ debug_info_

bool occupancy_map_monitor::OccupancyMapMonitor::debug_info_

private

Definition at line 214 of file occupancy_map_monitor.h.

◆ load_map_srv_

ros::ServiceServer occupancy_map_monitor::OccupancyMapMonitor::load_map_srv_

private

Definition at line 221 of file occupancy_map_monitor.h.

◆ map_frame_

std::string occupancy_map_monitor::OccupancyMapMonitor::map_frame_

private

Definition at line 203 of file occupancy_map_monitor.h.

◆ map_resolution_

double occupancy_map_monitor::OccupancyMapMonitor::map_resolution_

private

Definition at line 204 of file occupancy_map_monitor.h.

◆ map_updaters_

std::vector<OccupancyMapUpdaterPtr> occupancy_map_monitor::OccupancyMapMonitor::map_updaters_

private

Definition at line 211 of file occupancy_map_monitor.h.

◆ mesh_handle_count_

std::size_t occupancy_map_monitor::OccupancyMapMonitor::mesh_handle_count_

private

Definition at line 216 of file occupancy_map_monitor.h.

◆ mesh_handles_

std::vector<std::map<ShapeHandle, ShapeHandle> > occupancy_map_monitor::OccupancyMapMonitor::mesh_handles_

private

Definition at line 212 of file occupancy_map_monitor.h.

◆ nh_

ros::NodeHandle occupancy_map_monitor::OccupancyMapMonitor::nh_

private

Definition at line 219 of file occupancy_map_monitor.h.

◆ parameters_lock_

boost::mutex occupancy_map_monitor::OccupancyMapMonitor::parameters_lock_

private

Definition at line 205 of file occupancy_map_monitor.h.

◆ root_nh_

ros::NodeHandle occupancy_map_monitor::OccupancyMapMonitor::root_nh_

private

Definition at line 218 of file occupancy_map_monitor.h.

◆ save_map_srv_

ros::ServiceServer occupancy_map_monitor::OccupancyMapMonitor::save_map_srv_

private

Definition at line 220 of file occupancy_map_monitor.h.

◆ tf_buffer_

std::shared_ptr<tf2_ros::Buffer> occupancy_map_monitor::OccupancyMapMonitor::tf_buffer_

private

Definition at line 202 of file occupancy_map_monitor.h.

◆ transform_cache_callback_

TransformCacheProvider occupancy_map_monitor::OccupancyMapMonitor::transform_cache_callback_

private

Definition at line 213 of file occupancy_map_monitor.h.

◆ tree_

collision_detection::OccMapTreePtr occupancy_map_monitor::OccupancyMapMonitor::tree_

private

Definition at line 207 of file occupancy_map_monitor.h.

◆ tree_const_

collision_detection::OccMapTreeConstPtr occupancy_map_monitor::OccupancyMapMonitor::tree_const_

private

Definition at line 208 of file occupancy_map_monitor.h.

◆ updater_plugin_loader_

std::unique_ptr<pluginlib::ClassLoader<OccupancyMapUpdater> > occupancy_map_monitor::OccupancyMapMonitor::updater_plugin_loader_

private

Definition at line 210 of file occupancy_map_monitor.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ OccupancyMapMonitor() [1/3]

◆ OccupancyMapMonitor() [2/3]

◆ OccupancyMapMonitor() [3/3]

◆ ~OccupancyMapMonitor()

Member Function Documentation

◆ addUpdater()

◆ excludeShape()

◆ forgetShape()

◆ getMapFrame()

◆ getMapResolution()

◆ getOcTreePtr() [1/2]

◆ getOcTreePtr() [2/2]

◆ getShapeTransformCache()

◆ getTFClient()

◆ initialize()

◆ isActive()

◆ loadMapCallback()

◆ publishDebugInformation()

◆ saveMapCallback()

◆ setMapFrame()

◆ setTransformCacheCallback()

◆ setUpdateCallback()

◆ startMonitor()

◆ stopMonitor()

Member Data Documentation

◆ active_

◆ debug_info_

◆ load_map_srv_

◆ map_frame_

◆ map_resolution_

◆ map_updaters_

◆ mesh_handle_count_

◆ mesh_handles_

◆ nh_

◆ parameters_lock_

◆ root_nh_

◆ save_map_srv_

◆ tf_buffer_

◆ transform_cache_callback_

◆ tree_

◆ tree_const_

◆ updater_plugin_loader_