Public Member Functions | Private Member Functions | Private Attributes | List of all members
costmap_2d::ObservationBuffer Class Reference

Takes in point clouds from sensors, transforms them to the desired frame, and stores them. More...

#include <observation_buffer.h>

Public Member Functions

void bufferCloud (const sensor_msgs::PointCloud2 &cloud)
 Transforms a PointCloud to the global frame and buffers it Note: The burden is on the user to make sure the transform is available... ie they should use a MessageNotifier More...
 
void getObservations (std::vector< Observation > &observations)
 Pushes copies of all current observations onto the end of the vector passed in. More...
 
bool isCurrent () const
 Check if the observation buffer is being update at its expected rate. More...
 
void lock ()
 Lock the observation buffer. More...
 
 ObservationBuffer (std::string topic_name, double observation_keep_time, double expected_update_rate, double min_obstacle_height, double max_obstacle_height, double obstacle_range, double raytrace_range, tf2_ros::Buffer &tf2_buffer, std::string global_frame, std::string sensor_frame, double tf_tolerance)
 Constructs an observation buffer. More...
 
void resetLastUpdated ()
 Reset last updated timestamp. More...
 
bool setGlobalFrame (const std::string new_global_frame)
 Sets the global frame of an observation buffer. This will transform all the currently cached observations to the new global frame. More...
 
void unlock ()
 Lock the observation buffer. More...
 
 ~ObservationBuffer ()
 Destructor... cleans up. More...
 

Private Member Functions

void purgeStaleObservations ()
 Removes any stale observations from the buffer list. More...
 

Private Attributes

const ros::Duration expected_update_rate_
 
std::string global_frame_
 
ros::Time last_updated_
 
boost::recursive_mutex lock_
 A lock for accessing data in callbacks safely. More...
 
double max_obstacle_height_
 
double min_obstacle_height_
 
const ros::Duration observation_keep_time_
 
std::list< Observationobservation_list_
 
double obstacle_range_
 
double raytrace_range_
 
std::string sensor_frame_
 
tf2_ros::Buffertf2_buffer_
 
double tf_tolerance_
 
std::string topic_name_
 

Detailed Description

Takes in point clouds from sensors, transforms them to the desired frame, and stores them.

Definition at line 93 of file observation_buffer.h.

Constructor & Destructor Documentation

◆ ObservationBuffer()

costmap_2d::ObservationBuffer::ObservationBuffer ( std::string  topic_name,
double  observation_keep_time,
double  expected_update_rate,
double  min_obstacle_height,
double  max_obstacle_height,
double  obstacle_range,
double  raytrace_range,
tf2_ros::Buffer tf2_buffer,
std::string  global_frame,
std::string  sensor_frame,
double  tf_tolerance 
)

Constructs an observation buffer.

Parameters
topic_nameThe topic of the observations, used as an identifier for error and warning messages
observation_keep_timeDefines the persistence of observations in seconds, 0 means only keep the latest
expected_update_rateHow often this buffer is expected to be updated, 0 means there is no limit
min_obstacle_heightThe minimum height of a hitpoint to be considered legal
max_obstacle_heightThe minimum height of a hitpoint to be considered legal
obstacle_rangeThe range to which the sensor should be trusted for inserting obstacles
raytrace_rangeThe range to which the sensor should be trusted for raytracing to clear out space
tf2_bufferA reference to a tf2 Buffer
global_frameThe frame to transform PointClouds into
sensor_frameThe frame of the origin of the sensor, can be left blank to be read from the messages
tf_toleranceThe amount of time to wait for a transform to be available when setting a new global frame

Definition at line 48 of file observation_buffer.cpp.

◆ ~ObservationBuffer()

costmap_2d::ObservationBuffer::~ObservationBuffer ( )

Destructor... cleans up.

Definition at line 59 of file observation_buffer.cpp.

Member Function Documentation

◆ bufferCloud()

void costmap_2d::ObservationBuffer::bufferCloud ( const sensor_msgs::PointCloud2 &  cloud)

Transforms a PointCloud to the global frame and buffers it Note: The burden is on the user to make sure the transform is available... ie they should use a MessageNotifier

Parameters
cloudThe cloud to be buffered

Definition at line 108 of file observation_buffer.cpp.

◆ getObservations()

void costmap_2d::ObservationBuffer::getObservations ( std::vector< Observation > &  observations)

Pushes copies of all current observations onto the end of the vector passed in.

Parameters
observationsThe vector to be filled

Definition at line 192 of file observation_buffer.cpp.

◆ isCurrent()

bool costmap_2d::ObservationBuffer::isCurrent ( ) const

Check if the observation buffer is being update at its expected rate.

Returns
True if it is being updated at the expected rate, false otherwise

Definition at line 231 of file observation_buffer.cpp.

◆ lock()

void costmap_2d::ObservationBuffer::lock ( )
inline

Lock the observation buffer.

Definition at line 151 of file observation_buffer.h.

◆ purgeStaleObservations()

void costmap_2d::ObservationBuffer::purgeStaleObservations ( )
private

Removes any stale observations from the buffer list.

Definition at line 205 of file observation_buffer.cpp.

◆ resetLastUpdated()

void costmap_2d::ObservationBuffer::resetLastUpdated ( )

Reset last updated timestamp.

Definition at line 246 of file observation_buffer.cpp.

◆ setGlobalFrame()

bool costmap_2d::ObservationBuffer::setGlobalFrame ( const std::string  new_global_frame)

Sets the global frame of an observation buffer. This will transform all the currently cached observations to the new global frame.

Parameters
new_global_frameThe name of the new global frame.
Returns
True if the operation succeeds, false otherwise

Definition at line 63 of file observation_buffer.cpp.

◆ unlock()

void costmap_2d::ObservationBuffer::unlock ( )
inline

Lock the observation buffer.

Definition at line 159 of file observation_buffer.h.

Member Data Documentation

◆ expected_update_rate_

const ros::Duration costmap_2d::ObservationBuffer::expected_update_rate_
private

Definition at line 177 of file observation_buffer.h.

◆ global_frame_

std::string costmap_2d::ObservationBuffer::global_frame_
private

Definition at line 179 of file observation_buffer.h.

◆ last_updated_

ros::Time costmap_2d::ObservationBuffer::last_updated_
private

Definition at line 178 of file observation_buffer.h.

◆ lock_

boost::recursive_mutex costmap_2d::ObservationBuffer::lock_
private

A lock for accessing data in callbacks safely.

Definition at line 184 of file observation_buffer.h.

◆ max_obstacle_height_

double costmap_2d::ObservationBuffer::max_obstacle_height_
private

Definition at line 183 of file observation_buffer.h.

◆ min_obstacle_height_

double costmap_2d::ObservationBuffer::min_obstacle_height_
private

Definition at line 183 of file observation_buffer.h.

◆ observation_keep_time_

const ros::Duration costmap_2d::ObservationBuffer::observation_keep_time_
private

Definition at line 176 of file observation_buffer.h.

◆ observation_list_

std::list<Observation> costmap_2d::ObservationBuffer::observation_list_
private

Definition at line 181 of file observation_buffer.h.

◆ obstacle_range_

double costmap_2d::ObservationBuffer::obstacle_range_
private

Definition at line 185 of file observation_buffer.h.

◆ raytrace_range_

double costmap_2d::ObservationBuffer::raytrace_range_
private

Definition at line 185 of file observation_buffer.h.

◆ sensor_frame_

std::string costmap_2d::ObservationBuffer::sensor_frame_
private

Definition at line 180 of file observation_buffer.h.

◆ tf2_buffer_

tf2_ros::Buffer& costmap_2d::ObservationBuffer::tf2_buffer_
private

Definition at line 175 of file observation_buffer.h.

◆ tf_tolerance_

double costmap_2d::ObservationBuffer::tf_tolerance_
private

Definition at line 186 of file observation_buffer.h.

◆ topic_name_

std::string costmap_2d::ObservationBuffer::topic_name_
private

Definition at line 182 of file observation_buffer.h.


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


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Sat Dec 3 2022 03:49:27