cart_state_estimator::PolygonPointCloudFilter Class Reference

#include <polygon_point_cloud_filter.h>

Inheritance diagram for cart_state_estimator::PolygonPointCloudFilter:

[legend]

List of all members.

Public Member Functions
bool	configure ()
bool	inPolygon (const geometry_msgs::Point32 &p) const
	PolygonPointCloudFilter ()
bool	update (const sensor_msgs::PointCloud &input_scan, sensor_msgs::PointCloud &filtered_scan)
	~PolygonPointCloudFilter ()
Private Member Functions
void	configCB (cart_state_estimator::PolygonPointCloudFilterConfig &config, uint32_t level)
Private Attributes
dynamic_reconfigure::Server < cart_state_estimator::PolygonPointCloudFilterConfig > *	dyn_srv_
ros::Publisher	filter_polygon_pub_
std::string	frame_
ros::NodeHandle	nh_
bool	passthrough_
std::vector < geometry_msgs::Point32 >	poly_
tf::TransformListener	tf_

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Detailed Description

Filter that takes as parameters a 2d polygon and a frame Given a point cloud, for each point it transforms to the frame and drops the z coordinate, then checks if it lies in the polygon. If it does, skip it, else keep the (untransformed) point.

Definition at line 58 of file polygon_point_cloud_filter.h.

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Constructor & Destructor Documentation

cart_state_estimator::PolygonPointCloudFilter::PolygonPointCloudFilter

(

)

[inline]

Definition at line 62 of file polygon_point_cloud_filter.h.

cart_state_estimator::PolygonPointCloudFilter::~PolygonPointCloudFilter

(

)

[inline]

Definition at line 63 of file polygon_point_cloud_filter.h.

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Member Function Documentation

void cart_state_estimator::PolygonPointCloudFilter::configCB	(	cart_state_estimator::PolygonPointCloudFilterConfig &	config,
		uint32_t	level
	)			[private]

bool cart_state_estimator::PolygonPointCloudFilter::configure

(

)

[virtual]

Implements filters::FilterBase< sensor_msgs::PointCloud >.

bool cart_state_estimator::PolygonPointCloudFilter::inPolygon

(

const geometry_msgs::Point32 &

p

)

const

bool cart_state_estimator::PolygonPointCloudFilter::update	(	const sensor_msgs::PointCloud &	input_scan,
		sensor_msgs::PointCloud &	filtered_scan
	)			[virtual]

Implements filters::FilterBase< sensor_msgs::PointCloud >.

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Member Data Documentation

dynamic_reconfigure::Server<cart_state_estimator::PolygonPointCloudFilterConfig>* cart_state_estimator::PolygonPointCloudFilter::dyn_srv_ [private]

Definition at line 70 of file polygon_point_cloud_filter.h.

ros::Publisher cart_state_estimator::PolygonPointCloudFilter::filter_polygon_pub_ [private]

Definition at line 77 of file polygon_point_cloud_filter.h.

std::string cart_state_estimator::PolygonPointCloudFilter::frame_ [private]

Definition at line 79 of file polygon_point_cloud_filter.h.

ros::NodeHandle cart_state_estimator::PolygonPointCloudFilter::nh_ [private]

Definition at line 76 of file polygon_point_cloud_filter.h.

bool cart_state_estimator::PolygonPointCloudFilter::passthrough_ [private]

Definition at line 74 of file polygon_point_cloud_filter.h.

std::vector<geometry_msgs::Point32> cart_state_estimator::PolygonPointCloudFilter::poly_ [private]

Definition at line 78 of file polygon_point_cloud_filter.h.

tf::TransformListener cart_state_estimator::PolygonPointCloudFilter::tf_ [private]

Definition at line 75 of file polygon_point_cloud_filter.h.

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

• polygon_point_cloud_filter.h