#include <hector_elevation_visualization.h>

Public Member Functions
void	dynRecParamCallback (hector_elevation_visualization::ElevationVisualizationConfig &config, uint32_t level)
	dynRecParamCallback This function get called if new parameters has been set with the dynamic reconfigure dialog
	ElevationVisualization ()
	Default constructor.
void	map_callback (const hector_elevation_msgs::ElevationGrid &elevation_map)
	map_callback get called if a new elevation map is avaible
void	sys_message_callback (const std_msgs::String &string)
	sysMessageCallback This function listen to system messages
	~ElevationVisualization ()
	Default deconstructor.
Private Member Functions
void	visualize_map (const hector_elevation_msgs::ElevationGrid &elevation_map, tf::StampedTransform local_map_transform)
	visualize_map calculates visualization markers to vizualize the elevation map in rviz
Static Private Member Functions
static std_msgs::ColorRGBA	heightMapColor (double h)
	heightMapColor calculates the marker color as a function of height
Private Attributes
double	color_factor
dynamic_reconfigure::Server < hector_elevation_visualization::ElevationVisualizationConfig >	dyn_rec_server_
std::string	elevation_map_frame_id
visualization_msgs::MarkerArray	map_marker_array_msg
ros::Publisher	map_marker_array_publisher
std_msgs::ColorRGBA	marker_color
double	max_height
int	max_height_levels
double	min_height
ros::NodeHandle	nHandle
ros::Subscriber	sub_elevation_map
ros::Subscriber	sub_sys_message_callback
std::string	sys_msg_topic
bool	use_color_map
HectorMapTools::CoordinateTransformer < float >	world_map_transform

Detailed Description

Definition at line 21 of file hector_elevation_visualization.h.

Constructor & Destructor Documentation

ElevationVisualization::ElevationVisualization ( )

Default constructor.

Definition at line 8 of file hector_elevation_visualization.cpp.

ElevationVisualization::~ElevationVisualization ( )

Default deconstructor.

Definition at line 38 of file hector_elevation_visualization.cpp.

Member Function Documentation

void ElevationVisualization::dynRecParamCallback	(	hector_elevation_visualization::ElevationVisualizationConfig &	config,
		uint32_t	level
	)

dynRecParamCallback This function get called if new parameters has been set with the dynamic reconfigure dialog

Parameters:

[in]	config	contains current parameters
[in]	level	is unused

Definition at line 43 of file hector_elevation_visualization.cpp.

std_msgs::ColorRGBA ElevationVisualization::heightMapColor ( double h ) [static, private]

heightMapColor calculates the marker color as a function of height

Parameters:

[in] h The height in [m]

Definition at line 178 of file hector_elevation_visualization.cpp.

void ElevationVisualization::map_callback ( const hector_elevation_msgs::ElevationGrid & elevation_map )

map_callback get called if a new elevation map is avaible

Parameters:

[in] elevation_map_msg stores elevation map data as a 2.5D grid

Definition at line 124 of file hector_elevation_visualization.cpp.

void ElevationVisualization::sys_message_callback ( const std_msgs::String & string )

sysMessageCallback This function listen to system messages

Parameters:

[in] string parameter contains system messages, like "reset"

Definition at line 162 of file hector_elevation_visualization.cpp.

void ElevationVisualization::visualize_map	(	const hector_elevation_msgs::ElevationGrid &	elevation_map,
		tf::StampedTransform	local_map_transform
	)		`[private]`