Mapper Class Reference

List of all members.

Public Member Functions
	Mapper (ros::NodeHandle &n, ros::NodeHandle &pn)
	~Mapper ()
Protected Member Functions
bool	getPointMap (map_msgs::GetPointMap::Request &req, map_msgs::GetPointMap::Response &res)
void	gotCloud (const sensor_msgs::PointCloud2 &cloudMsgIn)
void	gotScan (const sensor_msgs::LaserScan &scanMsgIn)
void	processCloud (unique_ptr< DP > cloud, const std::string &scannerFrame, const ros::Time &stamp, uint32_t seq)
void	processNewMapIfAvailable ()
void	publishLoop (double publishPeriod)
void	publishTransform ()
bool	reset (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	saveMap (map_msgs::SaveMap::Request &req, map_msgs::SaveMap::Response &res)
void	setMap (DP *newPointCloud)
DP *	updateMap (DP *newPointCloud, const PM::TransformationParameters Ticp, bool updateExisting)
Private Types
typedef boost::unique_future < PM::DataPoints * >	MapBuildingFuture
typedef boost::packaged_task < PM::DataPoints * >	MapBuildingTask
Private Attributes
bool	changeModel
ros::Subscriber	cloudSub
ros::ServiceServer	getPointMapSrv
PM::ICPSequence	icp
PM::DataPointsFilters	inputFilters
MapBuildingFuture	mapBuildingFuture
bool	mapBuildingInProgress
MapBuildingTask	mapBuildingTask
boost::thread	mapBuildingThread
ros::Time	mapCreationTime
string	mapFrame
PM::DataPoints *	mapPointCloud
PM::DataPointsFilters	mapPostFilters
PM::DataPointsFilters	mapPreFilters
ros::Publisher	mapPub
double	maxOverlapToMerge
int	minMapPointCount
double	minOverlap
int	minReadingPointCount
ros::NodeHandle &	n
string	odomFrame
ros::Publisher	odomPub
ros::NodeHandle &	pn
boost::mutex	publishLock
boost::thread	publishThread
ros::ServiceServer	resetSrv
ros::ServiceServer	saveMapSrv
ros::Subscriber	scanSub
tf::TransformBroadcaster	tfBroadcaster
tf::TransformListener	tfListener
double	tfPublishPeriod
PM::TransformationParameters	TOdomToMap
unique_ptr< PM::Transformation >	transformation
bool	useConstMotionModel
string	vtkFinalMapName
	name of the final vtk map

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Detailed Description

Definition at line 31 of file mapper.cpp.

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Member Typedef Documentation

typedef boost::unique_future<PM::DataPoints*> Mapper::MapBuildingFuture [private]

Definition at line 54 of file mapper.cpp.

typedef boost::packaged_task<PM::DataPoints*> Mapper::MapBuildingTask [private]

Definition at line 53 of file mapper.cpp.

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Constructor & Destructor Documentation

Mapper::Mapper	(	ros::NodeHandle &	n,
		ros::NodeHandle &	pn
	)

Definition at line 99 of file mapper.cpp.

Mapper::~Mapper

(

)

Definition at line 191 of file mapper.cpp.

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Member Function Documentation

bool Mapper::getPointMap	(	map_msgs::GetPointMap::Request &	req,
		map_msgs::GetPointMap::Response &	res
	)		[protected]

Definition at line 436 of file mapper.cpp.

void Mapper::gotCloud

(

const sensor_msgs::PointCloud2 &

cloudMsgIn

)

[protected]

Definition at line 217 of file mapper.cpp.

void Mapper::gotScan

(

const sensor_msgs::LaserScan &

scanMsgIn

)

[protected]

Definition at line 210 of file mapper.cpp.

void Mapper::processCloud	(	unique_ptr< DP >	cloud,
		const std::string &	scannerFrame,
		const ros::Time &	stamp,
		uint32_t	seq
	)		[protected]

Definition at line 223 of file mapper.cpp.

void Mapper::processNewMapIfAvailable

(

)

[protected]

Definition at line 367 of file mapper.cpp.

void Mapper::publishLoop

(

double

publishPeriod

)

[protected]

Definition at line 417 of file mapper.cpp.

void Mapper::publishTransform

(

)

[protected]

Definition at line 429 of file mapper.cpp.

bool Mapper::reset	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		[protected]

Definition at line 462 of file mapper.cpp.

bool Mapper::saveMap	(	map_msgs::SaveMap::Request &	req,
		map_msgs::SaveMap::Response &	res
	)		[protected]

Definition at line 445 of file mapper.cpp.

void Mapper::setMap

(

DP *

newPointCloud

)

[protected]

Definition at line 377 of file mapper.cpp.

DP * Mapper::updateMap	(	DP *	newPointCloud,
		const PM::TransformationParameters	Ticp,
		bool	updateExisting
	)		[protected]

Definition at line 392 of file mapper.cpp.

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Member Data Documentation

bool Mapper::changeModel [private]

Definition at line 59 of file mapper.cpp.

ros::Subscriber Mapper::cloudSub [private]

Definition at line 37 of file mapper.cpp.

ros::ServiceServer Mapper::getPointMapSrv [private]

Definition at line 40 of file mapper.cpp.

PM::ICPSequence Mapper::icp [private]

Definition at line 50 of file mapper.cpp.

PM::DataPointsFilters Mapper::inputFilters [private]

Definition at line 44 of file mapper.cpp.

MapBuildingFuture Mapper::mapBuildingFuture [private]

Definition at line 57 of file mapper.cpp.

bool Mapper::mapBuildingInProgress [private]

Definition at line 58 of file mapper.cpp.

MapBuildingTask Mapper::mapBuildingTask [private]

Definition at line 56 of file mapper.cpp.

boost::thread Mapper::mapBuildingThread [private]

Definition at line 55 of file mapper.cpp.

ros::Time Mapper::mapCreationTime [private]

Definition at line 48 of file mapper.cpp.

string Mapper::mapFrame [private]

Definition at line 68 of file mapper.cpp.

PM::DataPoints* Mapper::mapPointCloud [private]

Definition at line 49 of file mapper.cpp.

PM::DataPointsFilters Mapper::mapPostFilters [private]

Definition at line 46 of file mapper.cpp.

PM::DataPointsFilters Mapper::mapPreFilters [private]

Definition at line 45 of file mapper.cpp.

ros::Publisher Mapper::mapPub [private]

Definition at line 38 of file mapper.cpp.

double Mapper::maxOverlapToMerge [private]

Definition at line 65 of file mapper.cpp.

int Mapper::minMapPointCount [private]

Definition at line 63 of file mapper.cpp.

double Mapper::minOverlap [private]

Definition at line 64 of file mapper.cpp.

int Mapper::minReadingPointCount [private]

Definition at line 62 of file mapper.cpp.

ros::NodeHandle& Mapper::n [private]

Definition at line 33 of file mapper.cpp.

string Mapper::odomFrame [private]

Definition at line 67 of file mapper.cpp.

ros::Publisher Mapper::odomPub [private]

Definition at line 39 of file mapper.cpp.

ros::NodeHandle& Mapper::pn [private]

Definition at line 34 of file mapper.cpp.

boost::mutex Mapper::publishLock [private]

Definition at line 74 of file mapper.cpp.

boost::thread Mapper::publishThread [private]

Definition at line 73 of file mapper.cpp.

ros::ServiceServer Mapper::resetSrv [private]

Definition at line 42 of file mapper.cpp.

ros::ServiceServer Mapper::saveMapSrv [private]

Definition at line 41 of file mapper.cpp.

ros::Subscriber Mapper::scanSub [private]

Definition at line 36 of file mapper.cpp.

tf::TransformBroadcaster Mapper::tfBroadcaster [private]

Definition at line 77 of file mapper.cpp.

tf::TransformListener Mapper::tfListener [private]

Definition at line 76 of file mapper.cpp.

double Mapper::tfPublishPeriod [private]

Definition at line 66 of file mapper.cpp.

PM::TransformationParameters Mapper::TOdomToMap [private]

Definition at line 72 of file mapper.cpp.

unique_ptr<PM::Transformation> Mapper::transformation [private]

Definition at line 47 of file mapper.cpp.

bool Mapper::useConstMotionModel [private]

Definition at line 70 of file mapper.cpp.

string Mapper::vtkFinalMapName [private]

name of the final vtk map

Definition at line 69 of file mapper.cpp.

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

• mapper.cpp