Public Member Functions | Private Types | Private Member Functions | Private Attributes
LaneObservations Class Reference

#include <lane_observations.h>

List of all members.

Public Member Functions

 LaneObservations (ros::NodeHandle &node, ros::NodeHandle &priv_nh)
 Run lane observers, publish their observations.
void spin ()
 Handle incoming data.
 ~LaneObservations ()
 Deconstructor.

Private Types

typedef pcl::PointCloud
< pcl::PointXYZ
PtCloud
 short name for PCL PointCloud

Private Member Functions

void addObserver (observers::Observer &obs)
 Add an entry to the observer vector.
void calcRobotPolygon ()
 Calculate which polygon currently contains the robot.
void filterPointsInLocalMap ()
 Filter obstacle points to those in a road map polygon.
bool isPointInAPolygon (float x, float y)
void processLocalMap (const art_msgs::ArtLanes::ConstPtr &msg)
 Local road map callback.
void processObstacles (void)
 Obstacles point cloud processing. Starts all the observers.
void processPointCloud (const sensor_msgs::PointCloud::ConstPtr &msg)
 PointCloud callback.
void processPointCloud2 (const sensor_msgs::PointCloud2::ConstPtr &msg)
 PointCloud2 callback.
void processPose (const nav_msgs::Odometry &odom)
 process the pose of the map
void publishObstacleVisualization ()
 Publish rviz markers for obstacles in the road.
void runObservers ()
 Run all registered observers and publish their observations.
void transformPointCloud (const PtCloud &msg)
 Transform obstacle points into the map frame of reference.

Private Attributes

std::tr1::unordered_set< int > added_quads_
 set of obstacle quads
observers::AdjacentLeft adjacent_left_observer_
observers::AdjacentRight adjacent_right_observer_
Config config_
 configuration parameters
art_msgs::ArtLanes local_map_
 local road map
visualization_msgs::MarkerArray marks_msg_
observers::NearestBackward nearest_backward_observer_
observers::NearestForward nearest_forward_observer_
ros::NodeHandle node_
 node handle
std::vector
< art_msgs::ArtQuadrilateral >
::iterator 
obs_it_
art_msgs::ArtLanes obs_quads_
 vector of obstacle quads
art_msgs::ObservationArray observations_
 current observations from the observers
ros::Publisher observations_pub_
std::vector
< observers::Observer * > 
observers_
 vector of observers, in order of the observations they publish
PtCloud obstacles_
 current obstacle data
ros::Subscriber odom_sub_
ros::Subscriber pc2_sub_
 PointCloud2 input.
ros::Subscriber pc_sub_
 deprecated PointCloud input
MapPose pose_
ros::NodeHandle priv_nh_
 private node handle
ros::Subscriber road_map_sub_
art_msgs::ArtQuadrilateral robot_polygon_
 robot's current polygon
boost::shared_ptr
< tf::TransformListener
tf_listener_
ros::Publisher viz_pub_

Detailed Description

Definition at line 46 of file lane_observations.h.


Member Typedef Documentation

short name for PCL PointCloud

Definition at line 58 of file lane_observations.h.


Constructor & Destructor Documentation

Run lane observers, publish their observations.

Definition at line 26 of file lane_observations.cc.

Deconstructor.

Definition at line 74 of file lane_observations.cc.


Member Function Documentation

void LaneObservations::addObserver ( observers::Observer obs) [inline, private]

Add an entry to the observer vector.

Parameters:
obsobserver to add

Definition at line 64 of file lane_observations.h.

Calculate which polygon currently contains the robot.

Definition at line 214 of file lane_observations.cc.

Filter obstacle points to those in a road map polygon.

Definition at line 127 of file lane_observations.cc.

bool LaneObservations::isPointInAPolygon ( float  x,
float  y 
) [private]

Point in polygon predicate.

Returns:
true if (X, Y) is within a road map polygon.
Postcondition:
added_quads contains polygon ID, if found. obstacle_quads contains polygon, if found.

Definition at line 168 of file lane_observations.cc.

Local road map callback.

Definition at line 115 of file lane_observations.cc.

void LaneObservations::processObstacles ( void  ) [private]

Obstacles point cloud processing. Starts all the observers.

Precondition:
obstacles_ contains the point cloud data received

Definition at line 80 of file lane_observations.cc.

PointCloud callback.

Definition at line 96 of file lane_observations.cc.

void LaneObservations::processPointCloud2 ( const sensor_msgs::PointCloud2::ConstPtr &  msg) [private]

PointCloud2 callback.

Definition at line 105 of file lane_observations.cc.

void LaneObservations::processPose ( const nav_msgs::Odometry &  odom) [private]

process the pose of the map

Definition at line 121 of file lane_observations.cc.

Publish rviz markers for obstacles in the road.

Definition at line 250 of file lane_observations.cc.

void LaneObservations::runObservers ( ) [private]

Run all registered observers and publish their observations.

Definition at line 200 of file lane_observations.cc.

void LaneObservations::spin ( void  )

Handle incoming data.

Definition at line 323 of file lane_observations.cc.

void LaneObservations::transformPointCloud ( const PtCloud msg) [private]

Transform obstacle points into the map frame of reference.

Definition at line 140 of file lane_observations.cc.


Member Data Documentation

std::tr1::unordered_set<int> LaneObservations::added_quads_ [private]

set of obstacle quads

Definition at line 112 of file lane_observations.h.

Definition at line 90 of file lane_observations.h.

Definition at line 91 of file lane_observations.h.

configuration parameters

Definition at line 85 of file lane_observations.h.

local road map

Definition at line 104 of file lane_observations.h.

visualization_msgs::MarkerArray LaneObservations::marks_msg_ [private]

Only used within LaneObservations::publishObstacleVisualization(), a class variable only to avoid memory allocation on every cycle.

Definition at line 120 of file lane_observations.h.

Definition at line 89 of file lane_observations.h.

Definition at line 88 of file lane_observations.h.

node handle

Definition at line 82 of file lane_observations.h.

std::vector<art_msgs::ArtQuadrilateral>::iterator LaneObservations::obs_it_ [private]

Definition at line 114 of file lane_observations.h.

vector of obstacle quads

Definition at line 113 of file lane_observations.h.

current observations from the observers

Definition at line 110 of file lane_observations.h.

Definition at line 100 of file lane_observations.h.

vector of observers, in order of the observations they publish

Definition at line 107 of file lane_observations.h.

current obstacle data

Definition at line 103 of file lane_observations.h.

Definition at line 99 of file lane_observations.h.

PointCloud2 input.

Definition at line 97 of file lane_observations.h.

deprecated PointCloud input

Definition at line 96 of file lane_observations.h.

Definition at line 116 of file lane_observations.h.

private node handle

Definition at line 83 of file lane_observations.h.

Definition at line 98 of file lane_observations.h.

robot's current polygon

Definition at line 115 of file lane_observations.h.

Definition at line 93 of file lane_observations.h.

Definition at line 101 of file lane_observations.h.


The documentation for this class was generated from the following files:
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art_observers
Author(s): Michael Quinlan, Jack O'Quin, Corbyn Salisbury
autogenerated on Tue Sep 24 2013 10:43:43