#include <collider.h>

Classes
struct	BoxInfo
struct	CloudInfo
	Struct to hold config options for subscribed PointClouds. More...
Public Types
typedef octomap::OcTreeStamped	OcTreeType
Public Member Functions
	Collider ()
	~Collider ()
Protected Member Functions
void	attachedObjectCallback (const arm_navigation_msgs::AttachedCollisionObjectConstPtr &attached_object)
void	cameraInfoCallback (const sensor_msgs::CameraInfo::ConstPtr &cam_info)
void	cloudCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud, const std::string topic_name)
void	cloudCombinedCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud, const sensor_msgs::PointCloud2::ConstPtr &cloud_raw, const std::string topic_name)
void	computeBBX (const std_msgs::Header &sensor_header, octomap::point3d &bbx_min, octomap::point3d &bbx_max)
void	degradeOutdatedRaw (const std_msgs::Header &sensor_header, const tf::Point &sensor_origin, const std::string &other_stereo_frame, const pcl::PointCloud< pcl::PointXYZ > &pcl_cloud_raw)
void	degradeOutdatedRaycasting (const std_msgs::Header &sensor_header, const octomap::point3d &sensor_origin, octomap::OcTreeStamped &tree)
void	degradeSingleSpeckles ()
bool	dummyReset (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	getFreePoints (std::vector< geometry_msgs::Point > &pointlist) const
void	getOccupiedPoints (std::vector< geometry_msgs::Point > &pointlist) const
octomap::point3d	getSensorOrigin (const std_msgs::Header &sensor_header)
bool	inSensorCone (const cv::Point2d &uv) const
bool	isOccludedMap (const octomap::point3d &sensor_origin, const octomap::point3d &p) const
bool	isOccludedRaw (const cv::Point2d &uv, double range, const pcl::PointCloud< pcl::PointXYZ > &pcl_cloud_raw)
void	makeStaticCollisionMap (const arm_navigation_msgs::MakeStaticCollisionMapGoalConstPtr &goal)
void	objectCallback (const arm_navigation_msgs::CollisionObjectConstPtr &object)
bool	occupancyBBXSizeSrv (collider::OccupancyBBXSizeQuery::Request &req, collider::OccupancyBBXSizeQuery::Response &res)
bool	occupancyBBXSrv (collider::OccupancyBBXQuery::Request &req, collider::OccupancyBBXQuery::Response &res)
bool	occupancyPointSrv (collider::OccupancyPointQuery::Request &req, collider::OccupancyPointQuery::Response &res)
bool	octomapSrv (octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res)
void	publishCollisionMap (const std::vector< geometry_msgs::Point > &pointlist, const std_msgs::Header &header, ros::Publisher &pub)
void	publishMarkerArray (const std::vector< geometry_msgs::Point > &pointlist, const std_msgs::Header &header, const std_msgs::ColorRGBA &color, ros::Publisher &pub)
void	publishPointCloud (const std::vector< geometry_msgs::Point > &pointlist, const std_msgs::Header &header, ros::Publisher &pub)
bool	reset (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
Protected Attributes
boost::shared_ptr < actionlib::SimpleActionServer < arm_navigation_msgs::MakeStaticCollisionMapAction > >	action_server_
message_filters::Subscriber < arm_navigation_msgs::AttachedCollisionObject > *	attached_collision_object_subscriber_
std_msgs::ColorRGBA	attached_color_
image_geometry::PinholeCameraModel	cam_model_
bool	cam_model_initialized_
cv::Size	cam_size_
ros::Subscriber *	camera_info_subscriber_
int	camera_stereo_offset_left_
int	camera_stereo_offset_right_
std::map< std::string, CloudInfo >	cloud_sources_
planning_environment::CollisionModels *	cm_
ros::Publisher	cmap_publisher_
message_filters::Subscriber < arm_navigation_msgs::CollisionObject > *	collision_object_subscriber_
OcTreeType *	collision_octree_
std_msgs::ColorRGBA	color_free_
std_msgs::ColorRGBA	color_occupied_
ros::ServiceServer	dummy_reset_service_
std::string	fixed_frame_
ros::ServiceServer	get_octomap_service_
ros::Publisher	marker_pub_
double	max_range_
std::vector < message_filters::Subscriber < sensor_msgs::PointCloud2 > * >	message_filter_subscribers_
std::vector< tf::MessageFilter < sensor_msgs::PointCloud2 > * >	message_filters_
ros::ServiceServer	occupancy_bbx_service_
ros::ServiceServer	occupancy_bbx_size_service_
ros::ServiceServer	occupancy_point_service_
ros::Publisher	octomap_visualization_attached_array_pub_
ros::Publisher	octomap_visualization_attached_pub_
ros::Publisher	octomap_visualization_free_pub_
ros::Publisher	octomap_visualization_pub_
ros::Publisher	pointcloud_publisher_
int	pruning_counter_
int	pruning_period_
bool	publish_over_dynamic_map_
ros::ServiceServer	reset_service_
double	resolution_
robot_self_filter::SelfMask *	robot_mask_left_
robot_self_filter::SelfMask *	robot_mask_right_
ros::NodeHandle	root_handle_
double	self_filter_min_dist_
ros::Publisher	static_map_publisher_
std::vector < message_filters::Subscriber < sensor_msgs::PointCloud2 > * >	sub_filtered_clouds_
std::vector < message_filters::Subscriber < sensor_msgs::PointCloud2 > * >	sub_raw_clouds_
std::vector < message_filters::Synchronizer < message_filters::sync_policies::ApproximateTime < sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 > > * >	sync_vector_
tf::TransformListener	tf_
bool	transparent_freespace_
ros::ServiceServer	transparent_service_
BoxInfo	workspace_box_

Detailed Description

Definition at line 81 of file collider.h.

Member Typedef Documentation

typedef octomap::OcTreeStamped Collider::OcTreeType

Definition at line 90 of file collider.h.

Constructor & Destructor Documentation

Collider::Collider ( )

Definition at line 42 of file collider.cpp.

Collider::~Collider ( )

Definition at line 342 of file collider.cpp.

Member Function Documentation

void Collider::attachedObjectCallback ( const arm_navigation_msgs::AttachedCollisionObjectConstPtr & attached_object ) [protected]

Definition at line 361 of file collider.cpp.

void Collider::cameraInfoCallback ( const sensor_msgs::CameraInfo::ConstPtr & cam_info ) [protected]

Definition at line 369 of file collider.cpp.

void Collider::cloudCallback	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud,
		const std::string	topic_name
	)		`[protected]`

Definition at line 541 of file collider.cpp.

void Collider::cloudCombinedCallback	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud,
		const sensor_msgs::PointCloud2::ConstPtr &	cloud_raw,
		const std::string	topic_name
	)		`[protected]`

Definition at line 377 of file collider.cpp.

void Collider::computeBBX	(	const std_msgs::Header &	sensor_header,
		octomap::point3d &	bbx_min,
		octomap::point3d &	bbx_max
	)		`[protected]`

Definition at line 888 of file collider.cpp.

void Collider::degradeOutdatedRaw	(	const std_msgs::Header &	sensor_header,
		const tf::Point &	sensor_origin,
		const std::string &	other_stereo_frame,
		const pcl::PointCloud< pcl::PointXYZ > &	pcl_cloud_raw
	)		`[protected]`

Definition at line 679 of file collider.cpp.

void Collider::degradeOutdatedRaycasting	(	const std_msgs::Header &	sensor_header,
		const octomap::point3d &	sensor_origin,
		octomap::OcTreeStamped &	tree
	)		`[protected]`

Definition at line 783 of file collider.cpp.

void Collider::degradeSingleSpeckles ( ) [protected]

Definition at line 821 of file collider.cpp.

bool Collider::dummyReset	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[protected]`

Definition at line 1125 of file collider.cpp.

void Collider::getFreePoints ( std::vector< geometry_msgs::Point > & pointlist ) const [inline, protected]

Definition at line 235 of file collider.h.

void Collider::getOccupiedPoints ( std::vector< geometry_msgs::Point > & pointlist ) const [inline, protected]

Definition at line 221 of file collider.h.

octomap::point3d Collider::getSensorOrigin ( const std_msgs::Header & sensor_header ) [protected]

Definition at line 853 of file collider.cpp.

bool Collider::inSensorCone ( const cv::Point2d & uv ) const [protected]

Definition at line 997 of file collider.cpp.

bool Collider::isOccludedMap	(	const octomap::point3d &	sensor_origin,
		const octomap::point3d &	p
	)		const `[protected]`

Definition at line 1022 of file collider.cpp.

bool Collider::isOccludedRaw	(	const cv::Point2d &	uv,
		double	range,
		const pcl::PointCloud< pcl::PointXYZ > &	pcl_cloud_raw
	)		`[protected]`

Definition at line 1010 of file collider.cpp.

void Collider::makeStaticCollisionMap ( const arm_navigation_msgs::MakeStaticCollisionMapGoalConstPtr & goal ) [protected]

Definition at line 1133 of file collider.cpp.

void Collider::objectCallback ( const arm_navigation_msgs::CollisionObjectConstPtr & object ) [protected]

Definition at line 365 of file collider.cpp.

bool Collider::occupancyBBXSizeSrv	(	collider::OccupancyBBXSizeQuery::Request &	req,
		collider::OccupancyBBXSizeQuery::Response &	res
	)		`[protected]`

Definition at line 1217 of file collider.cpp.

bool Collider::occupancyBBXSrv	(	collider::OccupancyBBXQuery::Request &	req,
		collider::OccupancyBBXQuery::Response &	res
	)		`[protected]`

Definition at line 1193 of file collider.cpp.

bool Collider::occupancyPointSrv	(	collider::OccupancyPointQuery::Request &	req,
		collider::OccupancyPointQuery::Response &	res
	)		`[protected]`

Definition at line 1177 of file collider.cpp.

bool Collider::octomapSrv	(	octomap_msgs::GetOctomap::Request &	req,
		octomap_msgs::GetOctomap::Response &	res
	)		`[protected]`

Definition at line 1167 of file collider.cpp.

void Collider::publishCollisionMap	(	const std::vector< geometry_msgs::Point > &	pointlist,
		const std_msgs::Header &	header,
		ros::Publisher &	pub
	)		`[protected]`

Definition at line 1042 of file collider.cpp.

void Collider::publishMarkerArray	(	const std::vector< geometry_msgs::Point > &	pointlist,
		const std_msgs::Header &	header,
		const std_msgs::ColorRGBA &	color,
		ros::Publisher &	pub
	)		`[protected]`

Definition at line 1090 of file collider.cpp.

void Collider::publishPointCloud	(	const std::vector< geometry_msgs::Point > &	pointlist,
		const std_msgs::Header &	header,
		ros::Publisher &	pub
	)		`[protected]`