Public Member Functions
	DynamicTrails (ros::NodeHandle &n, ros::NodeHandle &pn)
	~DynamicTrails ()
Protected Member Functions
float	angleWeight (const Eigen::Vector3f &normal, const Eigen::Vector3f &velocity)
void	averageWithReference (shared_ptr< DP > reference, shared_ptr< DP > reading, const float dir)
void	computeVelocity (shared_ptr< DP > reference, shared_ptr< NNS > ref_tree, shared_ptr< DP > reading, shared_ptr< NNS > read_tree, const float maxRadius, const int knn, ros::Publisher debugPub)
PM::DataPoints	extractDynamicPoints (const PM::DataPoints input, const float minDynamicRatio)
void	gotCloud (const sensor_msgs::PointCloud2ConstPtr &cloudMsgIn)
void	gotMap (const sensor_msgs::PointCloud2 &cloudMsgIn)
void	processCloud (DP cloud, const TP TScannerToMap)
Private Types
typedef PM::Matches	Matches
typedef Nabo::NearestNeighbourSearch < float >	NNS
typedef NNS::SearchType	NNSearchType
typedef PM::TransformationParameters	TP
Private Attributes
ros::Subscriber	cloudSub
ros::Publisher	dynProjectedPub
ros::Publisher	dynPub
const float	eps
PM::DataPoints	globalMap
std::shared_ptr< NNS >	globalNNS
PM::DataPointsFilters	inputFilters
ros::Time	lastInputTime
std::shared_ptr< NNS >	lastNNS
shared_ptr< DP >	lastPointCloud
ros::Publisher	lastProjectedPub
ros::Publisher	lastPub
ros::Subscriber	mapSub
ros::Publisher	markerPub
ros::NodeHandle &	n
const bool	p_accumulateMarkers
const float	p_inputRate
const string	p_mapFrame
const float	p_maxClusterDistance
const float	p_maxGlobalMapDist
const float	p_maxVelocity
const float	p_minDynamicRatio
const float	p_normalSpaceFactor
const string	p_trailFilepName
const int	p_windowSize
ros::NodeHandle &	pn
std::deque< shared_ptr< DP > >	priors
boost::mutex	publishLock
ros::Subscriber	scanSub
tf::TransformListener	tfListener
int	trailCount
shared_ptr< DP >	trailPointCloud
unique_ptr< PM::Transformation >	transformation
boost::mutex	usingGlobalMap

Detailed Description

Definition at line 40 of file dynamic_trails.cpp.

Member Typedef Documentation

typedef PM::Matches DynamicTrails::Matches [private]

Definition at line 43 of file dynamic_trails.cpp.

typedef Nabo::NearestNeighbourSearch<float> DynamicTrails::NNS [private]

Definition at line 45 of file dynamic_trails.cpp.

typedef NNS::SearchType DynamicTrails::NNSearchType [private]

Definition at line 46 of file dynamic_trails.cpp.

typedef PM::TransformationParameters DynamicTrails::TP [private]

Definition at line 42 of file dynamic_trails.cpp.

Constructor & Destructor Documentation

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

Definition at line 118 of file dynamic_trails.cpp.

DynamicTrails::~DynamicTrails ( )

Definition at line 180 of file dynamic_trails.cpp.

Member Function Documentation

float DynamicTrails::angleWeight	(	const Eigen::Vector3f &	normal,
		const Eigen::Vector3f &	velocity
	)		`[protected]`

Definition at line 839 of file dynamic_trails.cpp.

void DynamicTrails::averageWithReference	(	shared_ptr< DP >	reference,
		shared_ptr< DP >	reading,
		const float	dir
	)		`[protected]`

Definition at line 857 of file dynamic_trails.cpp.

void DynamicTrails::computeVelocity	(	shared_ptr< DP >	reference,
		shared_ptr< NNS >	ref_tree,
		shared_ptr< DP >	reading,
		shared_ptr< NNS >	read_tree,
		const float	maxRadius,
		const int	knn,
		ros::Publisher	debugPub
	)		`[protected]`