Base class for classes which update the occupancy map. More...

#include <occupancy_map_updater.h>

Inheritance diagram for occupancy_map_monitor::OccupancyMapUpdater:

Public Member Functions
virtual ShapeHandle	excludeShape (const shapes::ShapeConstPtr &shape)=0
virtual void	forgetShape (ShapeHandle handle)=0
const std::string &	getType () const
virtual bool	initialize ()=0
	Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams() have been previously called.
	OccupancyMapUpdater (const std::string &type)
void	publishDebugInformation (bool flag)
void	setMonitor (OccupancyMapMonitor *monitor)
	This is the first function to be called after construction.
virtual bool	setParams (XmlRpc::XmlRpcValue &params)=0
	Set updater params using struct that comes from parsing a yaml string. This must be called after setMonitor()
void	setTransformCacheCallback (const TransformCacheProvider &transform_callback)
virtual void	start ()=0
virtual void	stop ()=0
virtual	~OccupancyMapUpdater ()
Protected Member Functions
bool	updateTransformCache (const std::string &target_frame, const ros::Time &target_time)
Static Protected Member Functions
static void	readXmlParam (XmlRpc::XmlRpcValue &params, const std::string &param_name, double *value)
static void	readXmlParam (XmlRpc::XmlRpcValue &params, const std::string &param_name, unsigned int *value)
Protected Attributes
bool	debug_info_
OccupancyMapMonitor *	monitor_
ShapeTransformCache	transform_cache_
TransformCacheProvider	transform_provider_callback_
OccMapTreePtr	tree_
std::string	type_

Detailed Description

Base class for classes which update the occupancy map.

Definition at line 58 of file occupancy_map_updater.h.

Constructor & Destructor Documentation

occupancy_map_monitor::OccupancyMapUpdater::OccupancyMapUpdater ( const std::string & type )

Definition at line 43 of file occupancy_map_updater.cpp.

occupancy_map_monitor::OccupancyMapUpdater::~OccupancyMapUpdater ( ) [virtual]

Definition at line 47 of file occupancy_map_updater.cpp.

Member Function Documentation

virtual ShapeHandle occupancy_map_monitor::OccupancyMapUpdater::excludeShape ( const shapes::ShapeConstPtr & shape ) [pure virtual]

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater.

virtual void occupancy_map_monitor::OccupancyMapUpdater::forgetShape ( ShapeHandle handle ) [pure virtual]

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater.

const std::string& occupancy_map_monitor::OccupancyMapUpdater::getType ( ) const [inline]

Definition at line 82 of file occupancy_map_updater.h.

virtual bool occupancy_map_monitor::OccupancyMapUpdater::initialize ( ) [pure virtual]

Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams() have been previously called.

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater.

void occupancy_map_monitor::OccupancyMapUpdater::publishDebugInformation ( bool flag ) [inline]

Definition at line 92 of file occupancy_map_updater.h.

void occupancy_map_monitor::OccupancyMapUpdater::readXmlParam	(	XmlRpc::XmlRpcValue &	params,
		const std::string &	param_name,
		double *	value
	)		`[static, protected]`

Definition at line 57 of file occupancy_map_updater.cpp.

void occupancy_map_monitor::OccupancyMapUpdater::readXmlParam	(	XmlRpc::XmlRpcValue &	params,
		const std::string &	param_name,
		unsigned int *	value
	)		`[static, protected]`

Definition at line 68 of file occupancy_map_updater.cpp.

void occupancy_map_monitor::OccupancyMapUpdater::setMonitor ( OccupancyMapMonitor * monitor )

This is the first function to be called after construction.

Definition at line 51 of file occupancy_map_updater.cpp.

virtual bool occupancy_map_monitor::OccupancyMapUpdater::setParams ( XmlRpc::XmlRpcValue & params ) [pure virtual]

Set updater params using struct that comes from parsing a yaml string. This must be called after setMonitor()

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater.

void occupancy_map_monitor::OccupancyMapUpdater::setTransformCacheCallback ( const TransformCacheProvider & transform_callback ) [inline]

Definition at line 87 of file occupancy_map_updater.h.

virtual void occupancy_map_monitor::OccupancyMapUpdater::start ( ) [pure virtual]

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater.

virtual void occupancy_map_monitor::OccupancyMapUpdater::stop ( ) [pure virtual]

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater.

bool occupancy_map_monitor::OccupancyMapUpdater::updateTransformCache	(	const std::string &	target_frame,
		const ros::Time &	target_time
	)		`[protected]`

Definition at line 74 of file occupancy_map_updater.cpp.

Member Data Documentation

bool occupancy_map_monitor::OccupancyMapUpdater::debug_info_ [protected]

Definition at line 104 of file occupancy_map_updater.h.

OccupancyMapMonitor* occupancy_map_monitor::OccupancyMapUpdater::monitor_ [protected]

Definition at line 99 of file occupancy_map_updater.h.

ShapeTransformCache occupancy_map_monitor::OccupancyMapUpdater::transform_cache_ [protected]

Definition at line 103 of file occupancy_map_updater.h.

TransformCacheProvider occupancy_map_monitor::OccupancyMapUpdater::transform_provider_callback_ [protected]

Definition at line 102 of file occupancy_map_updater.h.

OccMapTreePtr occupancy_map_monitor::OccupancyMapUpdater::tree_ [protected]

Definition at line 101 of file occupancy_map_updater.h.

std::string occupancy_map_monitor::OccupancyMapUpdater::type_ [protected]

Definition at line 100 of file occupancy_map_updater.h.

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

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation