pointcloud_octomap_updater.h
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00034 
00035 /* Author: Jon Binney, Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PERCEPTION_POINTCLOUD_OCTOMAP_UPDATER_
00038 #define MOVEIT_PERCEPTION_POINTCLOUD_OCTOMAP_UPDATER_
00039 
00040 #include <ros/ros.h>
00041 #include <tf/tf.h>
00042 #include <tf/message_filter.h>
00043 #include <message_filters/subscriber.h>
00044 #include <sensor_msgs/PointCloud2.h>
00045 #include <moveit/occupancy_map_monitor/occupancy_map_updater.h>
00046 #include <moveit/point_containment_filter/shape_mask.h>
00047 #include <pcl/point_types.h>
00048 #include <pcl/point_cloud.h>
00049 
00050 namespace occupancy_map_monitor
00051 {
00052 
00053 class PointCloudOctomapUpdater : public OccupancyMapUpdater
00054 {
00055 public:
00056 
00057   PointCloudOctomapUpdater();
00058   virtual ~PointCloudOctomapUpdater();
00059 
00060   virtual bool setParams(XmlRpc::XmlRpcValue &params);
00061 
00062   virtual bool initialize();
00063   virtual void start();
00064   virtual void stop();
00065   virtual ShapeHandle excludeShape(const shapes::ShapeConstPtr &shape);
00066   virtual void forgetShape(ShapeHandle handle);
00067 
00068 protected:
00069 
00070   virtual void updateMask(const pcl::PointCloud<pcl::PointXYZ> &cloud, const Eigen::Vector3d &sensor_origin, std::vector<int> &mask);
00071 
00072 private:
00073 
00074   bool getShapeTransform(ShapeHandle h, Eigen::Affine3d &transform) const;
00075   void cloudMsgCallback(const sensor_msgs::PointCloud2::ConstPtr &cloud_msg);
00076   void stopHelper();
00077 
00078   ros::NodeHandle root_nh_;
00079   ros::NodeHandle private_nh_;
00080   boost::shared_ptr<tf::Transformer> tf_;
00081 
00082   /* params */
00083   std::string point_cloud_topic_;
00084   double scale_;
00085   double padding_;
00086   double max_range_;
00087   unsigned int point_subsample_;
00088   std::string filtered_cloud_topic_;
00089   ros::Publisher filtered_cloud_publisher_;
00090 
00091   message_filters::Subscriber<sensor_msgs::PointCloud2> *point_cloud_subscriber_;
00092   tf::MessageFilter<sensor_msgs::PointCloud2> *point_cloud_filter_;
00093 
00094   /* used to store all cells in the map which a given ray passes through during raycasting.
00095      we cache this here because it dynamically pre-allocates a lot of memory in its contsructor */
00096   octomap::KeyRay key_ray_;
00097 
00098   boost::scoped_ptr<point_containment_filter::ShapeMask> shape_mask_;
00099   std::vector<int> mask_;
00100 
00101 };
00102 
00103 }
00104 
00105 #endif


perception
Author(s): Ioan Sucan , Jon Binney
autogenerated on Mon Oct 6 2014 02:31:20