Inheritance diagram for octomap_server::TrackingOctomapServer:

Public Member Functions
void	insertScan (const tf::Point &sensorOrigin, const PCLPointCloud &ground, const PCLPointCloud &nonground)
	update occupancy map with a scan labeled as ground and nonground. The scans should be in the global map frame.
void	trackCallback (sensor_msgs::PointCloud2Ptr cloud)
	TrackingOctomapServer (const std::string &filename="")
virtual	~TrackingOctomapServer ()
Protected Member Functions
void	trackChanges ()
Protected Attributes
bool	listen_changes
ros::Publisher	pubChangeSet
ros::Publisher	pubFreeChangeSet
ros::Subscriber	subChangeSet
ros::Subscriber	subFreeChanges
bool	track_changes

Detailed Description

Definition at line 37 of file TrackingOctomapServer.h.

Constructor & Destructor Documentation

octomap_server::TrackingOctomapServer::TrackingOctomapServer ( const std::string & filename = "" )

Definition at line 37 of file TrackingOctomapServer.cpp.

octomap_server::TrackingOctomapServer::~TrackingOctomapServer ( ) [virtual]

Definition at line 83 of file TrackingOctomapServer.cpp.

void octomap_server::TrackingOctomapServer::insertScan	(	const tf::Point &	sensorOrigin,
		const PCLPointCloud &	ground,
		const PCLPointCloud &	nonground
	)		`[virtual]`

update occupancy map with a scan labeled as ground and nonground. The scans should be in the global map frame.

Parameters:

sensorOrigin	origin of the measurements for raycasting
ground	scan endpoints on the ground plane (only clear space)
nonground	all other endpoints (clear up to occupied endpoint)

Definition at line 86 of file TrackingOctomapServer.cpp.

void octomap_server::TrackingOctomapServer::trackCallback ( sensor_msgs::PointCloud2Ptr cloud )

Definition at line 133 of file TrackingOctomapServer.cpp.

void octomap_server::TrackingOctomapServer::trackChanges ( ) [protected]

Definition at line 94 of file TrackingOctomapServer.cpp.