world_intersect.cpp File Reference

#include <pcl/point_cloud.h>
#include <pcl/octree/octree.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/extract_indices.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PointStamped.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <pcl_ros/transforms.h>
#include <pcl/io/pcd_io.h>
#include <ros/ros.h>
#include "sensor_msgs/PointCloud2.h"
#include <iostream>
#include <vector>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <float.h>
#include <math.h>

Include dependency graph for world_intersect.cpp:

Go to the source code of this file.

Classes
class	NeverEmptyQueue< T >
Typedefs
typedef std::vector < pcl::PointXYZ, Eigen::aligned_allocator < pcl::PointXYZ > >	AlignedPointTVector
typedef pcl::PointCloud < pcl::PointXYZ >	PointCloud
Functions
void	cloudCallback (const sensor_msgs::PointCloud2ConstPtr &cloud_msg)
void	intersectPose (const sensor_msgs::PointCloud2ConstPtr &cloud_msg, const geometry_msgs::PoseStampedConstPtr &pose)
int	main (int argc, char *argv[])
void	poseCallback (const geometry_msgs::PoseStampedConstPtr &pose)
void	sendTransform (const ros::TimerEvent &te)
Variables
tf::TransformBroadcaster *	broadcaster
ros::Publisher	cloud_pub
sensor_msgs::PointCloud2ConstPtr	g_cloud
NeverEmptyQueue < sensor_msgs::PointCloud2ConstPtr >	g_cloud_queue
bool	g_cloud_ready = false
double	g_min_dist
geometry_msgs::PoseStampedConstPtr	g_pose
NeverEmptyQueue < geometry_msgs::PoseStampedConstPtr >	g_pose_queue
bool	g_pose_ready = false
double	g_resolution
tf::StampedTransform	g_transform
bool	g_transform_ready = false
std::string	g_vector_frame
tf::TransformListener *	listener
ros::Publisher	point_pub

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Typedef Documentation

typedef std::vector<pcl::PointXYZ, Eigen::aligned_allocator<pcl::PointXYZ> > AlignedPointTVector

Definition at line 68 of file world_intersect.cpp.

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud

Definition at line 67 of file world_intersect.cpp.

---

Function Documentation

void cloudCallback

(

const sensor_msgs::PointCloud2ConstPtr &

cloud_msg

)

Definition at line 90 of file world_intersect.cpp.

void intersectPose	(	const sensor_msgs::PointCloud2ConstPtr &	cloud_msg,
		const geometry_msgs::PoseStampedConstPtr &	pose
	)

Definition at line 99 of file world_intersect.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 166 of file world_intersect.cpp.

void poseCallback

(

const geometry_msgs::PoseStampedConstPtr &

pose

)

Definition at line 94 of file world_intersect.cpp.

void sendTransform

(

const ros::TimerEvent &

te

)

Definition at line 159 of file world_intersect.cpp.

---

Variable Documentation

tf::TransformBroadcaster* broadcaster

Definition at line 73 of file world_intersect.cpp.

ros::Publisher cloud_pub

Definition at line 70 of file world_intersect.cpp.

sensor_msgs::PointCloud2ConstPtr g_cloud

Definition at line 77 of file world_intersect.cpp.

NeverEmptyQueue<sensor_msgs::PointCloud2ConstPtr> g_cloud_queue

Definition at line 83 of file world_intersect.cpp.

bool g_cloud_ready = false

Definition at line 80 of file world_intersect.cpp.

double g_min_dist

Definition at line 87 of file world_intersect.cpp.

geometry_msgs::PoseStampedConstPtr g_pose

Definition at line 78 of file world_intersect.cpp.

NeverEmptyQueue<geometry_msgs::PoseStampedConstPtr> g_pose_queue

Definition at line 84 of file world_intersect.cpp.

bool g_pose_ready = false

Definition at line 81 of file world_intersect.cpp.

double g_resolution

Definition at line 87 of file world_intersect.cpp.

tf::StampedTransform g_transform

Definition at line 74 of file world_intersect.cpp.

bool g_transform_ready = false

Definition at line 75 of file world_intersect.cpp.

std::string g_vector_frame

Definition at line 88 of file world_intersect.cpp.

tf::TransformListener* listener

Definition at line 72 of file world_intersect.cpp.

ros::Publisher point_pub

Definition at line 71 of file world_intersect.cpp.