Public Member Functions | Public Attributes
mrpt::graphslam::TNeighborAgentMapProps Struct Reference

Struct holding a COccupancyGridMap2D (as well as subscribers for updating it) for a specific running GraphSlamAgent instance. More...

#include <TNeighborAgentMapProps.h>

List of all members.

Public Member Functions

size_t getNodeCount ()
 Return how many nodes have been registered in the fetched robot trajectory.
void readROSParameters ()
void setupComm ()
void setupPubs ()
void setupSubs ()
 TNeighborAgentMapProps (mrpt::utils::COutputLogger *logger_in, const mrpt_msgs::GraphSlamAgent &agent_in, ros::NodeHandle *nh_in)
void updateGridMap (const nav_msgs::OccupancyGrid::ConstPtr &nav_gridmap)
 Callback method to be called when new data in the map topic is available.
void updateRobotTrajectory (const nav_msgs::Path::ConstPtr &nav_robot_traj)
 Callback method to be called when new data in the Estimated Trajectory topic is available.

Public Attributes

const mrpt_msgs::GraphSlamAgent & agent
 Pointer to the GraphSlamAgent instance of the neighbor.
bool has_init_class
bool has_setup_comm
mrpt::utils::COutputLogger * m_logger
nav_msgs::OccupancyGrid::ConstPtr nav_map
 Map generated by the corresponding agent - in ROS form.
nav_msgs::Path::ConstPtr nav_robot_trajectory
 Trajectory of the correspondign agent - in ROS form.
ros::NodeHandlenh
size_t queue_size
Subscriber instances
ros::Subscriber map_sub
 Map subscriber instance.
ros::Subscriber robot_trajectory_sub
Topic names
std::string map_topic
 Map topic to subscribe and fetch the map from.
std::string robot_trajectory_topic

Detailed Description

Struct holding a COccupancyGridMap2D (as well as subscribers for updating it) for a specific running GraphSlamAgent instance.

Note:
used in the global map-merging procedure

Definition at line 28 of file TNeighborAgentMapProps.h.


Constructor & Destructor Documentation

TNeighborAgentMapProps::TNeighborAgentMapProps ( mrpt::utils::COutputLogger *  logger_in,
const mrpt_msgs::GraphSlamAgent &  agent_in,
ros::NodeHandle nh_in 
)

Definition at line 21 of file TNeighborAgentMapProps.cpp.


Member Function Documentation

Return how many nodes have been registered in the fetched robot trajectory.

Definition at line 53 of file TNeighborAgentMapProps.h.

Definition at line 49 of file TNeighborAgentMapProps.cpp.

Definition at line 68 of file TNeighborAgentMapProps.cpp.

Definition at line 75 of file TNeighborAgentMapProps.cpp.

void TNeighborAgentMapProps::updateGridMap ( const nav_msgs::OccupancyGrid::ConstPtr &  nav_gridmap)

Callback method to be called when new data in the map topic is available.

Definition at line 88 of file TNeighborAgentMapProps.cpp.

void TNeighborAgentMapProps::updateRobotTrajectory ( const nav_msgs::Path::ConstPtr &  nav_robot_traj)

Callback method to be called when new data in the Estimated Trajectory topic is available.

Definition at line 93 of file TNeighborAgentMapProps.cpp.


Member Data Documentation

const mrpt_msgs::GraphSlamAgent& mrpt::graphslam::TNeighborAgentMapProps::agent

Pointer to the GraphSlamAgent instance of the neighbor.

Definition at line 57 of file TNeighborAgentMapProps.h.

Definition at line 75 of file TNeighborAgentMapProps.h.

Definition at line 76 of file TNeighborAgentMapProps.h.

Definition at line 77 of file TNeighborAgentMapProps.h.

Map subscriber instance.

Definition at line 65 of file TNeighborAgentMapProps.h.

Map topic to subscribe and fetch the map from.

Definition at line 71 of file TNeighborAgentMapProps.h.

nav_msgs::OccupancyGrid::ConstPtr mrpt::graphslam::TNeighborAgentMapProps::nav_map

Map generated by the corresponding agent - in ROS form.

Definition at line 59 of file TNeighborAgentMapProps.h.

Trajectory of the correspondign agent - in ROS form.

Definition at line 61 of file TNeighborAgentMapProps.h.

Definition at line 55 of file TNeighborAgentMapProps.h.

Definition at line 74 of file TNeighborAgentMapProps.h.

Definition at line 66 of file TNeighborAgentMapProps.h.

Definition at line 72 of file TNeighborAgentMapProps.h.


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


mrpt_graphslam_2d
Author(s): Nikos Koukis
autogenerated on Sun Sep 17 2017 03:02:04