#include <sensor_map.hpp>

Public Member Functions
int	getOccupancyGrid (nav_msgs::OccupancyGrid &)
	Compiles the ground and nonground layers to create an occupancy grid. More...

void	groundPointCb (const sensor_msgs::PointCloud2 &)
	Callback function for ground points. More...

int	init ()

int	integrateStaticMap ()

void	markerCb (const visualization_msgs::Marker &)

int	moveMap (double, double)
	Move the center of the map to follow ego. More...

void	nonGroundPointCb (const sensor_msgs::PointCloud2 &)
	Callback function for nonground points. More...

void	odomCb (const nav_msgs::Odometry::ConstPtr)
	Odometry callback function to update map position. More...

int	once ()

bool	pointBoundingBoxFilter (const pcl::PointXYZ)

bool	pointHeightFilter (const pcl::PointXYZ, double _vehicleHeight=0)

int	publishMap ()

	SensorMap ()
	Constructor to initialize mapping. More...

	SensorMap (ros::NodeHandle *, MapConfiguration)

void	staticMapCb (const nav_msgs::OccupancyGrid &)

int	tfTransformCloud (const sensor_msgs::PointCloud2 &, sensor_msgs::PointCloud2 &, std::string)

int	updateGroundPts (const PointCloud &)
	Records cells in the gridmap where the ground points landed. More...

int	updateNongroundPts (const PointCloud &)
	Updates cells in the map that may have nonground (obstacle) points. More...

	~SensorMap ()

Private Member Functions
int	runFilter ()
	Run the grid map through the filter chain. More...

Private Attributes
MapConfiguration	config_

std::vector< geometry_msgs::Pose >	corners_
	Holds corner of vehicle which will create polygon bounding box. More...

bool	cornersCalculated_ {false}
	Record if we have received an odom update. More...

grid_map::GridMap	gridMap_
	Mapping data storage container. More...

ros::Publisher	gridMapPub_
	Publisher for the whole grid map using grid map msgs. More...

ros::Time	groundLastUpdate_
	Keeps track of the last time we updated ground points. More...

ros::Subscriber	groundPointsSub_
	Receives point cloud of ground points. More...

bool	initialized_ {false}

filters::FilterChain< grid_map::GridMap >	mapOperationsFilterChain_
	after updating points More...

ros::Subscriber	markerSub_
	Subscriber for marker topic to add points to map. More...

ros::NodeHandle	nh_
	Passed in node handle for namespace. More...

ros::Time	nongroundLastUpdate_
	Keeps track of the last time we updated non ground points. More...

ros::Subscriber	nonGroundPointsSub_
	Receives point cloud of nonground points. More...

filters::FilterChain< grid_map::GridMap >	obstacleFilterChain_
	Filters to modify obstacle state of map. More...

ros::Publisher	occPub_
	Publisher of occupancy grid. More...

ros::Time	odomLastUpdate_
	Keeps track of last time we updated position of map. More...

ros::Subscriber	odomSub_
	Subscribes to odom topic to position map within frame. More...

uint64_t	readingsReceived_ {0}
	Records how many readings we have received. More...

bool	recStaticMap_ {false}
	Stateful variable for receiving static map. More...

grid_map::GridMap	staticMap_
	Storage for static map. For optimization we only want to receive it once. More...

ros::Subscriber	staticMapSub_
	Will subscripe to the static map topic. ASSUMPTION: Only one static map. More...

tf2_ros::Buffer	tfBuffer_
	Holds transformations from tf tree. More...

tf2_ros::TransformListener	tfListener_
	Used in tfBuffer_. More...

Friends
class	TestMap

Detailed Description

Definition at line 103 of file sensor_map.hpp.

Constructor & Destructor Documentation

mitre_fast_layered_map::SensorMap::SensorMap ( )

Constructor to initialize mapping.

Parameters

nh	Node handle to use for this map instance
config	Map configuraton variables

Definition at line 35 of file sensor_map.cpp.

mitre_fast_layered_map::SensorMap::SensorMap	(	ros::NodeHandle *	nh,
		MapConfiguration	config
	)

ros::NodeHandle nh('~');
MapConfiguraton config;
// Set config
mitre_fast_layered_map::Map(&nh, config);

Definition at line 23 of file sensor_map.cpp.

mitre_fast_layered_map::SensorMap::~SensorMap ( )

Definition at line 42 of file sensor_map.cpp.

Member Function Documentation

int mitre_fast_layered_map::SensorMap::getOccupancyGrid ( nav_msgs::OccupancyGrid & _mapOut )

Compiles the ground and nonground layers to create an occupancy grid.

Parameters

_mapOut [out] The occupancy grid to return

Returns: 0

Definition at line 643 of file sensor_map.cpp.

void mitre_fast_layered_map::SensorMap::groundPointCb ( const sensor_msgs::PointCloud2 & _cloud )

Callback function for ground points.

Parameters

_cloud A point cloud of ONLY points labelled as part of the ground plane

Definition at line 276 of file sensor_map.cpp.

int mitre_fast_layered_map::SensorMap::init ( )

Definition at line 51 of file sensor_map.cpp.

int mitre_fast_layered_map::SensorMap::integrateStaticMap ( )

Definition at line 519 of file sensor_map.cpp.

void mitre_fast_layered_map::SensorMap::markerCb ( const visualization_msgs::Marker & marker )

Definition at line 583 of file sensor_map.cpp.

int mitre_fast_layered_map::SensorMap::moveMap	(	double	_posX,
		double	_posY
	)

Move the center of the map to follow ego.

Parameters

_posX	[in] Position x in map frame to move to
_posY	[in] Position y in map frame to move to

Returns: 0 on successful move, -1 on failure, 1 if map move caused jump out of mapped area

Definition at line 195 of file sensor_map.cpp.

void mitre_fast_layered_map::SensorMap::nonGroundPointCb ( const sensor_msgs::PointCloud2 & _cloud )

Callback function for nonground points.

Parameters

_cloud Point Cloud holding ONLY points that registered as nonground (i.e. obstacles or ledges)

Definition at line 344 of file sensor_map.cpp.

void mitre_fast_layered_map::SensorMap::odomCb ( const nav_msgs::Odometry::ConstPtr odom )

Odometry callback function to update map position.

Parameters

odom	Odometry message used to move map

Definition at line 166 of file sensor_map.cpp.

int mitre_fast_layered_map::SensorMap::once ( )

Definition at line 147 of file sensor_map.cpp.

bool mitre_fast_layered_map::SensorMap::pointBoundingBoxFilter ( const pcl::PointXYZ point )

Definition at line 463 of file sensor_map.cpp.

bool mitre_fast_layered_map::SensorMap::pointHeightFilter	(	const pcl::PointXYZ	_point,
		double	_vehicleHeight = `0`
	)

Definition at line 448 of file sensor_map.cpp.

int mitre_fast_layered_map::SensorMap::publishMap ( )

Definition at line 657 of file sensor_map.cpp.

int mitre_fast_layered_map::SensorMap::runFilter ( )

private

Run the grid map through the filter chain.

Returns: 0 on success, -1 if failure within filter chain

Definition at line 480 of file sensor_map.cpp.

void mitre_fast_layered_map::SensorMap::staticMapCb ( const nav_msgs::OccupancyGrid & _map )

Definition at line 611 of file sensor_map.cpp.

int mitre_fast_layered_map::SensorMap::tfTransformCloud	(	const sensor_msgs::PointCloud2 &	_inCloud,
		sensor_msgs::PointCloud2 &	_outCloud,
		std::string	_outFrame
	)

Definition at line 690 of file sensor_map.cpp.

int mitre_fast_layered_map::SensorMap::updateGroundPts ( const PointCloud & _pointCloud )

Records cells in the gridmap where the ground points landed.

Parameters

_pointCloud [in] Point cloud of points on the ground plane

Returns: 0 on success, 1 if problem with filters

Definition at line 311 of file sensor_map.cpp.

int mitre_fast_layered_map::SensorMap::updateNongroundPts ( const PointCloud & _pointCloud )

Updates cells in the map that may have nonground (obstacle) points.

Parameters

_pointCloud [in] The point cloud consisting of only nonground points

Returns: 0 on success, 1 if filter failure

Definition at line 371 of file sensor_map.cpp.

Friends And Related Function Documentation

friend class TestMap

friend

Definition at line 144 of file sensor_map.hpp.

Member Data Documentation

MapConfiguration mitre_fast_layered_map::SensorMap::config_

private

Definition at line 153 of file sensor_map.hpp.

std::vector<geometry_msgs::Pose> mitre_fast_layered_map::SensorMap::corners_

private

Holds corner of vehicle which will create polygon bounding box.

Definition at line 171 of file sensor_map.hpp.

bool mitre_fast_layered_map::SensorMap::cornersCalculated_ {false}

private

Record if we have received an odom update.

Definition at line 170 of file sensor_map.hpp.

grid_map::GridMap mitre_fast_layered_map::SensorMap::gridMap_

private

Mapping data storage container.

Definition at line 164 of file sensor_map.hpp.

ros::Publisher mitre_fast_layered_map::SensorMap::gridMapPub_

private

Publisher for the whole grid map using grid map msgs.

Definition at line 162 of file sensor_map.hpp.

ros::Time mitre_fast_layered_map::SensorMap::groundLastUpdate_

private

Keeps track of the last time we updated ground points.

Definition at line 174 of file sensor_map.hpp.

ros::Subscriber mitre_fast_layered_map::SensorMap::groundPointsSub_

private

Receives point cloud of ground points.

Definition at line 159 of file sensor_map.hpp.

bool mitre_fast_layered_map::SensorMap::initialized_ {false}

private

Definition at line 151 of file sensor_map.hpp.

filters::FilterChain<grid_map::GridMap> mitre_fast_layered_map::SensorMap::mapOperationsFilterChain_

private

after updating points

Filters to modify map after filters in place

Definition at line 167 of file sensor_map.hpp.

ros::Subscriber mitre_fast_layered_map::SensorMap::markerSub_

private

Subscriber for marker topic to add points to map.

Definition at line 156 of file sensor_map.hpp.

ros::NodeHandle mitre_fast_layered_map::SensorMap::nh_

private

Passed in node handle for namespace.

Definition at line 155 of file sensor_map.hpp.

ros::Time mitre_fast_layered_map::SensorMap::nongroundLastUpdate_

private

Keeps track of the last time we updated non ground points.

Definition at line 175 of file sensor_map.hpp.

ros::Subscriber mitre_fast_layered_map::SensorMap::nonGroundPointsSub_

private

Receives point cloud of nonground points.

Definition at line 158 of file sensor_map.hpp.

filters::FilterChain<grid_map::GridMap> mitre_fast_layered_map::SensorMap::obstacleFilterChain_

private

Filters to modify obstacle state of map.

Definition at line 166 of file sensor_map.hpp.

ros::Publisher mitre_fast_layered_map::SensorMap::occPub_

private

Publisher of occupancy grid.

Definition at line 161 of file sensor_map.hpp.

ros::Time mitre_fast_layered_map::SensorMap::odomLastUpdate_

private

Keeps track of last time we updated position of map.

Definition at line 173 of file sensor_map.hpp.

ros::Subscriber mitre_fast_layered_map::SensorMap::odomSub_

private

Subscribes to odom topic to position map within frame.

Definition at line 157 of file sensor_map.hpp.

uint64_t mitre_fast_layered_map::SensorMap::readingsReceived_ {0}

private

Records how many readings we have received.

Definition at line 169 of file sensor_map.hpp.

bool mitre_fast_layered_map::SensorMap::recStaticMap_ {false}

private

Stateful variable for receiving static map.

Definition at line 172 of file sensor_map.hpp.

grid_map::GridMap mitre_fast_layered_map::SensorMap::staticMap_

private

Storage for static map. For optimization we only want to receive it once.

Definition at line 165 of file sensor_map.hpp.

ros::Subscriber mitre_fast_layered_map::SensorMap::staticMapSub_

private

Will subscripe to the static map topic. ASSUMPTION: Only one static map.

Definition at line 160 of file sensor_map.hpp.

tf2_ros::Buffer mitre_fast_layered_map::SensorMap::tfBuffer_

private

Holds transformations from tf tree.

Definition at line 149 of file sensor_map.hpp.

tf2_ros::TransformListener mitre_fast_layered_map::SensorMap::tfListener_

private

Used in tfBuffer_.

Definition at line 150 of file sensor_map.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation