#include <sensor_map.hpp>
Public Attributes | |
| bool | enableBoundingBoxFilter |
| Whether to filter lidar points if they are inside the hitbox of the vehicle. More... | |
| bool | enablePermanentObstacles |
| Whether to try and save permanent obstacles. More... | |
| bool | enablePointHeightFilter |
| Whether to filter points by height. More... | |
| double | footPrintLen |
| Length of robot. More... | |
| double | footPrintWidth |
| Width of robot. More... | |
| std::string | gridmapOutputTopic |
| Topic to output the full grid map on. More... | |
| std::string | groundPointSubTopic |
| Ros topic with ground points. More... | |
| std::string | historyLayerPrefix |
| Prefix to use for history layers. More... | |
| grid_map::Length | len |
| Size of the map, assumed to be square. More... | |
| std::string | mapFrameId |
| TF frame that the map should use. More... | |
| std::string | mapName |
| Name that will refer to this instance of map. More... | |
| std::string | mapOperationsFilterNs |
| Filter chain for map operations after obstacles have been determined. More... | |
| std::string | markerSubTopic |
| Ros topic to recieve obstacles from other sources. More... | |
| double | maxPointHeight |
| If height filter is enabled, filter points more than this height above vehicle. More... | |
| std::string | nonGroundPointSubTopic |
| Ros topic with nonground (obstacle) points. More... | |
| int | numHistoryLayers |
| Number of layers to hold for history. More... | |
| std::string | obstacleFilterNs |
| Filter chain for filtering sensor data into obstacles. More... | |
| std::string | occupancyOutputTopic |
| Topic the occupancy map should be output on. More... | |
| std::string | odomSubTopic |
| Ros topic holding odometry information. More... | |
| double | permanentFilterProb |
| Probability required to declare a cell as a permanent obstacle. More... | |
| double | resolution |
| Cell size of map. More... | |
| std::string | staticMapSubTopic |
| Sub topic for static maps that should be integrated with our dynamic map. More... | |
| std::string | vehicleFrameId |
| Frame id of the robot. More... | |
Definition at line 37 of file sensor_map.hpp.
| bool mitre_fast_layered_map::MapConfiguration::enableBoundingBoxFilter |
Whether to filter lidar points if they are inside the hitbox of the vehicle.
Definition at line 68 of file sensor_map.hpp.
| bool mitre_fast_layered_map::MapConfiguration::enablePermanentObstacles |
Whether to try and save permanent obstacles.
Definition at line 72 of file sensor_map.hpp.
| bool mitre_fast_layered_map::MapConfiguration::enablePointHeightFilter |
Whether to filter points by height.
Definition at line 67 of file sensor_map.hpp.
| double mitre_fast_layered_map::MapConfiguration::footPrintLen |
Length of robot.
Definition at line 61 of file sensor_map.hpp.
| double mitre_fast_layered_map::MapConfiguration::footPrintWidth |
Width of robot.
Definition at line 62 of file sensor_map.hpp.
| std::string mitre_fast_layered_map::MapConfiguration::gridmapOutputTopic |
Topic to output the full grid map on.
Definition at line 46 of file sensor_map.hpp.
| std::string mitre_fast_layered_map::MapConfiguration::groundPointSubTopic |
Ros topic with ground points.
Definition at line 41 of file sensor_map.hpp.
| std::string mitre_fast_layered_map::MapConfiguration::historyLayerPrefix |
Prefix to use for history layers.
Definition at line 53 of file sensor_map.hpp.
| grid_map::Length mitre_fast_layered_map::MapConfiguration::len |
Size of the map, assumed to be square.
Definition at line 51 of file sensor_map.hpp.
| std::string mitre_fast_layered_map::MapConfiguration::mapFrameId |
TF frame that the map should use.
Definition at line 50 of file sensor_map.hpp.
| std::string mitre_fast_layered_map::MapConfiguration::mapName |
Name that will refer to this instance of map.
Definition at line 49 of file sensor_map.hpp.
| std::string mitre_fast_layered_map::MapConfiguration::mapOperationsFilterNs |
Filter chain for map operations after obstacles have been determined.
Definition at line 66 of file sensor_map.hpp.
| std::string mitre_fast_layered_map::MapConfiguration::markerSubTopic |
Ros topic to recieve obstacles from other sources.
Definition at line 43 of file sensor_map.hpp.
| double mitre_fast_layered_map::MapConfiguration::maxPointHeight |
If height filter is enabled, filter points more than this height above vehicle.
Definition at line 69 of file sensor_map.hpp.
| std::string mitre_fast_layered_map::MapConfiguration::nonGroundPointSubTopic |
Ros topic with nonground (obstacle) points.
Definition at line 40 of file sensor_map.hpp.
| int mitre_fast_layered_map::MapConfiguration::numHistoryLayers |
Number of layers to hold for history.
Definition at line 54 of file sensor_map.hpp.
| std::string mitre_fast_layered_map::MapConfiguration::obstacleFilterNs |
Filter chain for filtering sensor data into obstacles.
Definition at line 65 of file sensor_map.hpp.
| std::string mitre_fast_layered_map::MapConfiguration::occupancyOutputTopic |
Topic the occupancy map should be output on.
Definition at line 45 of file sensor_map.hpp.
| std::string mitre_fast_layered_map::MapConfiguration::odomSubTopic |
Ros topic holding odometry information.
Definition at line 42 of file sensor_map.hpp.
| double mitre_fast_layered_map::MapConfiguration::permanentFilterProb |
Probability required to declare a cell as a permanent obstacle.
Definition at line 73 of file sensor_map.hpp.
| double mitre_fast_layered_map::MapConfiguration::resolution |
Cell size of map.
Definition at line 52 of file sensor_map.hpp.
| std::string mitre_fast_layered_map::MapConfiguration::staticMapSubTopic |
Sub topic for static maps that should be integrated with our dynamic map.
Definition at line 44 of file sensor_map.hpp.
| std::string mitre_fast_layered_map::MapConfiguration::vehicleFrameId |
Frame id of the robot.
Definition at line 60 of file sensor_map.hpp.