#include <nearfield_map_degrading_pa_node.h>

Inheritance diagram for cNearfieldMapDegradingPaNode:

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Public Member Functions
	cNearfieldMapDegradingPaNode ()
	default constructor More...

	~cNearfieldMapDegradingPaNode ()
	default destructor More...

Public Member Functions inherited from cNearfieldMapBasePaNode< cOctreeStampedPaRos >
void	changeSettings (void)

bool	checkTF (const std_msgs::Header &header, tf::StampedTransform &transform)

	cNearfieldMapBasePaNode ()
	default constructor More...

bool	getNearfield (sensor_msgs::PointCloud2Ptr &msg)
	function for retrieving requested nearfield map as pointcloud More...

void	publish (void)
	function for publishing all topics (nearfield map and debugging) More...

	~cNearfieldMapBasePaNode ()
	default destructor More...

Public Member Functions inherited from cOctreeStampedPaRos
	cOctreeStampedPaRos (const double resolution)

void	degradeOutdatedNodes (void)

ros::Time	getLastInsertionTime (void) const

void	setLastInsertionTime (const ros::Time &time)

cTimePa	timeFromRos (const ros::Time &time) const

ros::Time	timeToRos (const cTimePa &time) const

virtual	~cOctreeStampedPaRos ()

Public Member Functions inherited from cOctreeBasePaRos< cOcTreeStampedPa >
bool	addCloud (const sensor_msgs::PointCloud2ConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())

bool	addCloud (const sensor_msgs::PointCloudConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())

bool	addCloud (const sensor_msgs::LaserScanConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())

virtual void	clear (void)

	cOctreeBasePaRos (double resolution)

bool	getChildKey (const OctKey &current, const int current_level, OctKey &child, const int child_pos) const

octomap_msgs::OctomapPtr	getOctomap (void) const

octomap_msgs::OctomapPtr	getOctomapFull (void) const

sensor_msgs::PointCloud2Ptr	getOctomapPcd (const int tree_depth=0, const bool expand=false) const

sensor_msgs::PointCloud2Ptr	getOctomapPcdFree (const int tree_depth=0, const bool expand=false) const

ros::Time	getOutputTime (void) const

bool	getParentKey (const OctKey &current, const int current_level, OctKey &parent) const

void	keyToPoint (const OctKey &key, double &x, double &y, double &z) const

geometry_msgs::PointPtr	keyToPoint (const OctKey &key) const

OctKey	pointToKey (const geometry_msgs::Point &point) const

bool	readFull (const std::string &filename)

void	setOutputTime (const ros::Time &time)

bool	updateTime (const ros::Time &time)

virtual	~cOctreeBasePaRos ()

Public Member Functions inherited from cOcTreeStampedPa
	cOcTreeStampedPa (double resolution)

cOcTreeStampedPa *	create () const

virtual std::string	getTreeType () const

virtual	~cOcTreeStampedPa (void)

Public Member Functions inherited from cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode >
	cOcTreeStampedBasePa (double resolution)

cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode > *	create () const

void	degradeOutdatedNodes (const cTimePa timediff)

const cTimePa &	getTimestamp (void) const

void	setTimestamp (const cTimePa timestamp)

virtual void	updateNodeLogOdds (NodeTypeFull *node, const float &update) const

virtual	~cOcTreeStampedBasePa (void)

Protected Member Functions
void	addPcdCameraCallbackSub (const sensor_msgs::PointCloud2ConstPtr &msg)
	callback function for receiving a depth images from camera More...

void	addPcdLaserFullCallbackSub (const sensor_msgs::PointCloud2ConstPtr &msg)
	callback function for single laserscans More...

void	addPcdLaserScanCallbackSub (const sensor_msgs::PointCloud2ConstPtr &msg)
	callback function for receiving a laserscan More...

bool	getSizeCallbackSrv (nearfield_map::NearfieldMapGetSize::Request &req, nearfield_map::NearfieldMapGetSize::Response &res)
	service for receiving the size of the octomap More...

Protected Member Functions inherited from cNearfieldMapBasePaNode< cOctreeStampedPaRos >
bool	changeSettingsCallbackSrv (nearfield_map::NearfieldMapChangeSettings::Request &req, nearfield_map::NearfieldMapChangeSettings::Response &res)

bool	clearCallbackSrv (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

void	clearCallbackSub (const std_msgs::EmptyConstPtr &msg)

bool	getSizeCallbackSrv (nearfield_map::NearfieldMapGetSize::Request &req, nearfield_map::NearfieldMapGetSize::Response &res)

bool	loadCallbackSrv (nearfield_map::NearfieldMapFileName::Request &req, nearfield_map::NearfieldMapFileName::Response &res)

bool	requestCallbackSrv (nearfield_map::NearfieldMapRequest::Request &req, nearfield_map::NearfieldMapRequest::Response &res)

bool	saveCallbackSrv (nearfield_map::NearfieldMapFileName::Request &req, nearfield_map::NearfieldMapFileName::Response &res)

bool	sendCallbackSrv (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

Protected Member Functions inherited from cOctreeStampedPaRos
void	checkDegrading (void)

Protected Member Functions inherited from cOctreeBasePaRos< cOcTreeStampedPa >
bool	addCloud (const PclPointCloudPtr &cloud, const cAddCloudParameter &params, const tf::Transform &transform)

void	getChildKeySimple (const OctKey &current, const int current_level, OctKey &child, const int child_pos) const

void	getOctomapPcdSub (const OctKey &key, const int current_level, const int min_level, PclPointCloud &cloud) const

void	getParentKeySimple (const OctKey &current, const int current_level, OctKey &parent) const

Additional Inherited Members
Public Types inherited from cNearfieldMapBasePaNode< cOctreeStampedPaRos >
typedef cOctreeStampedPaRos	MapTypeBase

typedef cNearfieldMapBasePaNode< cOctreeStampedPaRos >	MapTypeFull

Public Types inherited from cOctreeStampedPaRos
typedef cOctreeBasePaRos< cOcTreeStampedPa >	TreeTypeBase

Public Types inherited from cOctreeBasePaRos< cOcTreeStampedPa >
typedef ::octomap::OcTreeKey	OctKey

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

typedef pcl::PointCloud< pcl::PointXYZ >::ConstPtr	PclPointCloudConstPtr

typedef pcl::PointCloud< pcl::PointXYZ >::Ptr	PclPointCloudPtr

typedef cOcTreeStampedPa	TreeTypeBase

typedef cOctreeBasePaRos< cOcTreeStampedPa >	TreeTypeFull

Public Types inherited from cOcTreeStampedPa
typedef octomap::OcTreeNode	NodeTypeBase

typedef cNodeStampedBasePa< NodeTypeBase >	NodeTypeFull

typedef cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, NodeTypeBase >	TreeTypeBase

Public Types inherited from cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode >
typedef octomap::OcTreeNode	NodeTypeBase

typedef cNodeStampedBasePa< octomap::OcTreeNode >	NodeTypeFull

typedef octomap::OccupancyOcTreeBase< NodeTypeFull >	TreeTypeBase

Public Attributes inherited from cOctreeStampedPaRos
cOctreeStampedPaRosParameter	rosparams_

Public Attributes inherited from cOctreeBasePaRos< cOcTreeStampedPa >
cOctreeBasePaRosParameter	rosparams_base_

Protected Attributes inherited from cNearfieldMapBasePaNode< cOctreeStampedPaRos >
int	count_camera_
	number of inserted depth images from camera (pointclouds) More...

int	count_laser_full_
	number of inserted full laserscans (pointclouds) More...

int	count_laser_scan_
	number of inserted single laserscans More...

ros::NodeHandle	nh_
	node handler for topic subscription and advertising More...

cNearfieldMapPaNodeParameter	nodeparams_
	parameters More...

cPcdFilterPaRos	output_filter_

cPcdFilterPaRosThrottle	output_throttle_

cAddCloudParameter	params_addcloud_camera_
	parameter for insertion of depth images from camera More...

cAddCloudParameter	params_addcloud_laser_full_
	parameter for insertion of full laserscans More...

cAddCloudParameter	params_addcloud_laser_scan_
	parameter for insertion of single laserscans More...

ros::Publisher	pub_cloud_free_
	puplisher for free voxels as pointcloud More...

ros::Publisher	pub_cloud_occupied_
	puplisher for occupied voxels as pointcloud More...

ros::Publisher	pub_nearfield_
	puplisher for requested nearfield map (pointcloud) More...

ros::Publisher	pub_octomap_
	puplisher for the octomap (binary data) More...

ros::Publisher	pub_octomap_full_
	puplisher for the octomap (full data) More...

ros::ServiceServer	srv_change_settings_
	service for changing parameters of the nearfield map More...

ros::ServiceServer	srv_clear_
	service for clearing the octomap More...

ros::ServiceServer	srv_getsize_
	service for receiving the size of the octomap More...

ros::ServiceServer	srv_load_
	service for loading a octomap More...

ros::ServiceServer	srv_request_
	service for requesting a nearfield map (pointcloud) via this service More...

ros::ServiceServer	srv_save_
	service for saving the octomap More...

ros::ServiceServer	srv_send_
	service for requesting a nearfield map (pointcloud) via output topic More...

ros::Subscriber	sub_camera_
	subscriber for depth images from camera More...

ros::Subscriber	sub_clear_
	subscriber for clearing the octomap More...

ros::Subscriber	sub_laser_full_
	subscriber for single laserscans More...

ros::Subscriber	sub_laser_scan_
	subscriber for a laserscan More...

tf::TransformListener	tf_listener_
	transformation of different frames More...

Protected Attributes inherited from cOctreeStampedPaRos
ros::Time	last_degrading_time_

Protected Attributes inherited from cOctreeBasePaRos< cOcTreeStampedPa >
ros::Time	current_output_time_

ros::Time	last_insertion_time_

Protected Attributes inherited from cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode >
cTimePa	current_timestamp

Static Protected Attributes inherited from cOcTreeStampedPa
static StaticMemberInitializer	StaticMemberInit

Detailed Description

Definition at line 66 of file nearfield_map_degrading_pa_node.h.

Constructor & Destructor Documentation

cNearfieldMapDegradingPaNode::cNearfieldMapDegradingPaNode ( )

default constructor

Definition at line 67 of file nearfield_map_degrading_pa_node.cpp.

cNearfieldMapDegradingPaNode::~cNearfieldMapDegradingPaNode ( )

default destructor

Definition at line 96 of file nearfield_map_degrading_pa_node.cpp.

Member Function Documentation

void cNearfieldMapDegradingPaNode::addPcdCameraCallbackSub ( const sensor_msgs::PointCloud2ConstPtr & msg )

protected

callback function for receiving a depth images from camera

Definition at line 101 of file nearfield_map_degrading_pa_node.cpp.

void cNearfieldMapDegradingPaNode::addPcdLaserFullCallbackSub ( const sensor_msgs::PointCloud2ConstPtr & msg )

protected

callback function for single laserscans

Definition at line 139 of file nearfield_map_degrading_pa_node.cpp.

void cNearfieldMapDegradingPaNode::addPcdLaserScanCallbackSub ( const sensor_msgs::PointCloud2ConstPtr & msg )

protected

callback function for receiving a laserscan

Definition at line 120 of file nearfield_map_degrading_pa_node.cpp.

bool cNearfieldMapDegradingPaNode::getSizeCallbackSrv	(	nearfield_map::NearfieldMapGetSize::Request &	req,
		nearfield_map::NearfieldMapGetSize::Response &	res
	)

protected

service for receiving the size of the octomap

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation