#include <spatio_temporal_voxel_layer.hpp>

Inheritance diagram for spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer:

Public Member Functions
virtual void	activate (void)

virtual void	deactivate (void)

bool	GetClearingObservations (std::vector< observation::MeasurementReading > &marking_observations) const

bool	GetMarkingObservations (std::vector< observation::MeasurementReading > &marking_observations) const

virtual void	matchSize (void)

void	ObservationsResetAfterReading () const

virtual void	onInitialize (void)

virtual void	reset (void)

void	ResetGrid (void)

bool	SaveGridCallback (spatio_temporal_voxel_layer::SaveGrid::Request &req, spatio_temporal_voxel_layer::SaveGrid::Response &resp)

	SpatioTemporalVoxelLayer (void)

virtual void	updateBounds (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)

virtual void	updateCosts (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

bool	updateFootprint (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)

void	UpdateROSCostmap (double min_x, double min_y, double max_x, double max_y)

virtual	~SpatioTemporalVoxelLayer (void)

Public Member Functions inherited from costmap_2d::CostmapLayer
void	addExtraBounds (double mx0, double my0, double mx1, double my1)

	CostmapLayer ()

bool	isDiscretized ()

Public Member Functions inherited from costmap_2d::Layer
const std::vector< geometry_msgs::Point > &	getFootprint () const

std::string	getName () const

void	initialize (LayeredCostmap parent, std::string name, tf::TransformListener tf)

bool	isCurrent () const

	Layer ()

virtual void	onFootprintChanged ()

virtual	~Layer ()

Public Member Functions inherited from costmap_2d::Costmap2D
unsigned int	cellDistance (double world_dist)

void	convexFillCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)

bool	copyCostmapWindow (const Costmap2D &map, double win_origin_x, double win_origin_y, double win_size_x, double win_size_y)

	Costmap2D (unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, unsigned char default_value=0)

	Costmap2D (const Costmap2D &map)

	Costmap2D ()

unsigned char *	getCharMap () const

unsigned char	getCost (unsigned int mx, unsigned int my) const

unsigned char	getDefaultValue ()

unsigned int	getIndex (unsigned int mx, unsigned int my) const

mutex_t *	getMutex ()

double	getOriginX () const

double	getOriginY () const

double	getResolution () const

unsigned int	getSizeInCellsX () const

unsigned int	getSizeInCellsY () const

double	getSizeInMetersX () const

double	getSizeInMetersY () const

void	indexToCells (unsigned int index, unsigned int &mx, unsigned int &my) const

void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const

Costmap2D &	operator= (const Costmap2D &map)

void	polygonOutlineCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)

void	resetMap (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn)

void	resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y)

bool	saveMap (std::string file_name)

bool	setConvexPolygonCost (const std::vector< geometry_msgs::Point > &polygon, unsigned char cost_value)

void	setCost (unsigned int mx, unsigned int my, unsigned char cost)

void	setDefaultValue (unsigned char c)

virtual void	updateOrigin (double new_origin_x, double new_origin_y)

bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const

void	worldToMapEnforceBounds (double wx, double wy, int &mx, int &my) const

void	worldToMapNoBounds (double wx, double wy, int &mx, int &my) const

virtual	~Costmap2D ()

Private Member Functions
bool	AddStaticObservations (const observation::MeasurementReading &obs)

bool	BufferEnablerCallback (std_srvs::SetBool::Request &request, std_srvs::SetBool::Response &response, boost::shared_ptr< buffer::MeasurementBuffer > &buffer, boost::shared_ptr< message_filters::SubscriberBase > &subcriber)

void	DynamicReconfigureCallback (dynamicReconfigureType &config, uint32_t level)

void	LaserScanCallback (const sensor_msgs::LaserScanConstPtr &message, const boost::shared_ptr< buffer::MeasurementBuffer > &buffer)

void	LaserScanValidInfCallback (const sensor_msgs::LaserScanConstPtr &raw_message, const boost::shared_ptr< buffer::MeasurementBuffer > &buffer)

void	PointCloud2Callback (const sensor_msgs::PointCloud2ConstPtr &message, const boost::shared_ptr< buffer::MeasurementBuffer > &buffer)

bool	RemoveStaticObservations (void)

Private Attributes
std::vector< ros::ServiceServer >	_buffer_enabler_servers

std::vector< boost::shared_ptr< buffer::MeasurementBuffer > >	_clearing_buffers

int	_combination_method

volume_grid::GlobalDecayModel	_decay_model

dynamicReconfigureServerType *	_dynamic_reconfigure_server

bool	_enabled

std::string	_global_frame

ros::ServiceServer	_grid_saver

laser_geometry::LaserProjection	_laser_projector

ros::Time	_last_map_save_time

ros::Duration	_map_save_duration

bool	_mapping_mode

int	_mark_threshold

std::vector< boost::shared_ptr< buffer::MeasurementBuffer > >	_marking_buffers

std::vector< boost::shared_ptr< buffer::MeasurementBuffer > >	_observation_buffers

std::vector< boost::shared_ptr< tf::MessageFilterBase > >	_observation_notifiers

std::vector< boost::shared_ptr< message_filters::SubscriberBase > >	_observation_subscribers

bool	_publish_voxels

std::vector< observation::MeasurementReading >	_static_observations

std::vector< geometry_msgs::Point >	_transformed_footprint

bool	_update_footprint_enabled

double	_voxel_decay

volume_grid::SpatioTemporalVoxelGrid *	_voxel_grid

boost::recursive_mutex	_voxel_grid_lock

ros::Publisher	_voxel_pub

double	_voxel_size

Additional Inherited Members
Public Types inherited from costmap_2d::Costmap2D
typedef boost::recursive_mutex	mutex_t

Protected Member Functions inherited from costmap_2d::CostmapLayer
void	touch (double x, double y, double min_x, double min_y, double max_x, double max_y)

void	updateWithAddition (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithMax (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithOverwrite (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithTrueOverwrite (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	useExtraBounds (double min_x, double min_y, double max_x, double max_y)

Protected Member Functions inherited from costmap_2d::Costmap2D
void	copyMapRegion (data_type source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, unsigned int sm_size_x, data_type dest_map, unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x, unsigned int region_size_y)

virtual void	deleteMaps ()

virtual void	initMaps (unsigned int size_x, unsigned int size_y)

void	raytraceLine (ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int max_length=UINT_MAX)

virtual void	resetMaps ()

Protected Attributes inherited from costmap_2d::CostmapLayer
bool	has_extra_bounds_

Protected Attributes inherited from costmap_2d::Layer
bool	current_

bool	enabled_

LayeredCostmap *	layered_costmap_

std::string	name_

tf::TransformListener *	tf_

Protected Attributes inherited from costmap_2d::Costmap2D
unsigned char *	costmap_

unsigned char	default_value_

double	origin_x_

double	origin_y_

double	resolution_

unsigned int	size_x_

unsigned int	size_y_

Detailed Description

Definition at line 86 of file spatio_temporal_voxel_layer.hpp.

Constructor & Destructor Documentation

spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::SpatioTemporalVoxelLayer ( void )

Definition at line 43 of file spatio_temporal_voxel_layer.cpp.

spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::~SpatioTemporalVoxelLayer ( void )

virtual

Definition at line 49 of file spatio_temporal_voxel_layer.cpp.

Member Function Documentation

void spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::activate ( void )

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 495 of file spatio_temporal_voxel_layer.cpp.

bool spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::AddStaticObservations ( const observation::MeasurementReading & obs )

private

Definition at line 548 of file spatio_temporal_voxel_layer.cpp.

bool spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::BufferEnablerCallback	(	std_srvs::SetBool::Request &	request,
		std_srvs::SetBool::Response &	response,
		boost::shared_ptr< buffer::MeasurementBuffer > &	buffer,
		boost::shared_ptr< message_filters::SubscriberBase > &	subcriber
	)

private

Definition at line 376 of file spatio_temporal_voxel_layer.cpp.

void spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::deactivate ( void )

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 515 of file spatio_temporal_voxel_layer.cpp.

void spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::DynamicReconfigureCallback	(	dynamicReconfigureType &	config,
		uint32_t	level
	)

private

Definition at line 582 of file spatio_temporal_voxel_layer.cpp.

bool spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::GetClearingObservations ( std::vector< observation::MeasurementReading > & marking_observations ) const

Definition at line 431 of file spatio_temporal_voxel_layer.cpp.

bool spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::GetMarkingObservations ( std::vector< observation::MeasurementReading > & marking_observations ) const

Definition at line 410 of file spatio_temporal_voxel_layer.cpp.

void spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::LaserScanCallback	(	const sensor_msgs::LaserScanConstPtr &	message,
		const boost::shared_ptr< buffer::MeasurementBuffer > &	buffer
	)

private

Definition at line 307 of file spatio_temporal_voxel_layer.cpp.

void spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::LaserScanValidInfCallback	(	const sensor_msgs::LaserScanConstPtr &	raw_message,
		const boost::shared_ptr< buffer::MeasurementBuffer > &	buffer
	)

private

Definition at line 331 of file spatio_temporal_voxel_layer.cpp.

void spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::matchSize ( void )

virtual

Reimplemented from costmap_2d::CostmapLayer.

Definition at line 634 of file spatio_temporal_voxel_layer.cpp.

void spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::ObservationsResetAfterReading ( ) const

Definition at line 448 of file spatio_temporal_voxel_layer.cpp.

void spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::onInitialize ( void )

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 63 of file spatio_temporal_voxel_layer.cpp.

void spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::PointCloud2Callback	(	const sensor_msgs::PointCloud2ConstPtr &	message,
		const boost::shared_ptr< buffer::MeasurementBuffer > &	buffer
	)

private

Definition at line 364 of file spatio_temporal_voxel_layer.cpp.

bool spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::RemoveStaticObservations ( void )

private

Definition at line 565 of file spatio_temporal_voxel_layer.cpp.

void spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::reset ( void )

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 532 of file spatio_temporal_voxel_layer.cpp.

void spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::ResetGrid ( void )

Definition at line 624 of file spatio_temporal_voxel_layer.cpp.

bool spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::SaveGridCallback	(	spatio_temporal_voxel_layer::SaveGrid::Request &	req,
		spatio_temporal_voxel_layer::SaveGrid::Response &	resp
	)

Definition at line 769 of file spatio_temporal_voxel_layer.cpp.

void spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::updateBounds	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 693 of file spatio_temporal_voxel_layer.cpp.

void spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::updateCosts	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 642 of file spatio_temporal_voxel_layer.cpp.

bool spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::updateFootprint	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

Definition at line 474 of file spatio_temporal_voxel_layer.cpp.

void spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::UpdateROSCostmap	(	double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

Definition at line 671 of file spatio_temporal_voxel_layer.cpp.

Member Data Documentation

std::vector<ros::ServiceServer> spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_buffer_enabler_servers

private

Definition at line 152 of file spatio_temporal_voxel_layer.hpp.

std::vector<boost::shared_ptr<buffer::MeasurementBuffer> > spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_clearing_buffers

private

Definition at line 151 of file spatio_temporal_voxel_layer.hpp.

int spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_combination_method

private

Definition at line 162 of file spatio_temporal_voxel_layer.hpp.

volume_grid::GlobalDecayModel spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_decay_model

private

Definition at line 163 of file spatio_temporal_voxel_layer.hpp.

dynamicReconfigureServerType* spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_dynamic_reconfigure_server

private

Definition at line 153 of file spatio_temporal_voxel_layer.hpp.

bool spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_enabled

private

Definition at line 164 of file spatio_temporal_voxel_layer.hpp.

std::string spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_global_frame

private

Definition at line 160 of file spatio_temporal_voxel_layer.hpp.

ros::ServiceServer spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_grid_saver

private

Definition at line 157 of file spatio_temporal_voxel_layer.hpp.

laser_geometry::LaserProjection spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_laser_projector

private

Definition at line 146 of file spatio_temporal_voxel_layer.hpp.

ros::Time spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_last_map_save_time

private

Definition at line 159 of file spatio_temporal_voxel_layer.hpp.

ros::Duration spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_map_save_duration

private

Definition at line 158 of file spatio_temporal_voxel_layer.hpp.

bool spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_mapping_mode

private

Definition at line 155 of file spatio_temporal_voxel_layer.hpp.

int spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_mark_threshold

private

Definition at line 162 of file spatio_temporal_voxel_layer.hpp.

std::vector<boost::shared_ptr<buffer::MeasurementBuffer> > spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_marking_buffers

private

Definition at line 150 of file spatio_temporal_voxel_layer.hpp.

std::vector<boost::shared_ptr<buffer::MeasurementBuffer> > spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_observation_buffers

private

Definition at line 149 of file spatio_temporal_voxel_layer.hpp.

std::vector<boost::shared_ptr<tf::MessageFilterBase> > spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_observation_notifiers

private

Definition at line 148 of file spatio_temporal_voxel_layer.hpp.

std::vector<boost::shared_ptr<message_filters::SubscriberBase> > spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_observation_subscribers

private

Definition at line 147 of file spatio_temporal_voxel_layer.hpp.

bool spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_publish_voxels

private

Definition at line 155 of file spatio_temporal_voxel_layer.hpp.

std::vector<observation::MeasurementReading> spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_static_observations

private

Definition at line 166 of file spatio_temporal_voxel_layer.hpp.

std::vector<geometry_msgs::Point> spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_transformed_footprint

private

Definition at line 165 of file spatio_temporal_voxel_layer.hpp.

bool spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_update_footprint_enabled

private

Definition at line 164 of file spatio_temporal_voxel_layer.hpp.

double spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_voxel_decay

private

Definition at line 161 of file spatio_temporal_voxel_layer.hpp.

volume_grid::SpatioTemporalVoxelGrid* spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_voxel_grid

private

Definition at line 167 of file spatio_temporal_voxel_layer.hpp.

boost::recursive_mutex spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_voxel_grid_lock

private

Definition at line 168 of file spatio_temporal_voxel_layer.hpp.

ros::Publisher spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_voxel_pub

private

Definition at line 156 of file spatio_temporal_voxel_layer.hpp.

double spatio_temporal_voxel_layer::SpatioTemporalVoxelLayer::_voxel_size

private

Definition at line 161 of file spatio_temporal_voxel_layer.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation