#include <octree_base_pa_node.h>

Inheritance diagram for cOctreeBasePaNode< BASECLASS >:

Public Types
typedef BASECLASS	TypeBase

typedef cOctreeBasePaNode< BASECLASS >	TypeFull

Public Member Functions
	cOctreeBasePaNode (const std::string nodename, const double resolution=0.1, const ros::Duration tf_listener_buffersize=ros::Duration(20))
	default constructor More...

virtual octomap_pa_msgs::Config	getConfig (void)
	function for retrieving all current configs More...

void	publishOctomap (void)
	function for publishing the octomap More...

virtual bool	setConfigDegrading (const octomap_pa_msgs::ConfigDegrading &config)
	function for setting degrading configs (does nothing by default More...

bool	setConfigInsertion (const octomap_pa_msgs::ConfigInsertion &config)
	function for setting config for adding pointclouds More...

virtual	~cOctreeBasePaNode ()
	default destructor More...

Protected Member Functions
bool	addCloudCallbackSrv (octomap_pa_msgs::AddCloud::Request &req, octomap_pa_msgs::AddCloud::Response &res)

bool	addCloudTfCallbackSrv (octomap_pa_msgs::AddCloudTf::Request &req, octomap_pa_msgs::AddCloudTf::Response &res)

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

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

void	addPointcloudOldCallbackSub (const sensor_msgs::PointCloudConstPtr &msg)
	callback function for receiving a pointcloud (old format) More...

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

bool	getCloudCallbackSrv (octomap_pa_msgs::GetCloud::Request &req, octomap_pa_msgs::GetCloud::Response &res)

bool	getConfigCallbackSrv (octomap_pa_msgs::GetConfig::Request &req, octomap_pa_msgs::GetConfig::Response &res)

bool	getSizeCallbackSrv (octomap_pa_msgs::GetSize::Request &req, octomap_pa_msgs::GetSize::Response &res)

virtual void	internal_node_update (void)=0
	virtual overload for additional updates More...

bool	loadCallbackSrv (octomap_pa_msgs::FileName::Request &req, octomap_pa_msgs::FileName::Response &res)

bool	resetCallbackSrv (octomap_pa_msgs::Reset::Request &req, octomap_pa_msgs::Reset::Response &res)

bool	saveCallbackSrv (octomap_pa_msgs::FileName::Request &req, octomap_pa_msgs::FileName::Response &res)

bool	setConfigDegradingCallbackSrv (octomap_pa_msgs::SetConfigDegrading::Request &req, octomap_pa_msgs::SetConfigDegrading::Response &res)

bool	setConfigInsertionCallbackSrv (octomap_pa_msgs::SetConfigInsertion::Request &req, octomap_pa_msgs::SetConfigInsertion::Response &res)

bool	updateTimeAndGetTF (const std_msgs::Header header, tf::Transform &transform)
	helper function to update/check timestamps & check/retrieve TF More...

Protected Attributes
cAddCloudParameter	addparams_

int	count_cloud_
	number of inserted pointclouds More...

int	count_cloud_old_
	number of inserted pointclouds (old format) More...

int	count_laser_
	number of inserted laser scans More...

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

cOctreeBasePaNodeParameter	nodeparams_
	parameters 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_octomap_
	puplisher for the octomap (binary data) More...

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

ros::ServiceServer	srv_addcloud_
	service for adding a new pointcloud to the octomap More...

ros::ServiceServer	srv_addcloudtf_
	service for adding a new pointcloud to the octomap (by passing a tf) More...

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

ros::ServiceServer	srv_getcloud_
	service for receiving the current octomap as pointcloud More...

ros::ServiceServer	srv_getconfig_
	service for receiving all config of the octomap More...

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

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

ros::ServiceServer	srv_reset_

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

ros::ServiceServer	srv_setconfig_degrading_
	service for setting the degrading config of the octomap More...

ros::ServiceServer	srv_setconfig_insertion_
	service for setting the insertion config of the octomap More...

ros::Subscriber	sub_cloud_
	subscriber for a pointcloud More...

ros::Subscriber	sub_cloud_old_
	subscriber for a pointcloud (old format) More...

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

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

Private Attributes
std::string	nodename_
	official node name used for ros info messages More...

Detailed Description

template<typename BASECLASS>
class cOctreeBasePaNode< BASECLASS >

Definition at line 90 of file octree_base_pa_node.h.

Member Typedef Documentation

◆ TypeBase

template<typename BASECLASS >

typedef BASECLASS cOctreeBasePaNode< BASECLASS >::TypeBase

Definition at line 139 of file octree_base_pa_node.h.

◆ TypeFull

template<typename BASECLASS >

typedef cOctreeBasePaNode<BASECLASS> cOctreeBasePaNode< BASECLASS >::TypeFull

Definition at line 140 of file octree_base_pa_node.h.

Constructor & Destructor Documentation

◆ cOctreeBasePaNode()

template<typename BASECLASS >

cOctreeBasePaNode< BASECLASS >::cOctreeBasePaNode	(	const std::string	nodename,
		const double	resolution = `0.1`,
		const ros::Duration	tf_listener_buffersize = `ros::Duration(20)`
	)

default constructor

◆ ~cOctreeBasePaNode()

template<typename BASECLASS >

virtual cOctreeBasePaNode< BASECLASS >::~cOctreeBasePaNode ( )

virtual

default destructor

Member Function Documentation

◆ addCloudCallbackSrv()

template<typename BASECLASS >

bool cOctreeBasePaNode< BASECLASS >::addCloudCallbackSrv	(	octomap_pa_msgs::AddCloud::Request &	req,
		octomap_pa_msgs::AddCloud::Response &	res
	)

protected

◆ addCloudTfCallbackSrv()

template<typename BASECLASS >

bool cOctreeBasePaNode< BASECLASS >::addCloudTfCallbackSrv	(	octomap_pa_msgs::AddCloudTf::Request &	req,
		octomap_pa_msgs::AddCloudTf::Response &	res
	)

protected

◆ addLaserCallbackSub()

template<typename BASECLASS >

void cOctreeBasePaNode< BASECLASS >::addLaserCallbackSub ( const sensor_msgs::LaserScanConstPtr & msg )

protected

callback function for receiving a laserscan

◆ addPointcloudCallbackSub()

template<typename BASECLASS >

void cOctreeBasePaNode< BASECLASS >::addPointcloudCallbackSub ( const sensor_msgs::PointCloud2ConstPtr & msg )

protected

callback function for receiving a pointcloud

◆ addPointcloudOldCallbackSub()

template<typename BASECLASS >

void cOctreeBasePaNode< BASECLASS >::addPointcloudOldCallbackSub ( const sensor_msgs::PointCloudConstPtr & msg )

protected

callback function for receiving a pointcloud (old format)

◆ clearCallbackSrv()

template<typename BASECLASS >

bool cOctreeBasePaNode< BASECLASS >::clearCallbackSrv	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

protected

◆ getCloudCallbackSrv()

template<typename BASECLASS >

bool cOctreeBasePaNode< BASECLASS >::getCloudCallbackSrv	(	octomap_pa_msgs::GetCloud::Request &	req,
		octomap_pa_msgs::GetCloud::Response &	res
	)

protected

◆ getConfig()

template<typename BASECLASS >

virtual octomap_pa_msgs::Config cOctreeBasePaNode< BASECLASS >::getConfig ( void )

virtual

function for retrieving all current configs

Reimplemented in cOctreeStampedNativeNode, and cOctreeStampedPaNode.

◆ getConfigCallbackSrv()

template<typename BASECLASS >

bool cOctreeBasePaNode< BASECLASS >::getConfigCallbackSrv	(	octomap_pa_msgs::GetConfig::Request &	req,
		octomap_pa_msgs::GetConfig::Response &	res
	)

protected

◆ getSizeCallbackSrv()

template<typename BASECLASS >

bool cOctreeBasePaNode< BASECLASS >::getSizeCallbackSrv	(	octomap_pa_msgs::GetSize::Request &	req,
		octomap_pa_msgs::GetSize::Response &	res
	)

protected

◆ internal_node_update()

template<typename BASECLASS >

virtual void cOctreeBasePaNode< BASECLASS >::internal_node_update ( void )

protectedpure virtual

virtual overload for additional updates

Implemented in cOctreeStampedNativeNode, cOctreeStampedPaNode, and cOctreePaNode.

◆ loadCallbackSrv()

template<typename BASECLASS >

bool cOctreeBasePaNode< BASECLASS >::loadCallbackSrv	(	octomap_pa_msgs::FileName::Request &	req,
		octomap_pa_msgs::FileName::Response &	res
	)

protected

◆ publishOctomap()

template<typename BASECLASS >

void cOctreeBasePaNode< BASECLASS >::publishOctomap ( void )

function for publishing the octomap

◆ resetCallbackSrv()

template<typename BASECLASS >

bool cOctreeBasePaNode< BASECLASS >::resetCallbackSrv	(	octomap_pa_msgs::Reset::Request &	req,
		octomap_pa_msgs::Reset::Response &	res
	)

protected

◆ saveCallbackSrv()

template<typename BASECLASS >

bool cOctreeBasePaNode< BASECLASS >::saveCallbackSrv	(	octomap_pa_msgs::FileName::Request &	req,
		octomap_pa_msgs::FileName::Response &	res
	)

protected

◆ setConfigDegrading()

template<typename BASECLASS >

virtual bool cOctreeBasePaNode< BASECLASS >::setConfigDegrading ( const octomap_pa_msgs::ConfigDegrading & config )

virtual

function for setting degrading configs (does nothing by default

◆ setConfigDegradingCallbackSrv()

template<typename BASECLASS >

bool cOctreeBasePaNode< BASECLASS >::setConfigDegradingCallbackSrv	(	octomap_pa_msgs::SetConfigDegrading::Request &	req,
		octomap_pa_msgs::SetConfigDegrading::Response &	res
	)

protected

◆ setConfigInsertion()

template<typename BASECLASS >

bool cOctreeBasePaNode< BASECLASS >::setConfigInsertion ( const octomap_pa_msgs::ConfigInsertion & config )

function for setting config for adding pointclouds

◆ setConfigInsertionCallbackSrv()

template<typename BASECLASS >

bool cOctreeBasePaNode< BASECLASS >::setConfigInsertionCallbackSrv	(	octomap_pa_msgs::SetConfigInsertion::Request &	req,
		octomap_pa_msgs::SetConfigInsertion::Response &	res
	)

protected

◆ updateTimeAndGetTF()

template<typename BASECLASS >

bool cOctreeBasePaNode< BASECLASS >::updateTimeAndGetTF	(	const std_msgs::Header	header,
		tf::Transform &	transform
	)

protected

helper function to update/check timestamps & check/retrieve TF

Member Data Documentation

◆ addparams_

template<typename BASECLASS >

cAddCloudParameter cOctreeBasePaNode< BASECLASS >::addparams_

protected

Definition at line 165 of file octree_base_pa_node.h.

◆ count_cloud_

template<typename BASECLASS >

int cOctreeBasePaNode< BASECLASS >::count_cloud_

protected

number of inserted pointclouds

Definition at line 168 of file octree_base_pa_node.h.

◆ count_cloud_old_

template<typename BASECLASS >

int cOctreeBasePaNode< BASECLASS >::count_cloud_old_

protected

number of inserted pointclouds (old format)

Definition at line 170 of file octree_base_pa_node.h.

◆ count_laser_

template<typename BASECLASS >

int cOctreeBasePaNode< BASECLASS >::count_laser_

protected

number of inserted laser scans

Definition at line 172 of file octree_base_pa_node.h.

◆ nh_

template<typename BASECLASS >

ros::NodeHandle cOctreeBasePaNode< BASECLASS >::nh_

protected

node handler for topic subscription and advertising

Definition at line 175 of file octree_base_pa_node.h.

◆ nodename_

template<typename BASECLASS >

std::string cOctreeBasePaNode< BASECLASS >::nodename_

private

official node name used for ros info messages

Definition at line 277 of file octree_base_pa_node.h.

◆ nodeparams_

template<typename BASECLASS >

cOctreeBasePaNodeParameter cOctreeBasePaNode< BASECLASS >::nodeparams_

protected

parameters

Definition at line 164 of file octree_base_pa_node.h.

◆ pub_cloud_free_

template<typename BASECLASS >

ros::Publisher cOctreeBasePaNode< BASECLASS >::pub_cloud_free_

protected

puplisher for free voxels as pointcloud

Definition at line 203 of file octree_base_pa_node.h.

◆ pub_cloud_occupied_

template<typename BASECLASS >

ros::Publisher cOctreeBasePaNode< BASECLASS >::pub_cloud_occupied_

protected

puplisher for occupied voxels as pointcloud

Definition at line 205 of file octree_base_pa_node.h.

◆ pub_octomap_

template<typename BASECLASS >

ros::Publisher cOctreeBasePaNode< BASECLASS >::pub_octomap_

protected

puplisher for the octomap (binary data)

Definition at line 199 of file octree_base_pa_node.h.

◆ pub_octomap_full_

template<typename BASECLASS >

ros::Publisher cOctreeBasePaNode< BASECLASS >::pub_octomap_full_

protected

puplisher for the octomap (full data)

Definition at line 201 of file octree_base_pa_node.h.

◆ srv_addcloud_

template<typename BASECLASS >

ros::ServiceServer cOctreeBasePaNode< BASECLASS >::srv_addcloud_

protected

service for adding a new pointcloud to the octomap

Definition at line 236 of file octree_base_pa_node.h.

◆ srv_addcloudtf_

template<typename BASECLASS >

ros::ServiceServer cOctreeBasePaNode< BASECLASS >::srv_addcloudtf_

protected

service for adding a new pointcloud to the octomap (by passing a tf)

Definition at line 241 of file octree_base_pa_node.h.

◆ srv_clear_

template<typename BASECLASS >

ros::ServiceServer cOctreeBasePaNode< BASECLASS >::srv_clear_

protected

service for clearing the octomap

Definition at line 209 of file octree_base_pa_node.h.

◆ srv_getcloud_

template<typename BASECLASS >

ros::ServiceServer cOctreeBasePaNode< BASECLASS >::srv_getcloud_

protected

service for receiving the current octomap as pointcloud

Definition at line 246 of file octree_base_pa_node.h.

◆ srv_getconfig_

template<typename BASECLASS >

ros::ServiceServer cOctreeBasePaNode< BASECLASS >::srv_getconfig_

protected

service for receiving all config of the octomap

Definition at line 230 of file octree_base_pa_node.h.

◆ srv_getsize_

template<typename BASECLASS >

ros::ServiceServer cOctreeBasePaNode< BASECLASS >::srv_getsize_

protected

service for receiving the current size of the octomap

Definition at line 251 of file octree_base_pa_node.h.

◆ srv_load_

template<typename BASECLASS >

ros::ServiceServer cOctreeBasePaNode< BASECLASS >::srv_load_

protected

service for loading a octomap

Definition at line 262 of file octree_base_pa_node.h.

◆ srv_reset_

template<typename BASECLASS >

ros::ServiceServer cOctreeBasePaNode< BASECLASS >::srv_reset_

protected

service for resetting the octomap (clearing & changing basic properties)

Definition at line 214 of file octree_base_pa_node.h.

◆ srv_save_

template<typename BASECLASS >

ros::ServiceServer cOctreeBasePaNode< BASECLASS >::srv_save_

protected

service for saving the octomap

Definition at line 257 of file octree_base_pa_node.h.

◆ srv_setconfig_degrading_

template<typename BASECLASS >

ros::ServiceServer cOctreeBasePaNode< BASECLASS >::srv_setconfig_degrading_

protected

service for setting the degrading config of the octomap

Definition at line 220 of file octree_base_pa_node.h.

◆ srv_setconfig_insertion_

template<typename BASECLASS >

ros::ServiceServer cOctreeBasePaNode< BASECLASS >::srv_setconfig_insertion_

protected

service for setting the insertion config of the octomap

Definition at line 225 of file octree_base_pa_node.h.

◆ sub_cloud_

template<typename BASECLASS >

ros::Subscriber cOctreeBasePaNode< BASECLASS >::sub_cloud_

protected

subscriber for a pointcloud

Definition at line 182 of file octree_base_pa_node.h.

◆ sub_cloud_old_

template<typename BASECLASS >

ros::Subscriber cOctreeBasePaNode< BASECLASS >::sub_cloud_old_

protected

subscriber for a pointcloud (old format)

Definition at line 188 of file octree_base_pa_node.h.

◆ sub_laser_

template<typename BASECLASS >

ros::Subscriber cOctreeBasePaNode< BASECLASS >::sub_laser_

protected

subscriber for a laserscan

Definition at line 194 of file octree_base_pa_node.h.

◆ tf_listener_

template<typename BASECLASS >

tf::TransformListener cOctreeBasePaNode< BASECLASS >::tf_listener_

protected

transformation of different frames

Definition at line 178 of file octree_base_pa_node.h.

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

octree_base_pa_node.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

template<typename BASECLASS> class cOctreeBasePaNode< BASECLASS >

Member Typedef Documentation

◆ TypeBase

◆ TypeFull

Constructor & Destructor Documentation

◆ cOctreeBasePaNode()

◆ ~cOctreeBasePaNode()

Member Function Documentation

◆ addCloudCallbackSrv()

◆ addCloudTfCallbackSrv()

◆ addLaserCallbackSub()

◆ addPointcloudCallbackSub()

◆ addPointcloudOldCallbackSub()

◆ clearCallbackSrv()

◆ getCloudCallbackSrv()

◆ getConfig()

◆ getConfigCallbackSrv()

◆ getSizeCallbackSrv()

◆ internal_node_update()

◆ loadCallbackSrv()

◆ publishOctomap()

◆ resetCallbackSrv()

◆ saveCallbackSrv()

◆ setConfigDegrading()

◆ setConfigDegradingCallbackSrv()

◆ setConfigInsertion()

◆ setConfigInsertionCallbackSrv()

◆ updateTimeAndGetTF()

Member Data Documentation

◆ addparams_

◆ count_cloud_

◆ count_cloud_old_

◆ count_laser_

◆ nh_

◆ nodename_

◆ nodeparams_

◆ pub_cloud_free_

◆ pub_cloud_occupied_

◆ pub_octomap_

◆ pub_octomap_full_

◆ srv_addcloud_

◆ srv_addcloudtf_

◆ srv_clear_

◆ srv_getcloud_

◆ srv_getconfig_

◆ srv_getsize_

◆ srv_load_

◆ srv_reset_

◆ srv_save_

◆ srv_setconfig_degrading_

◆ srv_setconfig_insertion_

◆ sub_cloud_

◆ sub_cloud_old_

◆ sub_laser_

◆ tf_listener_

template<typename BASECLASS>
class cOctreeBasePaNode< BASECLASS >