#include <octree_pa_node.h>
Inheritance diagram for cOctreePaNode:
Public Types | |
| typedef cOctreeBasePaNode< cOctreePaRos > | TypeBase |
 Public Types inherited from cOctreeBasePaNode< cOctreePaRos > | |
| typedef cOctreePaRos | TypeBase |
| typedef cOctreeBasePaNode< cOctreePaRos > | TypeFull |
| Public Types inherited from cOctreePaRos | |
| typedef cOctreeBasePaRos< OcTree > | TreeTypeBase |
| Public Types inherited from cOctreeBasePaRos< octomap::OcTree > | |
| 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 octomap::OcTree | TreeTypeBase |
| typedef cOctreeBasePaRos< octomap::OcTree > | TreeTypeFull |
Public Member Functions | |
| cOctreePaNode () | |
| default constructor More... | |
| ~cOctreePaNode () | |
| default destructor More... | |
| Public Member Functions inherited from cOctreeBasePaNode< cOctreePaRos > | |
| 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... | |
| Public Member Functions inherited from cOctreePaRos | |
| cOctreePaRos (const double resolution) | |
| default constructor More... | |
| virtual | ~cOctreePaRos () |
| default destructor More... | |
| Public Member Functions inherited from cOctreeBasePaRos< octomap::OcTree > | |
| bool | addCloud (const sensor_msgs::LaserScan &cloud, const cAddCloudParameter ¶ms, const tf::Transform transform=tf::Transform::getIdentity()) |
| bool | addCloud (const sensor_msgs::PointCloud &cloud, const cAddCloudParameter ¶ms, const tf::Transform transform=tf::Transform::getIdentity()) |
| bool | addCloud (const sensor_msgs::PointCloud2 &cloud, const cAddCloudParameter ¶ms, const tf::Transform transform=tf::Transform::getIdentity()) |
| virtual void | clear (void) |
| clear local timestamps with octomap More... | |
| cOctreeBasePaRos (double resolution) | |
| default constructor More... | |
| bool | getChildKey (const OctKey ¤t, const int current_level, OctKey &child, const int child_pos) const |
| virtual ros::Time | getLastInsertionTime (void) const |
| function for returning the time the octomap was last updated More... | |
| octomap_msgs::OctomapPtr | getOctomap (void) const |
| function for getting the binary octomap More... | |
| octomap_msgs::OctomapPtr | getOctomapFull (void) const |
| function for getting the full octomap More... | |
| sensor_msgs::PointCloud2Ptr | getOctomapPcd (const int tree_depth=0, const bool expand=false) const |
| function for getting the pointcloud equivalent of the octomap More... | |
| sensor_msgs::PointCloud2Ptr | getOctomapPcdFree (const int tree_depth=0, const bool expand=false) const |
| similar to getOctomapPcd, but only returning just empty voxels More... | |
| ros::Time | getOutputTime (void) const |
| function for returning the time of output messages More... | |
| bool | getParentKey (const OctKey ¤t, const int current_level, OctKey &parent) const |
| geometry_msgs::PointPtr | keyToPoint (const OctKey &key) const |
| function for converting from key to point (geometry_msg) More... | |
| void | keyToPoint (const OctKey &key, double &x, double &y, double &z) const |
| function for converting from key to real coordinates More... | |
| OctKey | pointToKey (const geometry_msgs::Point &point) const |
| functions for converting from point (geometry_msg) to key More... | |
| bool | readFull (const std::string &filename) |
| trying to read the given file into the current OcTree More... | |
| virtual void | setLastInsertionTime (const ros::Time &time) |
| void | setOutputTime (const ros::Time &time) |
| bool | updateTime (const ros::Time &time) |
| virtual | ~cOctreeBasePaRos () |
| default destructor More... | |
Static Public Attributes | |
| const static std::string | nodename_ = "octree_pa_node" |
| official node name More... | |
Protected Member Functions | |
| virtual void | internal_node_update (void) |
| virtual overload for additional updates More... | |
| Protected Member Functions inherited from cOctreeBasePaNode< cOctreePaRos > | |
| 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) |
| 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 Member Functions inherited from cOctreeBasePaRos< octomap::OcTree > | |
| bool | addCloud (const PclPointCloudPtr &cloud, const cAddCloudParameter ¶ms, const tf::Transform &transform) |
| void | getChildKeySimple (const OctKey ¤t, const int current_level, OctKey &child, const int child_pos) const |
| helper function for getChildKey More... | |
| void | getOctomapPcdSub (const OctKey &key, const int current_level, const int min_level, PclPointCloud &cloud) const |
| helper function for getOctomapPcd... More... | |
| void | getParentKeySimple (const OctKey ¤t, const int current_level, OctKey &parent) const |
| helper function for getParentKey More... | |
Additional Inherited Members | |
| Public Attributes inherited from cOctreeBasePaRos< octomap::OcTree > | |
| cOctreeBasePaRosParameter | rosparams_base_ |
| parameters More... | |
| Protected Attributes inherited from cOctreeBasePaNode< cOctreePaRos > | |
| 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... | |
| Protected Attributes inherited from cOctreeBasePaRos< octomap::OcTree > | |
| ros::Time | current_output_time_ |
| internal variable for storing current output time More... | |
| ros::Time | last_insertion_time_ |
| internal variable for storing last insertion time More... | |
Detailed Description
Definition at line 60 of file octree_pa_node.h.
Member Typedef Documentation
◆ TypeBase
Definition at line 108 of file octree_pa_node.h.
Constructor & Destructor Documentation
◆ cOctreePaNode()
| cOctreePaNode::cOctreePaNode | ( | ) |
default constructor
Definition at line 72 of file octree_pa_node.cpp.
◆ ~cOctreePaNode()
| cOctreePaNode::~cOctreePaNode | ( | ) |
default destructor
Definition at line 78 of file octree_pa_node.cpp.
Member Function Documentation
◆ internal_node_update()
|
protectedvirtual |
virtual overload for additional updates
Implements cOctreeBasePaNode< cOctreePaRos >.
Definition at line 83 of file octree_pa_node.cpp.
Member Data Documentation
◆ nodename_
|
static |
official node name
Definition at line 117 of file octree_pa_node.h.
The documentation for this class was generated from the following files: