#include <octree_stamped_pa_ros.h>

Inheritance diagram for cOctreeStampedPaRos:

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Public Types
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 Member Functions
	cOctreeStampedPaRos (const double resolution)
	default constructor More...

void	degradeOutdatedNodes (void)
	degrading outdated nodes More...

ros::Time	getLastInsertionTime (void) const
	function for returning the time the octomap was last updated More...

void	setLastInsertionTime (const ros::Time &time)
	function for setting the time the octomap was last updated More...

cTimePa	timeFromRos (const ros::Time &time) const
	function for converting from ros::Time to cTimePa More...

ros::Time	timeToRos (const cTimePa &time) const
	function for converting from cTimePa to ros::Time More...

virtual	~cOctreeStampedPaRos ()
	default destructor More...

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

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

bool	addCloud (const sensor_msgs::PointCloud2 &cloud, const cAddCloudParameter &params, 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 &current, const int current_level, OctKey &child, const int child_pos) const

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 &current, 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...

void	setOutputTime (const ros::Time &time)

bool	updateTime (const ros::Time &time)

virtual	~cOctreeBasePaRos ()
	default destructor More...

Public Member Functions inherited from cOcTreeStampedPa
	cOcTreeStampedPa (double resolution)
	Default constructor, sets resolution of leafs. More...

cOcTreeStampedPa *	create () const

virtual std::string	getTreeType () const

virtual	~cOcTreeStampedPa (void)

Public Member Functions inherited from cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode >
	cOcTreeStampedBasePa (double resolution)
	Default constructor, sets resolution of leafs. More...

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)

Public Attributes
cOctreeStampedPaRosParameter	rosparams_
	parameters More...

Public Attributes inherited from cOctreeBasePaRos< cOcTreeStampedPa >
cOctreeBasePaRosParameter	rosparams_base_
	parameters More...

Protected Member Functions
void	checkDegrading (void)
	helper function for automatic degrading More...

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
	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 &current, const int current_level, OctKey &parent) const
	helper function for getParentKey More...

Protected Attributes
ros::Time	last_degrading_time_

Protected Attributes inherited from cOctreeBasePaRos< cOcTreeStampedPa >
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...

Protected Attributes inherited from cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode >
cTimePa	current_timestamp
	used to set new data (insertion of measurement) to actual time stamp More...

Additional Inherited Members
Static Protected Attributes inherited from cOcTreeStampedPa
static StaticMemberInitializer	StaticMemberInit
	to ensure static initialization (only once) More...

Detailed Description

Definition at line 62 of file octree_stamped_pa_ros.h.

Member Typedef Documentation

◆ TreeTypeBase

typedef cOctreeBasePaRos<cOcTreeStampedPa> cOctreeStampedPaRos::TreeTypeBase

Definition at line 110 of file octree_stamped_pa_ros.h.

Constructor & Destructor Documentation

◆ cOctreeStampedPaRos()

cOctreeStampedPaRos::cOctreeStampedPaRos ( const double resolution )

default constructor

Definition at line 58 of file octree_stamped_pa_ros.cpp.

◆ ~cOctreeStampedPaRos()

cOctreeStampedPaRos::~cOctreeStampedPaRos ( )

virtual

default destructor

Definition at line 64 of file octree_stamped_pa_ros.cpp.

Member Function Documentation

◆ checkDegrading()

void cOctreeStampedPaRos::checkDegrading ( void )

protected

helper function for automatic degrading

Definition at line 99 of file octree_stamped_pa_ros.cpp.

◆ degradeOutdatedNodes()

void cOctreeStampedPaRos::degradeOutdatedNodes ( void )

degrading outdated nodes

Definition at line 68 of file octree_stamped_pa_ros.cpp.

◆ getLastInsertionTime()

ros::Time cOctreeStampedPaRos::getLastInsertionTime ( void ) const

virtual

function for returning the time the octomap was last updated

Reimplemented from cOctreeBasePaRos< cOcTreeStampedPa >.

Definition at line 75 of file octree_stamped_pa_ros.cpp.

◆ setLastInsertionTime()

void cOctreeStampedPaRos::setLastInsertionTime ( const ros::Time & time )

virtual

function for setting the time the octomap was last updated

Reimplemented from cOctreeBasePaRos< cOcTreeStampedPa >.

Definition at line 81 of file octree_stamped_pa_ros.cpp.

◆ timeFromRos()

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

function for converting from ros::Time to cTimePa

Definition at line 93 of file octree_stamped_pa_ros.cpp.

◆ timeToRos()

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

function for converting from cTimePa to ros::Time

Definition at line 87 of file octree_stamped_pa_ros.cpp.

Member Data Documentation

◆ last_degrading_time_

ros::Time cOctreeStampedPaRos::last_degrading_time_

protected

Definition at line 135 of file octree_stamped_pa_ros.h.

◆ rosparams_

cOctreeStampedPaRosParameter cOctreeStampedPaRos::rosparams_

parameters

Definition at line 132 of file octree_stamped_pa_ros.h.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ TreeTypeBase

Constructor & Destructor Documentation

◆ cOctreeStampedPaRos()

◆ ~cOctreeStampedPaRos()

Member Function Documentation

◆ checkDegrading()

◆ degradeOutdatedNodes()

◆ getLastInsertionTime()

◆ setLastInsertionTime()

◆ timeFromRos()

◆ timeToRos()

Member Data Documentation

◆ last_degrading_time_

◆ rosparams_