This is a filter that removes points in a laser scan inside of a polygon. It assumes that the transform between the scanner and the robot base remains unchanged, i.e. the position and orientation of the laser filter should not change. A typical use case for this filter is to filter out parts of the robot body or load that it may carry. More...

#include <polygon_filter.h>

Inheritance diagram for laser_filters::StaticLaserScanPolygonFilter:

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Public Member Functions
bool	configure () override

bool	update (const sensor_msgs::LaserScan &input_scan, sensor_msgs::LaserScan &filtered_scan) override

Public Member Functions inherited from laser_filters::LaserScanPolygonFilterBase
virtual void	configure (PolygonFilterConfig &config)

Public Member Functions inherited from filters::FilterBase< sensor_msgs::LaserScan >
bool	configure (const std::string &param_name, ros::NodeHandle node_handle=ros::NodeHandle())

bool	configure (XmlRpc::XmlRpcValue &config)

	FilterBase ()

const std::string &	getName () const

std::string	getType ()

virtual bool	update (const T &data_in, T &data_out)=0

virtual	~FilterBase ()

Protected Member Functions
void	reconfigureCB (laser_filters::PolygonFilterConfig &config, uint32_t level) override

Protected Member Functions inherited from laser_filters::LaserScanPolygonFilterBase
bool	inPolygon (tf::Point &point) const

void	publishPolygon ()

Protected Member Functions inherited from filters::FilterBase< sensor_msgs::LaserScan >
bool	getParam (const std::string &name, bool &value) const

bool	getParam (const std::string &name, double &value) const

bool	getParam (const std::string &name, int &value) const

bool	getParam (const std::string &name, std::string &value) const

bool	getParam (const std::string &name, std::vector< double > &value) const

bool	getParam (const std::string &name, std::vector< std::string > &value) const

bool	getParam (const std::string &name, unsigned int &value) const

bool	getParam (const std::string &name, XmlRpc::XmlRpcValue &value) const

bool	loadConfiguration (XmlRpc::XmlRpcValue &config)

Private Member Functions
void	checkCoSineMap (const sensor_msgs::LaserScan &input_scan)

Private Attributes
Eigen::ArrayXXd	co_sine_map_

float	co_sine_map_angle_max_

float	co_sine_map_angle_min_

bool	is_polygon_transformed_

double	transform_timeout_

Additional Inherited Members
Protected Attributes inherited from laser_filters::LaserScanPolygonFilterBase
std::shared_ptr< dynamic_reconfigure::Server< laser_filters::PolygonFilterConfig > >	dyn_server_

bool	invert_filter_

bool	is_polygon_published_ = false

boost::recursive_mutex	own_mutex_

geometry_msgs::Polygon	polygon_

std::string	polygon_frame_

double	polygon_padding_

ros::Publisher	polygon_pub_

Protected Attributes inherited from filters::FilterBase< sensor_msgs::LaserScan >
bool	configured_

std::string	filter_name_

std::string	filter_type_

string_map_t	params_

Detailed Description

This is a filter that removes points in a laser scan inside of a polygon. It assumes that the transform between the scanner and the robot base remains unchanged, i.e. the position and orientation of the laser filter should not change. A typical use case for this filter is to filter out parts of the robot body or load that it may carry.

Definition at line 107 of file polygon_filter.h.

Member Function Documentation

◆ checkCoSineMap()

void laser_filters::StaticLaserScanPolygonFilter::checkCoSineMap ( const sensor_msgs::LaserScan & input_scan )

private

Definition at line 430 of file polygon_filter.cpp.

◆ configure()

bool laser_filters::StaticLaserScanPolygonFilter::configure ( )

overridevirtual

Reimplemented from laser_filters::LaserScanPolygonFilterBase.

Definition at line 420 of file polygon_filter.cpp.

◆ reconfigureCB()

void laser_filters::StaticLaserScanPolygonFilter::reconfigureCB	(	laser_filters::PolygonFilterConfig &	config,
		uint32_t	level
	)

overrideprotectedvirtual

Reimplemented from laser_filters::LaserScanPolygonFilterBase.

Definition at line 544 of file polygon_filter.cpp.

◆ update()

bool laser_filters::StaticLaserScanPolygonFilter::update	(	const sensor_msgs::LaserScan &	input_scan,
		sensor_msgs::LaserScan &	filtered_scan
	)

overridevirtual

Reimplemented from laser_filters::LaserScanPolygonFilterBase.

Definition at line 459 of file polygon_filter.cpp.

Member Data Documentation

◆ co_sine_map_

Eigen::ArrayXXd laser_filters::StaticLaserScanPolygonFilter::co_sine_map_

private

Definition at line 118 of file polygon_filter.h.

◆ co_sine_map_angle_max_

float laser_filters::StaticLaserScanPolygonFilter::co_sine_map_angle_max_

private

Definition at line 120 of file polygon_filter.h.

◆ co_sine_map_angle_min_

float laser_filters::StaticLaserScanPolygonFilter::co_sine_map_angle_min_

private

Definition at line 119 of file polygon_filter.h.

◆ is_polygon_transformed_

bool laser_filters::StaticLaserScanPolygonFilter::is_polygon_transformed_

private

Definition at line 121 of file polygon_filter.h.

◆ transform_timeout_

double laser_filters::StaticLaserScanPolygonFilter::transform_timeout_

private

Definition at line 116 of file polygon_filter.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ checkCoSineMap()

◆ configure()

◆ reconfigureCB()

◆ update()

Member Data Documentation

◆ co_sine_map_

◆ co_sine_map_angle_max_

◆ co_sine_map_angle_min_

◆ is_polygon_transformed_

◆ transform_timeout_