Takes in point clouds from sensors, transforms them to the desired frame, and stores them. More...

#include <observation_buffer.h>

Public Member Functions
void	bufferCloud (const sensor_msgs::PointCloud2 &cloud)
	Transforms a PointCloud to the global frame and buffers it Note: The burden is on the user to make sure the transform is available... ie they should use a MessageNotifier More...

void	getObservations (std::vector< Observation > &observations)
	Pushes copies of all current observations onto the end of the vector passed in. More...

bool	isCurrent () const
	Check if the observation buffer is being update at its expected rate. More...

void	lock ()
	Lock the observation buffer. More...

	ObservationBuffer (std::string topic_name, double observation_keep_time, double expected_update_rate, double min_obstacle_height, double max_obstacle_height, double obstacle_range, double raytrace_range, tf2_ros::Buffer &tf2_buffer, std::string global_frame, std::string sensor_frame, double tf_tolerance)
	Constructs an observation buffer. More...

void	resetLastUpdated ()
	Reset last updated timestamp. More...

bool	setGlobalFrame (const std::string new_global_frame)
	Sets the global frame of an observation buffer. This will transform all the currently cached observations to the new global frame. More...

void	unlock ()
	Lock the observation buffer. More...

	~ObservationBuffer ()
	Destructor... cleans up. More...

Private Member Functions
void	purgeStaleObservations ()
	Removes any stale observations from the buffer list. More...

Private Attributes
const ros::Duration	expected_update_rate_

std::string	global_frame_

ros::Time	last_updated_

boost::recursive_mutex	lock_
	A lock for accessing data in callbacks safely. More...

double	max_obstacle_height_

double	min_obstacle_height_

const ros::Duration	observation_keep_time_

std::list< Observation >	observation_list_

double	obstacle_range_

double	raytrace_range_

std::string	sensor_frame_

tf2_ros::Buffer &	tf2_buffer_

double	tf_tolerance_

std::string	topic_name_

Detailed Description

Takes in point clouds from sensors, transforms them to the desired frame, and stores them.

Definition at line 58 of file observation_buffer.h.

Constructor & Destructor Documentation

◆ ObservationBuffer()

costmap_2d::ObservationBuffer::ObservationBuffer	(	std::string	topic_name,
		double	observation_keep_time,
		double	expected_update_rate,
		double	min_obstacle_height,
		double	max_obstacle_height,
		double	obstacle_range,
		double	raytrace_range,
		tf2_ros::Buffer &	tf2_buffer,
		std::string	global_frame,
		std::string	sensor_frame,
		double	tf_tolerance
	)

Constructs an observation buffer.

Parameters

topic_name	The topic of the observations, used as an identifier for error and warning messages
observation_keep_time	Defines the persistence of observations in seconds, 0 means only keep the latest
expected_update_rate	How often this buffer is expected to be updated, 0 means there is no limit
min_obstacle_height	The minimum height of a hitpoint to be considered legal
max_obstacle_height	The minimum height of a hitpoint to be considered legal
obstacle_range	The range to which the sensor should be trusted for inserting obstacles
raytrace_range	The range to which the sensor should be trusted for raytracing to clear out space
tf2_buffer	A reference to a tf2 Buffer
global_frame	The frame to transform PointClouds into
sensor_frame	The frame of the origin of the sensor, can be left blank to be read from the messages
tf_tolerance	The amount of time to wait for a transform to be available when setting a new global frame

Definition at line 48 of file observation_buffer.cpp.

◆ ~ObservationBuffer()

costmap_2d::ObservationBuffer::~ObservationBuffer ( )

Destructor... cleans up.

Definition at line 59 of file observation_buffer.cpp.

Member Function Documentation

◆ bufferCloud()

void costmap_2d::ObservationBuffer::bufferCloud ( const sensor_msgs::PointCloud2 & cloud )

Transforms a PointCloud to the global frame and buffers it Note: The burden is on the user to make sure the transform is available... ie they should use a MessageNotifier

Parameters

cloud The cloud to be buffered

Definition at line 108 of file observation_buffer.cpp.

◆ getObservations()

void costmap_2d::ObservationBuffer::getObservations ( std::vector< Observation > & observations )

Pushes copies of all current observations onto the end of the vector passed in.

Parameters

observations The vector to be filled

Definition at line 192 of file observation_buffer.cpp.

◆ isCurrent()

bool costmap_2d::ObservationBuffer::isCurrent ( ) const

Check if the observation buffer is being update at its expected rate.

Returns: True if it is being updated at the expected rate, false otherwise

Definition at line 231 of file observation_buffer.cpp.

◆ lock()

void costmap_2d::ObservationBuffer::lock ( )

inline

Lock the observation buffer.

Definition at line 116 of file observation_buffer.h.

◆ purgeStaleObservations()

void costmap_2d::ObservationBuffer::purgeStaleObservations ( )

private

Removes any stale observations from the buffer list.

Definition at line 205 of file observation_buffer.cpp.

◆ resetLastUpdated()

void costmap_2d::ObservationBuffer::resetLastUpdated ( )

Reset last updated timestamp.

Definition at line 246 of file observation_buffer.cpp.

◆ setGlobalFrame()

bool costmap_2d::ObservationBuffer::setGlobalFrame ( const std::string new_global_frame )

Sets the global frame of an observation buffer. This will transform all the currently cached observations to the new global frame.

Parameters

new_global_frame The name of the new global frame.

Returns: True if the operation succeeds, false otherwise

Definition at line 63 of file observation_buffer.cpp.

◆ unlock()

void costmap_2d::ObservationBuffer::unlock ( )

inline

Lock the observation buffer.

Definition at line 124 of file observation_buffer.h.

Member Data Documentation

◆ expected_update_rate_

const ros::Duration costmap_2d::ObservationBuffer::expected_update_rate_

private

Definition at line 142 of file observation_buffer.h.

◆ global_frame_

std::string costmap_2d::ObservationBuffer::global_frame_

private

Definition at line 144 of file observation_buffer.h.

◆ last_updated_

ros::Time costmap_2d::ObservationBuffer::last_updated_

private

Definition at line 143 of file observation_buffer.h.

◆ lock_

boost::recursive_mutex costmap_2d::ObservationBuffer::lock_

private

A lock for accessing data in callbacks safely.

Definition at line 149 of file observation_buffer.h.

◆ max_obstacle_height_

double costmap_2d::ObservationBuffer::max_obstacle_height_

private

Definition at line 148 of file observation_buffer.h.

◆ min_obstacle_height_

double costmap_2d::ObservationBuffer::min_obstacle_height_

private

Definition at line 148 of file observation_buffer.h.

◆ observation_keep_time_

const ros::Duration costmap_2d::ObservationBuffer::observation_keep_time_

private

Definition at line 141 of file observation_buffer.h.

◆ observation_list_

std::list<Observation> costmap_2d::ObservationBuffer::observation_list_

private

Definition at line 146 of file observation_buffer.h.

◆ obstacle_range_

double costmap_2d::ObservationBuffer::obstacle_range_

private

Definition at line 150 of file observation_buffer.h.

◆ raytrace_range_

double costmap_2d::ObservationBuffer::raytrace_range_

private

Definition at line 150 of file observation_buffer.h.

◆ sensor_frame_

std::string costmap_2d::ObservationBuffer::sensor_frame_

private

Definition at line 145 of file observation_buffer.h.

◆ tf2_buffer_

tf2_ros::Buffer& costmap_2d::ObservationBuffer::tf2_buffer_

private

Definition at line 140 of file observation_buffer.h.

◆ tf_tolerance_

double costmap_2d::ObservationBuffer::tf_tolerance_

private

Definition at line 151 of file observation_buffer.h.

◆ topic_name_

std::string costmap_2d::ObservationBuffer::topic_name_

private

Definition at line 147 of file observation_buffer.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ObservationBuffer()

◆ ~ObservationBuffer()

Member Function Documentation

◆ bufferCloud()

◆ getObservations()

◆ isCurrent()

◆ lock()

◆ purgeStaleObservations()

◆ resetLastUpdated()

◆ setGlobalFrame()

◆ unlock()

Member Data Documentation

◆ expected_update_rate_

◆ global_frame_

◆ last_updated_

◆ lock_

◆ max_obstacle_height_

◆ min_obstacle_height_

◆ observation_keep_time_

◆ observation_list_

◆ obstacle_range_

◆ raytrace_range_

◆ sensor_frame_

◆ tf2_buffer_

◆ tf_tolerance_

◆ topic_name_