OctomapServerMultilayer.h
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29 #ifndef OCTOMAP_SERVER_OCTOMAPSERVERMULTILAYER_H
30 #define OCTOMAP_SERVER_OCTOMAPSERVERMULTILAYER_H
31 
33 
34 namespace octomap_server {
36 
37 public:
39  virtual ~OctomapServerMultilayer();
40 
41 protected:
42  struct ProjectedMap{
43  double minZ;
44  double maxZ;
45  double z; // for visualization
46  std::string name;
47  nav_msgs::OccupancyGrid map;
48  };
49  typedef std::vector<ProjectedMap> MultilevelGrid;
50 
52  virtual void handlePreNodeTraversal(const ros::Time& rostime);
53 
55  virtual void update2DMap(const OcTreeT::iterator& it, bool occupied);
56 
58  virtual void handlePostNodeTraversal(const ros::Time& rostime);
59 
60  std::vector<ros::Publisher*> m_multiMapPub;
62 
63  std::vector<std::string> m_armLinks;
64  std::vector<double> m_armLinkOffsets;
65 
67 
68 
69 };
70 }
71 
72 #endif
73 
octomap_server::OctomapServerMultilayer::m_attachedObjectsSub
ros::Subscriber m_attachedObjectsSub
Definition: OctomapServerMultilayer.h:61
octomap_server::OctomapServerMultilayer::update2DMap
virtual void update2DMap(const OcTreeT::iterator &it, bool occupied)
updates the downprojected 2D map as either occupied or free
Definition: OctomapServerMultilayer.cpp:208
octomap_server::OctomapServerMultilayer::ProjectedMap::minZ
double minZ
Definition: OctomapServerMultilayer.h:43
OctomapServer.h
octomap_server::OctomapServerMultilayer::ProjectedMap::map
nav_msgs::OccupancyGrid map
Definition: OctomapServerMultilayer.h:47
octomap_server::OctomapServerMultilayer::~OctomapServerMultilayer
virtual ~OctomapServerMultilayer()
Definition: OctomapServerMultilayer.cpp:97
octomap_server::OctomapServerMultilayer
Definition: OctomapServerMultilayer.h:35
octomap_server::OctomapServerMultilayer::m_multiGridmap
MultilevelGrid m_multiGridmap
Definition: OctomapServerMultilayer.h:66
octomap_server::OctomapServerMultilayer::ProjectedMap::maxZ
double maxZ
Definition: OctomapServerMultilayer.h:44
octomap_server::OctomapServerMultilayer::OctomapServerMultilayer
OctomapServerMultilayer(ros::NodeHandle private_nh_=ros::NodeHandle("~"))
Definition: OctomapServerMultilayer.cpp:38
octomap_server
Definition: OctomapServer.h:80
OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >::iterator
leaf_iterator iterator
ros::Time
octomap_server::OctomapServerMultilayer::handlePreNodeTraversal
virtual void handlePreNodeTraversal(const ros::Time &rostime)
hook that is called after traversing all nodes
Definition: OctomapServerMultilayer.cpp:104
octomap_server::OctomapServerMultilayer::ProjectedMap
Definition: OctomapServerMultilayer.h:42
octomap_server::OctomapServerMultilayer::handlePostNodeTraversal
virtual void handlePostNodeTraversal(const ros::Time &rostime)
hook that is called after traversing all nodes
Definition: OctomapServerMultilayer.cpp:163
octomap_server::OctomapServerMultilayer::m_multiMapPub
std::vector< ros::Publisher * > m_multiMapPub
Definition: OctomapServerMultilayer.h:60
octomap_server::OctomapServer
Definition: OctomapServer.h:81
octomap_server::OctomapServerMultilayer::MultilevelGrid
std::vector< ProjectedMap > MultilevelGrid
Definition: OctomapServerMultilayer.h:49
octomap_server::OctomapServerMultilayer::m_armLinkOffsets
std::vector< double > m_armLinkOffsets
Definition: OctomapServerMultilayer.h:64
octomap_server::OctomapServerMultilayer::ProjectedMap::name
std::string name
Definition: OctomapServerMultilayer.h:46
ros::NodeHandle
ros::Subscriber
octomap_server::OctomapServerMultilayer::m_armLinks
std::vector< std::string > m_armLinks
Definition: OctomapServerMultilayer.h:63
octomap_server::OctomapServerMultilayer::ProjectedMap::z
double z
Definition: OctomapServerMultilayer.h:45


octomap_server
Author(s): Armin Hornung
autogenerated on Mon Jan 2 2023 03:18:15