#include <OctomapServerMultilayer.h>

Inheritance diagram for octomap_server::OctomapServerMultilayer:

Classes
struct	ProjectedMap

Public Member Functions
	OctomapServerMultilayer (ros::NodeHandle private_nh_=ros::NodeHandle("~"))

virtual	~OctomapServerMultilayer ()

Public Member Functions inherited from octomap_server::OctomapServer
bool	clearBBXSrv (BBXSrv::Request &req, BBXSrv::Response &resp)

virtual void	insertCloudCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud)

virtual bool	octomapBinarySrv (OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res)

virtual bool	octomapFullSrv (OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res)

	OctomapServer (const ros::NodeHandle private_nh_=ros::NodeHandle("~"), const ros::NodeHandle &nh_=ros::NodeHandle())

virtual bool	openFile (const std::string &filename)

bool	resetSrv (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)

virtual	~OctomapServer ()

Protected Types
typedef std::vector< ProjectedMap >	MultilevelGrid

Protected Member Functions
virtual void	handlePostNodeTraversal (const ros::Time &rostime)
	hook that is called after traversing all nodes More...

virtual void	handlePreNodeTraversal (const ros::Time &rostime)
	hook that is called after traversing all nodes More...

virtual void	update2DMap (const OcTreeT::iterator &it, bool occupied)
	updates the downprojected 2D map as either occupied or free More...

Protected Member Functions inherited from octomap_server::OctomapServer
void	adjustMapData (nav_msgs::OccupancyGrid &map, const nav_msgs::MapMetaData &oldMapInfo) const

void	filterGroundPlane (const PCLPointCloud &pc, PCLPointCloud &ground, PCLPointCloud &nonground) const
	label the input cloud "pc" into ground and nonground. Should be in the robot's fixed frame (not world!) More...

virtual void	handleFreeNode (const OcTreeT::iterator &it)
	hook that is called when traversing free nodes of the updated Octree More...

virtual void	handleFreeNodeInBBX (const OcTreeT::iterator &it)
	hook that is called when traversing free nodes in the updated area (updates 2D map projection here) More...

virtual void	handleNode (const OcTreeT::iterator &it)
	hook that is called when traversing all nodes of the updated Octree (does nothing here) More...

virtual void	handleNodeInBBX (const OcTreeT::iterator &it)
	hook that is called when traversing all nodes of the updated Octree in the updated area (does nothing here) More...

virtual void	handleOccupiedNode (const OcTreeT::iterator &it)
	hook that is called when traversing occupied nodes of the updated Octree More...

virtual void	handleOccupiedNodeInBBX (const OcTreeT::iterator &it)
	hook that is called when traversing occupied nodes in the updated area (updates 2D map projection here) More...

virtual void	insertScan (const tf::Point &sensorOrigin, const PCLPointCloud &ground, const PCLPointCloud &nonground)
	update occupancy map with a scan labeled as ground and nonground. The scans should be in the global map frame. More...

bool	isInUpdateBBX (const OcTreeT::iterator &it) const
	Test if key is within update area of map (2D, ignores height) More...

bool	isSpeckleNode (const octomap::OcTreeKey &key) const
	Find speckle nodes (single occupied voxels with no neighbors). Only works on lowest resolution! More...

bool	mapChanged (const nav_msgs::MapMetaData &oldMapInfo, const nav_msgs::MapMetaData &newMapInfo)

unsigned	mapIdx (const octomap::OcTreeKey &key) const

unsigned	mapIdx (int i, int j) const

virtual void	publishAll (const ros::Time &rostime=ros::Time::now())

void	publishBinaryOctoMap (const ros::Time &rostime=ros::Time::now()) const

void	publishFullOctoMap (const ros::Time &rostime=ros::Time::now()) const

void	publishProjected2DMap (const ros::Time &rostime=ros::Time::now())

void	reconfigureCallback (octomap_server::OctomapServerConfig &config, uint32_t level)

Protected Attributes
std::vector< double >	m_armLinkOffsets

std::vector< std::string >	m_armLinks

ros::Subscriber	m_attachedObjectsSub

MultilevelGrid	m_multiGridmap

std::vector< ros::Publisher * >	m_multiMapPub

Protected Attributes inherited from octomap_server::OctomapServer
std::string	m_baseFrameId

ros::Publisher	m_binaryMapPub

ros::ServiceServer	m_clearBBXService

ros::Publisher	m_cmapPub

ros::Publisher	m_collisionObjectPub

std_msgs::ColorRGBA	m_color

double	m_colorFactor

std_msgs::ColorRGBA	m_colorFree

bool	m_compressMap

boost::recursive_mutex	m_config_mutex

bool	m_filterGroundPlane

bool	m_filterSpeckles

ros::Publisher	m_fmapPub

ros::Publisher	m_fmarkerPub

ros::Publisher	m_fullMapPub

nav_msgs::OccupancyGrid	m_gridmap

double	m_groundFilterAngle

double	m_groundFilterDistance

double	m_groundFilterPlaneDistance

bool	m_incrementalUpdate

bool	m_initConfig

octomap::KeyRay	m_keyRay

bool	m_latchedTopics

bool	m_mapOriginChanged

ros::Publisher	m_mapPub

ros::Publisher	m_markerPub

double	m_maxRange

unsigned	m_maxTreeDepth

double	m_minRange

double	m_minSizeX

double	m_minSizeY

unsigned	m_multires2DScale

ros::NodeHandle	m_nh

ros::NodeHandle	m_nh_private

double	m_occupancyMaxZ

double	m_occupancyMinZ

ros::ServiceServer	m_octomapBinaryService

ros::ServiceServer	m_octomapFullService

OcTreeT *	m_octree

octomap::OcTreeKey	m_paddedMinKey

double	m_pointcloudMaxX

double	m_pointcloudMaxY

double	m_pointcloudMaxZ

double	m_pointcloudMinX

double	m_pointcloudMinY

double	m_pointcloudMinZ

ros::Publisher	m_pointCloudPub

message_filters::Subscriber< sensor_msgs::PointCloud2 > *	m_pointCloudSub

bool	m_projectCompleteMap

bool	m_publish2DMap

bool	m_publishFreeSpace

dynamic_reconfigure::Server< OctomapServerConfig >	m_reconfigureServer

double	m_res

ros::ServiceServer	m_resetService

tf::TransformListener	m_tfListener

tf::MessageFilter< sensor_msgs::PointCloud2 > *	m_tfPointCloudSub

unsigned	m_treeDepth

octomap::OcTreeKey	m_updateBBXMax

octomap::OcTreeKey	m_updateBBXMin

bool	m_useColoredMap

bool	m_useHeightMap

std::string	m_worldFrameId

Additional Inherited Members
Public Types inherited from octomap_server::OctomapServer
typedef octomap_msgs::BoundingBoxQuery	BBXSrv

typedef octomap_msgs::GetOctomap	OctomapSrv

typedef octomap::OcTree	OcTreeT

typedef pcl::PointXYZ	PCLPoint

typedef pcl::PointCloud< pcl::PointXYZ >	PCLPointCloud

Static Protected Member Functions inherited from octomap_server::OctomapServer
static std_msgs::ColorRGBA	heightMapColor (double h)

static void	updateMaxKey (const octomap::OcTreeKey &in, octomap::OcTreeKey &max)

static void	updateMinKey (const octomap::OcTreeKey &in, octomap::OcTreeKey &min)

Detailed Description

Definition at line 35 of file OctomapServerMultilayer.h.

Member Typedef Documentation

◆ MultilevelGrid

typedef std::vector<ProjectedMap> octomap_server::OctomapServerMultilayer::MultilevelGrid

protected

Definition at line 49 of file OctomapServerMultilayer.h.

Constructor & Destructor Documentation

◆ OctomapServerMultilayer()

octomap_server::OctomapServerMultilayer::OctomapServerMultilayer ( ros::NodeHandle private_nh_ = ros::NodeHandle("~") )

Definition at line 38 of file OctomapServerMultilayer.cpp.

◆ ~OctomapServerMultilayer()

octomap_server::OctomapServerMultilayer::~OctomapServerMultilayer ( )

virtual

Definition at line 97 of file OctomapServerMultilayer.cpp.

Member Function Documentation

◆ handlePostNodeTraversal()

void octomap_server::OctomapServerMultilayer::handlePostNodeTraversal ( const ros::Time & rostime )

protectedvirtual

hook that is called after traversing all nodes

Reimplemented from octomap_server::OctomapServer.

Definition at line 163 of file OctomapServerMultilayer.cpp.

◆ handlePreNodeTraversal()

void octomap_server::OctomapServerMultilayer::handlePreNodeTraversal ( const ros::Time & rostime )

protectedvirtual

hook that is called after traversing all nodes

Reimplemented from octomap_server::OctomapServer.

Definition at line 104 of file OctomapServerMultilayer.cpp.

◆ update2DMap()

void octomap_server::OctomapServerMultilayer::update2DMap	(	const OcTreeT::iterator &	it,
		bool	occupied
	)

protectedvirtual

updates the downprojected 2D map as either occupied or free

Reimplemented from octomap_server::OctomapServer.

Definition at line 208 of file OctomapServerMultilayer.cpp.

Member Data Documentation

◆ m_armLinkOffsets

std::vector<double> octomap_server::OctomapServerMultilayer::m_armLinkOffsets

protected

Definition at line 64 of file OctomapServerMultilayer.h.

◆ m_armLinks

std::vector<std::string> octomap_server::OctomapServerMultilayer::m_armLinks

protected

Definition at line 63 of file OctomapServerMultilayer.h.

◆ m_attachedObjectsSub

ros::Subscriber octomap_server::OctomapServerMultilayer::m_attachedObjectsSub

protected

Definition at line 61 of file OctomapServerMultilayer.h.

◆ m_multiGridmap

MultilevelGrid octomap_server::OctomapServerMultilayer::m_multiGridmap

protected

Definition at line 66 of file OctomapServerMultilayer.h.

◆ m_multiMapPub

std::vector<ros::Publisher*> octomap_server::OctomapServerMultilayer::m_multiMapPub

protected

Definition at line 60 of file OctomapServerMultilayer.h.

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

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ MultilevelGrid

Constructor & Destructor Documentation

◆ OctomapServerMultilayer()

◆ ~OctomapServerMultilayer()

Member Function Documentation

◆ handlePostNodeTraversal()

◆ handlePreNodeTraversal()

◆ update2DMap()

Member Data Documentation

◆ m_armLinkOffsets

◆ m_armLinks

◆ m_attachedObjectsSub

◆ m_multiGridmap

◆ m_multiMapPub