occupancy_map_monitor::OccupancyMapUpdater Class Reference

Base class for classes which update the occupancy map. More...

#include <occupancy_map_updater.h>

Inheritance diagram for occupancy_map_monitor::OccupancyMapUpdater:

Collaboration diagram for occupancy_map_monitor::OccupancyMapUpdater:

Public Member Functions
	OccupancyMapUpdater (const std::string &type)
virtual	~OccupancyMapUpdater ()
void	setMonitor (OccupancyMapMonitor *monitor)
	This is the first function to be called after construction. More...
virtual bool	setParams (const std::string &name_space)=0
	Set updater params using struct that comes from parsing a yaml string. This must be called after setMonitor() More...
virtual bool	initialize (const rclcpp::Node::SharedPtr &node)=0
	Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams() have been previously called. More...
virtual void	start ()=0
virtual void	stop ()=0
virtual ShapeHandle	excludeShape (const shapes::ShapeConstPtr &shape)=0
virtual void	forgetShape (ShapeHandle handle)=0
const std::string &	getType () const
void	setTransformCacheCallback (const TransformCacheProvider &transform_callback)
void	publishDebugInformation (bool flag)

Protected Member Functions
bool	updateTransformCache (const std::string &target_frame, const rclcpp::Time &target_time)

Protected Attributes
OccupancyMapMonitor *	monitor_
std::string	type_
collision_detection::OccMapTreePtr	tree_
TransformCacheProvider	transform_provider_callback_
ShapeTransformCache	transform_cache_
bool	debug_info_

Detailed Description

Base class for classes which update the occupancy map.

Definition at line 65 of file occupancy_map_updater.h.

Constructor & Destructor Documentation

OccupancyMapUpdater()

occupancy_map_monitor::OccupancyMapUpdater::OccupancyMapUpdater

(

const std::string &

type

)

Definition at line 48 of file occupancy_map_updater.cpp.

~OccupancyMapUpdater()

occupancy_map_monitor::OccupancyMapUpdater::~OccupancyMapUpdater ( )

virtualdefault

Member Function Documentation

excludeShape()

virtual ShapeHandle occupancy_map_monitor::OccupancyMapUpdater::excludeShape ( const shapes::ShapeConstPtr &  shape )

pure virtual

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater, and occupancy_map_monitor::DepthImageOctomapUpdater.

forgetShape()

virtual void occupancy_map_monitor::OccupancyMapUpdater::forgetShape ( ShapeHandle  handle )

pure virtual

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater, and occupancy_map_monitor::DepthImageOctomapUpdater.

getType()

const std::string& occupancy_map_monitor::OccupancyMapUpdater::getType ( ) const

inline

Definition at line 90 of file occupancy_map_updater.h.

initialize()

virtual bool occupancy_map_monitor::OccupancyMapUpdater::initialize ( const rclcpp::Node::SharedPtr &  node )

pure virtual

Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams() have been previously called.

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater, and occupancy_map_monitor::DepthImageOctomapUpdater.

publishDebugInformation()

void occupancy_map_monitor::OccupancyMapUpdater::publishDebugInformation ( bool  flag )

inline

Definition at line 100 of file occupancy_map_updater.h.

setMonitor()

void occupancy_map_monitor::OccupancyMapUpdater::setMonitor

(

OccupancyMapMonitor *

monitor

)

This is the first function to be called after construction.

Definition at line 54 of file occupancy_map_updater.cpp.

Here is the call graph for this function:

setParams()

virtual bool occupancy_map_monitor::OccupancyMapUpdater::setParams ( const std::string &  name_space )

pure virtual

Set updater params using struct that comes from parsing a yaml string. This must be called after setMonitor()

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater, and occupancy_map_monitor::DepthImageOctomapUpdater.

setTransformCacheCallback()

void occupancy_map_monitor::OccupancyMapUpdater::setTransformCacheCallback ( const TransformCacheProvider &  transform_callback )

inline

Definition at line 95 of file occupancy_map_updater.h.

start()

virtual void occupancy_map_monitor::OccupancyMapUpdater::start ( )

pure virtual

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater, and occupancy_map_monitor::DepthImageOctomapUpdater.

stop()

virtual void occupancy_map_monitor::OccupancyMapUpdater::stop ( )

pure virtual

Implemented in occupancy_map_monitor::PointCloudOctomapUpdater, and occupancy_map_monitor::DepthImageOctomapUpdater.

updateTransformCache()

bool occupancy_map_monitor::OccupancyMapUpdater::updateTransformCache ( const std::string &  target_frame, const rclcpp::Time &  target_time  )

protected

Definition at line 80 of file occupancy_map_updater.cpp.

Member Data Documentation

debug_info_

bool occupancy_map_monitor::OccupancyMapUpdater::debug_info_

protected

Definition at line 111 of file occupancy_map_updater.h.

monitor_

OccupancyMapMonitor* occupancy_map_monitor::OccupancyMapUpdater::monitor_

protected

Definition at line 106 of file occupancy_map_updater.h.

transform_cache_

ShapeTransformCache occupancy_map_monitor::OccupancyMapUpdater::transform_cache_

protected

Definition at line 110 of file occupancy_map_updater.h.

transform_provider_callback_

TransformCacheProvider occupancy_map_monitor::OccupancyMapUpdater::transform_provider_callback_

protected

Definition at line 109 of file occupancy_map_updater.h.

tree_

collision_detection::OccMapTreePtr occupancy_map_monitor::OccupancyMapUpdater::tree_

protected

Definition at line 108 of file occupancy_map_updater.h.

type_

std::string occupancy_map_monitor::OccupancyMapUpdater::type_

protected

Definition at line 107 of file occupancy_map_updater.h.

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

• moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_updater.h
• moveit_ros/occupancy_map_monitor/src/occupancy_map_updater.cpp