#include <occupancy_map_monitor.h>

Classes
class	MiddlewareHandle
	This class contains the rcl interfaces for easier testing. More...

struct	Parameters
	This class describes parameters that are normally provided through ROS Parameters. More...

Public Member Functions
	OccupancyMapMonitor (std::unique_ptr< MiddlewareHandle > middleware_handle, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer)
	Occupancy map monitor constructor with the MiddlewareHandle.

	OccupancyMapMonitor (const rclcpp::Node::SharedPtr &node, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer, const std::string &map_frame="", double map_resolution=0.0)
	Occupancy map monitor constructor with Node.

	OccupancyMapMonitor (const rclcpp::Node::SharedPtr &node, double map_resolution=0.0)
	Occupancy map monitor constructor with Node.

	~OccupancyMapMonitor ()
	Destroys the object.

void	startMonitor ()
	start the monitor (will begin updating the octomap

void	stopMonitor ()
	Stops the monitor, this also stops the updaters.

const collision_detection::OccMapTreePtr &	getOcTreePtr ()
	Get a pointer to the underlying octree for this monitor. Lock the tree before reading or writing using this pointer. The value of this pointer stays the same throughout the existence of the monitor instance.

const collision_detection::OccMapTreeConstPtr &	getOcTreePtr () const
	Get a const pointer to the underlying octree for this monitor. Lock the tree before reading this pointer.

const std::string &	getMapFrame () const
	Gets the map frame (this is set either by the constor or a parameter).

void	setMapFrame (const std::string &frame)
	Sets the map frame.

double	getMapResolution () const
	Gets the map resolution.

const std::shared_ptr< tf2_ros::Buffer > &	getTFClient () const
	Gets the tf client.

void	addUpdater (const OccupancyMapUpdaterPtr &updater)
	Adds an OccupancyMapUpdater to be monitored.

ShapeHandle	excludeShape (const shapes::ShapeConstPtr &shape)
	Add this shape to the set of shapes to be filtered out from the octomap.

void	forgetShape (ShapeHandle handle)
	Forget about this shape handle and the shapes it corresponds to.

void	setUpdateCallback (const std::function< void()> &update_callback)
	Set the callback to trigger when updates to the maintained octomap are received.

void	setTransformCacheCallback (const TransformCacheProvider &transform_cache_callback)
	Sets the transform cache callback.

void	publishDebugInformation (bool flag)
	Set the debug flag on the updaters.

bool	isActive () const
	Determines if active.

Detailed Description

Definition at line 56 of file occupancy_map_monitor.h.

Constructor & Destructor Documentation

◆ OccupancyMapMonitor() [1/3]

occupancy_map_monitor::OccupancyMapMonitor::OccupancyMapMonitor	(	std::unique_ptr< MiddlewareHandle >	middleware_handle,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer
	)

Occupancy map monitor constructor with the MiddlewareHandle.

Parameters

[in]	middleware_handle	The rcl interface
[in]	tf_buffer	The tf buffer

Definition at line 68 of file occupancy_map_monitor.cpp.

◆ OccupancyMapMonitor() [2/3]

occupancy_map_monitor::OccupancyMapMonitor::OccupancyMapMonitor	(	const rclcpp::Node::SharedPtr &	node,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer,
		const std::string &	map_frame = `""`,
		double	map_resolution = `0.0`
	)

Occupancy map monitor constructor with Node.

Parameters

[in]	node	The node
[in]	tf_buffer	The tf buffer
[in]	map_frame	The map frame
[in]	map_resolution	The map resolution

Definition at line 60 of file occupancy_map_monitor.cpp.

◆ OccupancyMapMonitor() [3/3]

occupancy_map_monitor::OccupancyMapMonitor::OccupancyMapMonitor	(	const rclcpp::Node::SharedPtr &	node,
		double	map_resolution = `0.0`
	)

Occupancy map monitor constructor with Node.

Parameters

[in]	node	The node
[in]	map_resolution	The map resolution

Definition at line 55 of file occupancy_map_monitor.cpp.

◆ ~OccupancyMapMonitor()

occupancy_map_monitor::OccupancyMapMonitor::~OccupancyMapMonitor ( )

Destroys the object.

Definition at line 337 of file occupancy_map_monitor.cpp.

Member Function Documentation

◆ addUpdater()

void occupancy_map_monitor::OccupancyMapMonitor::addUpdater ( const OccupancyMapUpdaterPtr & updater )

Adds an OccupancyMapUpdater to be monitored.

Parameters

[in] updater The OccupancyMapUpdater

Definition at line 146 of file occupancy_map_monitor.cpp.

◆ excludeShape()

ShapeHandle occupancy_map_monitor::OccupancyMapMonitor::excludeShape ( const shapes::ShapeConstPtr & shape )

Add this shape to the set of shapes to be filtered out from the octomap.

Parameters

[in] shape The shape to be exclueded from the updaters.

Returns: The shape handle. Can be used to forget the shape later.

Definition at line 196 of file occupancy_map_monitor.cpp.

◆ forgetShape()

void occupancy_map_monitor::OccupancyMapMonitor::forgetShape ( ShapeHandle handle )

Forget about this shape handle and the shapes it corresponds to.

Parameters

[in] handle The handle to forget.

Definition at line 216 of file occupancy_map_monitor.cpp.

◆ getMapFrame()

const std::string & occupancy_map_monitor::OccupancyMapMonitor::getMapFrame ( ) const

inline

Gets the map frame (this is set either by the constor or a parameter).

Returns: The map frame.

Definition at line 187 of file occupancy_map_monitor.h.

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◆ getMapResolution()

double occupancy_map_monitor::OccupancyMapMonitor::getMapResolution ( ) const

inline

Gets the map resolution.

Returns: The map resolution.

Definition at line 204 of file occupancy_map_monitor.h.

◆ getOcTreePtr() [1/2]

const collision_detection::OccMapTreePtr & occupancy_map_monitor::OccupancyMapMonitor::getOcTreePtr ( )

inline

Get a pointer to the underlying octree for this monitor. Lock the tree before reading or writing using this pointer. The value of this pointer stays the same throughout the existence of the monitor instance.

Definition at line 170 of file occupancy_map_monitor.h.

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◆ getOcTreePtr() [2/2]

const collision_detection::OccMapTreeConstPtr & occupancy_map_monitor::OccupancyMapMonitor::getOcTreePtr ( ) const

inline

Get a const pointer to the underlying octree for this monitor. Lock the tree before reading this pointer.

Definition at line 177 of file occupancy_map_monitor.h.

◆ getTFClient()

const std::shared_ptr< tf2_ros::Buffer > & occupancy_map_monitor::OccupancyMapMonitor::getTFClient ( ) const

inline

Gets the tf client.

Returns: The tf client.

Definition at line 214 of file occupancy_map_monitor.h.

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◆ isActive()

bool occupancy_map_monitor::OccupancyMapMonitor::isActive ( ) const

inline

Determines if active.

Returns: True if active, False otherwise.

Definition at line 271 of file occupancy_map_monitor.h.

◆ publishDebugInformation()

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

Set the debug flag on the updaters.

Parameters

[in] flag The flag

Definition at line 183 of file occupancy_map_monitor.cpp.

◆ setMapFrame()

void occupancy_map_monitor::OccupancyMapMonitor::setMapFrame ( const std::string & frame )

Sets the map frame.

Parameters

[in] frame The frame

Definition at line 190 of file occupancy_map_monitor.cpp.

◆ setTransformCacheCallback()

void occupancy_map_monitor::OccupancyMapMonitor::setTransformCacheCallback ( const TransformCacheProvider & transform_cache_callback )

Sets the transform cache callback.

Parameters

[in] transform_cache_callback The transform cache callback

Definition at line 234 of file occupancy_map_monitor.cpp.

◆ setUpdateCallback()

void occupancy_map_monitor::OccupancyMapMonitor::setUpdateCallback ( const std::function< void()> & update_callback )

inline

Set the callback to trigger when updates to the maintained octomap are received.

Parameters

[in] update_callback The update callback function

Definition at line 247 of file occupancy_map_monitor.h.

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◆ startMonitor()

void occupancy_map_monitor::OccupancyMapMonitor::startMonitor ( )

start the monitor (will begin updating the octomap

Definition at line 322 of file occupancy_map_monitor.cpp.

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◆ stopMonitor()

void occupancy_map_monitor::OccupancyMapMonitor::stopMonitor ( )

Stops the monitor, this also stops the updaters.

Definition at line 330 of file occupancy_map_monitor.cpp.

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

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

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ OccupancyMapMonitor() [1/3]

◆ OccupancyMapMonitor() [2/3]

◆ OccupancyMapMonitor() [3/3]

◆ ~OccupancyMapMonitor()

Member Function Documentation

◆ addUpdater()

◆ excludeShape()

◆ forgetShape()

◆ getMapFrame()

◆ getMapResolution()

◆ getOcTreePtr() [1/2]

◆ getOcTreePtr() [2/2]

◆ getTFClient()

◆ isActive()

◆ publishDebugInformation()

◆ setMapFrame()

◆ setTransformCacheCallback()

◆ setUpdateCallback()

◆ startMonitor()

◆ stopMonitor()