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Public Member Functions | Private Member Functions | Private Attributes | List of all members
LocalCSpaceNode Class Reference

#include <LocalCSpaceNode.h>

Public Member Functions

 LocalCSpaceNode ()
 
 ~LocalCSpaceNode ()
 

Private Member Functions

void CreateLocal (nav_msgs::OccupancyGrid &dynamicOcc, nav_msgs::OccupancyGrid &localMap, geometry_msgs::PoseArray &occupiedPoses, geometry_msgs::PoseArray &freePoses, tf::Vector3 &worldPose, tf::Vector3 &occPose, const double &freeInflationRadius, const double &occupiedInflationRadius, const int &windws_size_meters, const int8_t &occupancyThreshold=90, const int8_t &freeThreshold=50, const int8_t &occupiedValue=100, const int8_t &freeVal=1, const int8_t &unknownVal=-1)
 
void ApplyDynamicData (nav_msgs::OccupancyGrid &occ, nav_msgs::OccupancyGrid &dynamicOcc, std::vector< geometry_msgs::PoseArray > &lidarSources, std::vector< geometry_msgs::PoseArray > &otherSources, const double &maxLidarRange=10.0, const int8_t &occupiedValue=100)
 
void ClearLocalTrajectories (std::vector< geometry_msgs::PoseArray > &local, std_msgs::Int8MultiArray &comm)
 
void RobotsInCommCallback (std_msgs::Int8MultiArray::ConstPtr msg)
 
void OccCallback (nav_msgs::OccupancyGrid::ConstPtr msg)
 
void WorldPoseCallback (multirobotsimulations::CustomPose::ConstPtr msg)
 
void Update ()
 

Private Attributes

int aQueueSize
 
int aId
 
int aLidarSources
 
int aRobots
 
int aLocalViewSize
 
bool aHasOcc
 
bool aHasPose
 
bool aReceivedComm
 
double aRate
 
double aLidarRange
 
double aFreeInflateRadius
 
double aOccuInflateRadius
 
tf::Vector3 aOccPose
 
std::string aNamespace
 
std::vector< ros::Timer > aTimers
 
std::vector< ros::Subscriber > aSubscribers
 
ros::Publisher aObstaclesPublisher
 
ros::Publisher aLocalCSpacePublisher
 
ros::Publisher aOccupiedPositionsPublisher
 
ros::Publisher aFreePositionsPublisher
 
nav_msgs::OccupancyGrid aOccMsg
 
nav_msgs::OccupancyGrid aOccWithDynamicDataMsg
 
nav_msgs::OccupancyGrid aLocalCspaceMsg
 
std_msgs::Int8MultiArray aRobotsInCommMsg
 
multirobotsimulations::CustomPose aWorldPoseMsg
 
geometry_msgs::PoseArray aOccupiedPosesMsg
 
geometry_msgs::PoseArray aFreePosesMsg
 
std::vector< geometry_msgs::PoseArray > aTrajectoriesArray
 
std::vector< geometry_msgs::PoseArray > aLidarsArray
 

Constructor & Destructor Documentation

◆ LocalCSpaceNode()

LocalCSpaceNode::LocalCSpaceNode ( )

◆ ~LocalCSpaceNode()

LocalCSpaceNode::~LocalCSpaceNode ( )

Member Function Documentation

◆ ApplyDynamicData()

void LocalCSpaceNode::ApplyDynamicData ( nav_msgs::OccupancyGrid &  occ,
nav_msgs::OccupancyGrid &  dynamicOcc,
std::vector< geometry_msgs::PoseArray > &  lidarSources,
std::vector< geometry_msgs::PoseArray > &  otherSources,
const double &  maxLidarRange = 10.0,
const int8_t &  occupiedValue = 100 
)
private

◆ ClearLocalTrajectories()

void LocalCSpaceNode::ClearLocalTrajectories ( std::vector< geometry_msgs::PoseArray > &  local,
std_msgs::Int8MultiArray &  comm 
)
private

◆ CreateLocal()

void LocalCSpaceNode::CreateLocal ( nav_msgs::OccupancyGrid &  dynamicOcc,
nav_msgs::OccupancyGrid &  localMap,
geometry_msgs::PoseArray &  occupiedPoses,
geometry_msgs::PoseArray &  freePoses,
tf::Vector3 &  worldPose,
tf::Vector3 &  occPose,
const double &  freeInflationRadius,
const double &  occupiedInflationRadius,
const int &  windws_size_meters,
const int8_t &  occupancyThreshold = 90,
const int8_t &  freeThreshold = 50,
const int8_t &  occupiedValue = 100,
const int8_t &  freeVal = 1,
const int8_t &  unknownVal = -1 
)
private

◆ OccCallback()

void LocalCSpaceNode::OccCallback ( nav_msgs::OccupancyGrid::ConstPtr  msg)
private

◆ RobotsInCommCallback()

void LocalCSpaceNode::RobotsInCommCallback ( std_msgs::Int8MultiArray::ConstPtr  msg)
private

◆ Update()

void LocalCSpaceNode::Update ( )
private

◆ WorldPoseCallback()

void LocalCSpaceNode::WorldPoseCallback ( multirobotsimulations::CustomPose::ConstPtr  msg)
private

Member Data Documentation

◆ aFreeInflateRadius

double LocalCSpaceNode::aFreeInflateRadius
private

◆ aFreePosesMsg

geometry_msgs::PoseArray LocalCSpaceNode::aFreePosesMsg
private

◆ aFreePositionsPublisher

ros::Publisher LocalCSpaceNode::aFreePositionsPublisher
private

◆ aHasOcc

bool LocalCSpaceNode::aHasOcc
private

◆ aHasPose

bool LocalCSpaceNode::aHasPose
private

◆ aId

int LocalCSpaceNode::aId
private

◆ aLidarRange

double LocalCSpaceNode::aLidarRange
private

◆ aLidarsArray

std::vector<geometry_msgs::PoseArray> LocalCSpaceNode::aLidarsArray
private

◆ aLidarSources

int LocalCSpaceNode::aLidarSources
private

◆ aLocalCspaceMsg

nav_msgs::OccupancyGrid LocalCSpaceNode::aLocalCspaceMsg
private

◆ aLocalCSpacePublisher

ros::Publisher LocalCSpaceNode::aLocalCSpacePublisher
private

◆ aLocalViewSize

int LocalCSpaceNode::aLocalViewSize
private

◆ aNamespace

std::string LocalCSpaceNode::aNamespace
private

◆ aObstaclesPublisher

ros::Publisher LocalCSpaceNode::aObstaclesPublisher
private

◆ aOccMsg

nav_msgs::OccupancyGrid LocalCSpaceNode::aOccMsg
private

◆ aOccPose

tf::Vector3 LocalCSpaceNode::aOccPose
private

◆ aOccuInflateRadius

double LocalCSpaceNode::aOccuInflateRadius
private

◆ aOccupiedPosesMsg

geometry_msgs::PoseArray LocalCSpaceNode::aOccupiedPosesMsg
private

◆ aOccupiedPositionsPublisher

ros::Publisher LocalCSpaceNode::aOccupiedPositionsPublisher
private

◆ aOccWithDynamicDataMsg

nav_msgs::OccupancyGrid LocalCSpaceNode::aOccWithDynamicDataMsg
private

◆ aQueueSize

int LocalCSpaceNode::aQueueSize
private

◆ aRate

double LocalCSpaceNode::aRate
private

◆ aReceivedComm

bool LocalCSpaceNode::aReceivedComm
private

◆ aRobots

int LocalCSpaceNode::aRobots
private

◆ aRobotsInCommMsg

std_msgs::Int8MultiArray LocalCSpaceNode::aRobotsInCommMsg
private

◆ aSubscribers

std::vector<ros::Subscriber> LocalCSpaceNode::aSubscribers
private

◆ aTimers

std::vector<ros::Timer> LocalCSpaceNode::aTimers
private

◆ aTrajectoriesArray

std::vector<geometry_msgs::PoseArray> LocalCSpaceNode::aTrajectoriesArray
private

◆ aWorldPoseMsg

multirobotsimulations::CustomPose LocalCSpaceNode::aWorldPoseMsg
private
The documentation for this class was generated from the following file: