Class EsdfServer¶

Defined in File esdf_server.h

Inheritance Relationships¶

Base Type¶

public voxblox::TsdfServer (Class TsdfServer)

Class Documentation¶

class EsdfServer : public voxblox::TsdfServer ¶

Public Functions

EsdfServer(const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)¶

EsdfServer(const ros::NodeHandle &nh, const ros::NodeHandle &nh_private, const EsdfMap::Config &esdf_config, const EsdfIntegrator::Config &esdf_integrator_config, const TsdfMap::Config &tsdf_config, const TsdfIntegratorBase::Config &tsdf_integrator_config)¶

virtual ~EsdfServer()¶

bool generateEsdfCallback(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)¶

void publishAllUpdatedEsdfVoxels()¶

virtual void publishSlices()¶

void publishTraversable()¶

virtual void updateMesh()¶: Incremental update.

virtual void publishPointclouds()¶

virtual void newPoseCallback(const Transformation &T_G_C)¶

virtual void publishMap(const bool reset_remote_map = false)¶

virtual bool saveMap(const std::string &file_path)¶

virtual bool loadMap(const std::string &file_path)¶

void updateEsdf()¶: Call updateMesh if you want everything updated; call this specifically if you don’t want the mesh or visualization.

void updateEsdfBatch(bool full_euclidean = false)¶

void esdfMapCallback(const voxblox_msgs::Layer &layer_msg)¶

std::shared_ptr<EsdfMap> getEsdfMapPtr()¶

std::shared_ptr<const EsdfMap> getEsdfMapPtr() const¶

bool getClearSphere() const¶

void setClearSphere(bool clear_sphere_for_planning)¶

float getEsdfMaxDistance() const¶

void setEsdfMaxDistance(float max_distance)¶

float getTraversabilityRadius() const¶

void setTraversabilityRadius(float traversability_radius)¶

void disableIncrementalUpdate()¶

These are for enabling or disabling incremental update of the ESDF.

Use carefully.

void enableIncrementalUpdate()¶

virtual void clear()¶: CLEARS THE ENTIRE MAP!

Protected Functions

void setupRos()¶

Sets up publishing and subscribing.

Should only be called from constructor.

Protected Attributes

ros::Publisher esdf_pointcloud_pub_¶

ros::Publisher esdf_slice_pub_¶

ros::Publisher traversable_pub_¶

ros::Publisher esdf_map_pub_¶: Publish the complete map for other nodes to consume.

ros::Subscriber esdf_map_sub_¶: Subscriber to subscribe to another node generating the map.

ros::ServiceServer generate_esdf_srv_¶: Services.

bool clear_sphere_for_planning_¶

bool publish_esdf_map_¶

bool publish_traversable_¶

float traversability_radius_¶

bool incremental_update_¶

std::shared_ptr<EsdfMap> esdf_map_¶

std::unique_ptr<EsdfIntegrator> esdf_integrator_¶