Brief description of class VoxelGridMappingProvider. More...

#include <VisionX/components/pointcloud_processor/VoxelGridMappingProvider/VoxelGridMappingProvider.h>

Inheritance diagram for VoxelGridMappingProvider:

Public Types
using	Cloud = pcl::PointCloud< PointType >

using	CloudPtr = Cloud::Ptr

using	PointType = pcl::PointXYZRGBA

Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Public Member Functions
void	componentPropertiesUpdated (const std::set< std::string > &changedProperties) override
	Implement this function if you would like to react to changes in the properties. More...

std::string	getDefaultName () const override

armarx::Vector3fSeq	getFilledGridPositions (const Ice::Current &) const override

::Ice::Float	getGridSize (const ::Ice::Current &=Ice::emptyCurrent) const override

void	reset (const Ice::Current &) override

void	startCollectingPointClouds (const Ice::Current &) override

void	stopCollectingPointClouds (const Ice::Current &) override

	VoxelGridMappingProvider ()

Public Member Functions inherited from PointCloudProcessor
template<typename PointT >
void	enableResultPointCloudForInputProvider (const std::string &inputProviderName, const std::string &resultProviderName="")

void	enableResultPointClouds (std::string resultProviderName, size_t shmCapacity, PointContentType pointContentType)

template<typename PointT >
void	enableResultPointClouds (std::string resultProviderName="")
	Enables visualization. More...

MetaPointCloudFormatPtr	getPointCloudFormat (std::string providerName)

std::string	getPointCloudFrame (const std::string &providerName, const std::string &defaultFrame="")
	Get the reference frame of the point cloud by given provider. More...

PointCloudProviderInfo	getPointCloudProvider (bool waitForProxy=false)

PointCloudProviderInfo	getPointCloudProvider (std::string name, bool waitForProxy=false)
	Select an PointCloudProvider. More...

std::vector< std::string >	getPointCloudProviderNames () const
	Get the names of providers for which `usingPointCloudProvider()` has been called. More...

template<typename PointCloudPtrT >
int	getPointClouds (const PointCloudPtrT &pointCloudPtr)
	Poll PointClouds from provider. More...

template<typename PointCloudPtrT >
bool	getPointClouds (std::string providerName, const PointCloudPtrT &pointClouds)
	Poll PointClouds from provider. More...

PointCloudTransferStats	getPointCloudTransferStats (std::string providerName, bool resetStats=false)
	Retrieve statistics for a connection to an PointCloudProvider. More...

bool	isPointCloudProviderKnown (const std::string &providerName) const
	Indicate whether the given name identifies a known point cloud provider. More...

bool	pointCloudHasNewData (std::string providerName)
	Returns current status for the given point cloud. More...

template<typename PointCloudPtrT >
void	provideResultPointClouds (const PointCloudPtrT &pointClouds, std::string providerName="")
	sends result PointClouds for visualization More...

template<typename PointCloudPtrT >
void	provideResultPointClouds (const std::string &providerName, const PointCloudPtrT &pointClouds)

void	releasePointCloudProvider (std::string providerName)
	Removes topic subscription and provider proxy dependency to release a point cloud provider. More...

void	usingPointCloudProvider (std::string providerName)
	Registers a delayed topic subscription and a delayed provider proxy retrieval which will be available on the start of the component. More...

void	usingPointCloudProviderFromProperty (const std::string &prop)

bool	waitForPointClouds (const std::string &providerName, int milliseconds=1000)
	Wait for new PointClouds. More...

bool	waitForPointClouds (int milliseconds=1000)
	Wait for new PointClouds. More...

Public Member Functions inherited from Component
void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function More...

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class ProxyType >
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property. More...

template<class ProxyType >
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType >
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property. More...

template<class TopicProxyType >
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property. More...

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property. More...

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property. More...

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

template<class ProxyTarg , class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

template<class ProxyTarg , class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods. More...

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class T >
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT >
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container. More...

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties. More...

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Protected Member Functions
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

void	onConnectPointCloudProcessor () override
	Implement this method in the PointCloudProcessor in order execute parts when the component is fully initialized and about to run. More...

void	onExitPointCloudProcessor () override
	Exit the ImapeProcessor component. More...

void	onInitPointCloudProcessor () override
	Setup the vision component. More...

void	process () override
	Process the vision component. More...

std::pair< armarx::Vector3fSeq, std::vector< VirtualRobot::VisualizationFactory::Color > >	removeRobotVoxels (const armarx::Vector3fSeq &gridPoints, std::vector< VirtualRobot::VisualizationFactory::Color >const &gridColors, const VirtualRobot::RobotPtr &robot, float distanceThreshold)

CloudPtr	removeRobotVoxels (const CloudPtr &cloud, const VirtualRobot::RobotPtr &robot, float distanceThreshold)

void	updateBoundaries ()

Protected Member Functions inherited from PointCloudProcessor
virtual void	onConnectComponent () override

virtual void	onDisconnectComponent () override

virtual void	onDisconnectPointCloudProcessor ()
	Implement this method in the PointCloudProcessor in order execute parts when the component looses network connectivity. More...

virtual void	onExitComponent () override

virtual void	onInitComponent () override

void	reportPointCloudAvailable (const std::string &providerName, const Ice::Current &c=Ice::emptyCurrent) override
	Listener callback function. More...

virtual void	runProcessor ()

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text. More...

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor. More...

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor. More...

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor. More...

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes
CloudPtr	accumulatedPointCloud

bool	collectingPointClouds = false

Eigen::Vector3f	croppingMax

Eigen::Vector3f	croppingMin

std::unique_ptr< armarx::CycleUtil >	cycleKeeper

std::mutex	dataMutex

armarx::DebugDrawerInterfacePrx	dd

float	gridLeafSize = 0.0f

VirtualRobot::TriMeshModelPtr	gridMesh

armarx::Vector3fSeq	gridPositions

CloudPtr	lastPointCloud

pcl::octree::OctreePointCloud< PointType >::Ptr	octtree

std::string	pointCloudFormat

std::string	providerName

armarx::RobotPoolPtr	robotPool

armarx::RobotStateComponentInterfacePrx	robotStateComponent

std::unique_ptr< armarx::IceReportSkipper >	skipper

std::string	sourceFrameName

Protected Attributes inherited from PointCloudProcessor
bool	automaticConversion

FPSCounter	fpsCounter

float	frameRate

std::map< std::string, PointCloudProviderInfo >	pointCloudProviderInfoMap

std::shared_mutex	pointCloudProviderInfoMutex

armarx::RunningTask< PointCloudProcessor >::pointer_type	processorTask

std::map< std::string, IceInternal::Handle< ResultPointCloudProvider > >	resultPointCloudProviders

std::shared_mutex	resultProviderMutex

std::map< std::string, PointCloudTransferStats >	statistics

std::mutex	statisticsMutex

PointCloudProviderMap	usedPointCloudProviders

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Additional Inherited Members
Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component. More...

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

Protected Types inherited from PointCloudProcessor
using	PointCloudProviderMap = std::map< std::string, armarx::IceSharedMemoryConsumer< unsigned char, MetaPointCloudFormat >::pointer_type >

Detailed Description

Brief description of class VoxelGridMappingProvider.

Detailed description of class VoxelGridMappingProvider.

Definition at line 86 of file VoxelGridMappingProvider.h.

Member Typedef Documentation

◆ Cloud

using Cloud = pcl::PointCloud<PointType>

Definition at line 92 of file VoxelGridMappingProvider.h.

◆ CloudPtr

using CloudPtr = Cloud::Ptr

Definition at line 93 of file VoxelGridMappingProvider.h.

◆ PointType

using PointType = pcl::PointXYZRGBA

Definition at line 91 of file VoxelGridMappingProvider.h.

Constructor & Destructor Documentation

◆ VoxelGridMappingProvider()

VoxelGridMappingProvider ( )

Definition at line 56 of file VoxelGridMappingProvider.cpp.

Member Function Documentation

◆ componentPropertiesUpdated()

void componentPropertiesUpdated ( const std::set< std::string > & changedProperties )

overridevirtual

Implement this function if you would like to react to changes in the properties.

Parameters

changedProperties Set of changed properties. Retrieve the values with getProperty()

Reimplemented from Component.

Definition at line 517 of file VoxelGridMappingProvider.cpp.

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 66 of file VoxelGridMappingProvider.cpp.

◆ getDefaultName()

std::string getDefaultName ( ) const

overridevirtual

See also: armarx::ManagedIceObject::getDefaultName()

Implements ManagedIceObject.

Definition at line 61 of file VoxelGridMappingProvider.cpp.

◆ getFilledGridPositions()

Vector3fSeq getFilledGridPositions ( const Ice::Current & ) const

override

Definition at line 486 of file VoxelGridMappingProvider.cpp.

◆ getGridSize()

Ice::Float getGridSize ( const ::Ice::Current & = Ice::emptyCurrent ) const

override

Definition at line 492 of file VoxelGridMappingProvider.cpp.

◆ onConnectPointCloudProcessor()

void onConnectPointCloudProcessor ( )

overrideprotectedvirtual

Implement this method in the PointCloudProcessor in order execute parts when the component is fully initialized and about to run.

Implements PointCloudProcessor.

Definition at line 94 of file VoxelGridMappingProvider.cpp.

◆ onExitPointCloudProcessor()

void onExitPointCloudProcessor ( )

overrideprotectedvirtual

Exit the ImapeProcessor component.

Implement this method in order to clean up the PointCloudProcessor

Implements PointCloudProcessor.

Definition at line 120 of file VoxelGridMappingProvider.cpp.

◆ onInitPointCloudProcessor()

void onInitPointCloudProcessor ( )

overrideprotectedvirtual

Setup the vision component.

Implement this method in the PointCloudProcessor in order to setup its parameters. Use this for the registration of adaptars and subscription to topics

Parameters

argc	number of filtered command line arguments
argv	filtered command line arguments

Implements PointCloudProcessor.

Definition at line 76 of file VoxelGridMappingProvider.cpp.

◆ process()

void process ( )

overrideprotectedvirtual

Process the vision component.

The main loop of the PointCloudProcessor to be implemented in the subclass. Do not block this method. One process should execute exactly one PointCloud processing step.

Implements PointCloudProcessor.

Definition at line 142 of file VoxelGridMappingProvider.cpp.

Here is the call graph for this function:

◆ removeRobotVoxels() [1/2]

std::pair<armarx::Vector3fSeq, std::vector<VirtualRobot::VisualizationFactory::Color> > removeRobotVoxels	(	const armarx::Vector3fSeq &	gridPoints,
		std::vector< VirtualRobot::VisualizationFactory::Color >const &	gridColors,
		const VirtualRobot::RobotPtr &	robot,
		float	distanceThreshold
	)

protected

◆ removeRobotVoxels() [2/2]

VoxelGridMappingProvider::CloudPtr removeRobotVoxels	(	const CloudPtr &	cloud,
		const VirtualRobot::RobotPtr &	robot,
		float	distanceThreshold
	)

protected

Definition at line 459 of file VoxelGridMappingProvider.cpp.

◆ reset()

void reset ( const Ice::Current & )

override

Definition at line 508 of file VoxelGridMappingProvider.cpp.

◆ startCollectingPointClouds()

void startCollectingPointClouds ( const Ice::Current & )

override

Definition at line 498 of file VoxelGridMappingProvider.cpp.

◆ stopCollectingPointClouds()

void stopCollectingPointClouds ( const Ice::Current & )

override

Definition at line 503 of file VoxelGridMappingProvider.cpp.

◆ updateBoundaries()

void updateBoundaries ( )

protected

Definition at line 127 of file VoxelGridMappingProvider.cpp.

Here is the call graph for this function:

Member Data Documentation

◆ accumulatedPointCloud

CloudPtr accumulatedPointCloud

protected

Definition at line 134 of file VoxelGridMappingProvider.h.

◆ collectingPointClouds

bool collectingPointClouds = false

protected

Definition at line 140 of file VoxelGridMappingProvider.h.

◆ croppingMax

Eigen::Vector3f croppingMax

protected

Definition at line 142 of file VoxelGridMappingProvider.h.

◆ croppingMin

Eigen::Vector3f croppingMin

protected

Definition at line 142 of file VoxelGridMappingProvider.h.

◆ cycleKeeper

std::unique_ptr<armarx::CycleUtil> cycleKeeper

protected

Definition at line 144 of file VoxelGridMappingProvider.h.

◆ dataMutex

std::mutex dataMutex

mutableprotected

Definition at line 139 of file VoxelGridMappingProvider.h.

◆ dd

armarx::DebugDrawerInterfacePrx dd

protected

Definition at line 132 of file VoxelGridMappingProvider.h.

◆ gridLeafSize

float gridLeafSize = 0.0f

protected

Definition at line 136 of file VoxelGridMappingProvider.h.

◆ gridMesh

VirtualRobot::TriMeshModelPtr gridMesh

protected

Definition at line 137 of file VoxelGridMappingProvider.h.

◆ gridPositions

armarx::Vector3fSeq gridPositions

protected

Definition at line 138 of file VoxelGridMappingProvider.h.

◆ lastPointCloud

CloudPtr lastPointCloud

protected

Definition at line 134 of file VoxelGridMappingProvider.h.

◆ octtree

pcl::octree::OctreePointCloud<PointType>::Ptr octtree

protected

Definition at line 135 of file VoxelGridMappingProvider.h.

◆ pointCloudFormat

std::string pointCloudFormat

protected

Definition at line 124 of file VoxelGridMappingProvider.h.

◆ providerName

std::string providerName

protected

Definition at line 122 of file VoxelGridMappingProvider.h.

◆ robotPool

armarx::RobotPoolPtr robotPool

protected

Definition at line 126 of file VoxelGridMappingProvider.h.

◆ robotStateComponent

armarx::RobotStateComponentInterfacePrx robotStateComponent

protected

Definition at line 128 of file VoxelGridMappingProvider.h.

◆ skipper

std::unique_ptr<armarx::IceReportSkipper> skipper

protected

Definition at line 143 of file VoxelGridMappingProvider.h.

◆ sourceFrameName

std::string sourceFrameName

protected

Definition at line 130 of file VoxelGridMappingProvider.h.

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

VisionX/components/pointcloud_processor/VoxelGridMappingProvider/VoxelGridMappingProvider.h
VisionX/components/pointcloud_processor/VoxelGridMappingProvider/VoxelGridMappingProvider.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Cloud

◆ CloudPtr

◆ PointType

Constructor & Destructor Documentation

◆ VoxelGridMappingProvider()

Member Function Documentation

◆ componentPropertiesUpdated()

◆ createPropertyDefinitions()

◆ getDefaultName()

◆ getFilledGridPositions()

◆ getGridSize()

◆ onConnectPointCloudProcessor()

◆ onExitPointCloudProcessor()

◆ onInitPointCloudProcessor()

◆ process()

◆ removeRobotVoxels() [1/2]

◆ removeRobotVoxels() [2/2]

◆ reset()

◆ startCollectingPointClouds()

◆ stopCollectingPointClouds()

◆ updateBoundaries()

Member Data Documentation

◆ accumulatedPointCloud

◆ collectingPointClouds

◆ croppingMax

◆ croppingMin

◆ cycleKeeper

◆ dataMutex

◆ dd

◆ gridLeafSize

◆ gridMesh

◆ gridPositions

◆ lastPointCloud

◆ octtree

◆ pointCloudFormat

◆ providerName

◆ robotPool

◆ robotStateComponent

◆ skipper

◆ sourceFrameName