Class LaserScanPolygonFilterBase

Inheritance Relationships

Base Types

  • public filters::FilterBase< sensor_msgs::msg::LaserScan >

  • public rclcpp_lifecycle::LifecycleNode

Derived Types

Class Documentation

class LaserScanPolygonFilterBase : public filters::FilterBase<sensor_msgs::msg::LaserScan>, public rclcpp_lifecycle::LifecycleNode

This is a filter that removes points in a laser scan inside of a polygon.

Subclassed by laser_filters::LaserScanPolygonFilter, laser_filters::StaticLaserScanPolygonFilter

Public Functions

inline LaserScanPolygonFilterBase()
inline virtual bool configure()
inline void footprintCB(const geometry_msgs::msg::Polygon::SharedPtr polygon)
inline virtual bool update(const sensor_msgs::msg::LaserScan &input_scan, sensor_msgs::msg::LaserScan &output_scan)

Protected Functions

inline virtual rcl_interfaces::msg::SetParametersResult reconfigureCB(std::vector<rclcpp::Parameter> parameters)
inline bool inPolygon(const Point &point) const
inline void publishPolygon()

Protected Attributes

rclcpp::Publisher<geometry_msgs::msg::PolygonStamped>::SharedPtr polygon_pub_
rclcpp::Subscription<geometry_msgs::msg::Polygon>::SharedPtr footprint_sub_
std::recursive_mutex own_mutex_
std::string polygon_frame_
geometry_msgs::msg::Polygon polygon_
double polygon_padding_
bool invert_filter_
bool is_polygon_published_ = false
tf2_ros::Buffer buffer_
tf2_ros::TransformListener tf_
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_handle_