PointPerception Class Reference

Concrete perception class for 3D point cloud data. More...

#include <PointPerception.hpp>

Inheritance diagram for PointPerception:

Collaboration diagram for PointPerception:

Public Member Functions
const PointPerceptionBufferType &	get_last_perception () const
	Retrieves the most recent buffered perception (independently of it has a valid TF) without removing it from the buffer.
void	integrate_pending_perceptions ()
void	resize (std::size_t size)
	Resizes the internal point cloud storage.
Public Member Functions inherited from PerceptionBase
virtual	~PerceptionBase ()=default

Static Public Member Functions
static bool	supports_msg_type (std::string_view t)
	Checks if a ROS message type is supported by this perception.

Public Attributes
pcl::PointCloud< pcl::PointXYZ >	data
	The 3D point cloud data associated with this perception.
bool	pending_available_ {false}
pcl::PointCloud< pcl::PointXYZ >	pending_cloud_
std::string	pending_frame_
rclcpp::Time	pending_stamp_
Public Attributes inherited from PerceptionBase
std::string	frame_id
	Coordinate frame associated with the perception.
bool	new_data = false
	Whether the data has changed since the last observation.
rclcpp::Time	stamp
	Timestamp of the perception (ROS time).
bool	valid = false
	Whether the perception contains valid data.

Static Public Attributes
static constexpr std::string_view	default_group_ = "points"
	Group identifier for point perceptions.

Protected Attributes
CircularBuffer< PointPerceptionBufferType >	buffer {10}

Detailed Description

Concrete perception class for 3D point cloud data.

Stores a point cloud of type pcl::PointCloud<pcl::PointXYZ> and the common metadata inherited from PerceptionBase.

Member Function Documentation

get_last_perception()

const PointPerceptionBufferType & get_last_perception

(

)

const

Retrieves the most recent buffered perception (independently of it has a valid TF) without removing it from the buffer.

integrate_pending_perceptions()

void integrate_pending_perceptions

(

)

resize()

void resize

(

std::size_t

size

)

Resizes the internal point cloud storage.

Parameters

size	Number of points to allocate in data.

supports_msg_type()

static bool supports_msg_type ( std::string_view t )

static

Checks if a ROS message type is supported by this perception.

Parameters

t	Fully-qualified ROS 2 message type name (e.g., "sensor_msgs/msg/PointCloud2").

Returns

true if t is sensor_msgs/msg/LaserScan or sensor_msgs/msg/PointCloud2, otherwise false.

Member Data Documentation

buffer

CircularBuffer<PointPerceptionBufferType> buffer {10}

protected

data

pcl::PointCloud<pcl::PointXYZ> data

The 3D point cloud data associated with this perception.

default_group_

std::string_view default_group_ = "points"

staticconstexpr

Group identifier for point perceptions.

pending_available_

bool pending_available_ {false}

pending_cloud_

pcl::PointCloud<pcl::PointXYZ> pending_cloud_

pending_frame_

std::string pending_frame_

pending_stamp_

rclcpp::Time pending_stamp_

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

• easynav_common/include/easynav_common/types/PointPerception.hpp