occupancy_map_monitor::LazyFreeSpaceUpdater Class Reference

#include <lazy_free_space_updater.h>

Public Member Functions
	LazyFreeSpaceUpdater (const collision_detection::OccMapTreePtr &tree, unsigned int max_batch_size=10)
void	pushLazyUpdate (octomap::KeySet *occupied_cells, octomap::KeySet *model_cells, const octomap::point3d &sensor_origin)
	~LazyFreeSpaceUpdater ()

Private Types
typedef std::tr1::unordered_map< octomap::OcTreeKey, unsigned int, octomap::OcTreeKey::KeyHash >	OcTreeKeyCountMap

Private Member Functions
void	lazyUpdateThread ()
void	processThread ()
void	pushBatchToProcess (OcTreeKeyCountMap *occupied_cells, octomap::KeySet *model_cells, const octomap::point3d &sensor_origin)

Private Attributes
boost::mutex	cell_process_lock_
std::size_t	max_batch_size_
double	max_sensor_delta_
std::deque< octomap::KeySet * >	model_cells_sets_
std::deque< octomap::KeySet * >	occupied_cells_sets_
boost::condition_variable	process_condition_
octomap::KeySet *	process_model_cells_set_
OcTreeKeyCountMap *	process_occupied_cells_set_
octomap::point3d	process_sensor_origin_
boost::thread	process_thread_
bool	running_
std::deque< octomap::point3d >	sensor_origins_
collision_detection::OccMapTreePtr	tree_
boost::mutex	update_cell_sets_lock_
boost::condition_variable	update_condition_
boost::thread	update_thread_

Detailed Description

Definition at line 78 of file lazy_free_space_updater.h.

Member Typedef Documentation

OcTreeKeyCountMap

typedef std::tr1::unordered_map<octomap::OcTreeKey, unsigned int, octomap::OcTreeKey::KeyHash> occupancy_map_monitor::LazyFreeSpaceUpdater::OcTreeKeyCountMap

private

Definition at line 125 of file lazy_free_space_updater.h.

Constructor & Destructor Documentation

LazyFreeSpaceUpdater()

occupancy_map_monitor::LazyFreeSpaceUpdater::LazyFreeSpaceUpdater	(	const collision_detection::OccMapTreePtr &	tree,
		unsigned int	max_batch_size = 10
	)

Definition at line 76 of file lazy_free_space_updater.cpp.

~LazyFreeSpaceUpdater()

occupancy_map_monitor::LazyFreeSpaceUpdater::~LazyFreeSpaceUpdater

(

)

Definition at line 88 of file lazy_free_space_updater.cpp.

Member Function Documentation

lazyUpdateThread()

void occupancy_map_monitor::LazyFreeSpaceUpdater::lazyUpdateThread ( )

private

Definition at line 232 of file lazy_free_space_updater.cpp.

processThread()

void occupancy_map_monitor::LazyFreeSpaceUpdater::processThread ( )

private

Definition at line 137 of file lazy_free_space_updater.cpp.

pushBatchToProcess()

void occupancy_map_monitor::LazyFreeSpaceUpdater::pushBatchToProcess ( OcTreeKeyCountMap *  occupied_cells, octomap::KeySet *  model_cells, const octomap::point3d &  sensor_origin  )

private

Definition at line 115 of file lazy_free_space_updater.cpp.

pushLazyUpdate()

void occupancy_map_monitor::LazyFreeSpaceUpdater::pushLazyUpdate	(	octomap::KeySet *	occupied_cells,
		octomap::KeySet *	model_cells,
		const octomap::point3d &	sensor_origin
	)

Definition at line 103 of file lazy_free_space_updater.cpp.

Member Data Documentation

cell_process_lock_

boost::mutex occupancy_map_monitor::LazyFreeSpaceUpdater::cell_process_lock_

private

Definition at line 149 of file lazy_free_space_updater.h.

max_batch_size_

std::size_t occupancy_map_monitor::LazyFreeSpaceUpdater::max_batch_size_

private

Definition at line 136 of file lazy_free_space_updater.h.

max_sensor_delta_

double occupancy_map_monitor::LazyFreeSpaceUpdater::max_sensor_delta_

private

Definition at line 137 of file lazy_free_space_updater.h.

model_cells_sets_

std::deque<octomap::KeySet*> occupancy_map_monitor::LazyFreeSpaceUpdater::model_cells_sets_

private

Definition at line 140 of file lazy_free_space_updater.h.

occupied_cells_sets_

std::deque<octomap::KeySet*> occupancy_map_monitor::LazyFreeSpaceUpdater::occupied_cells_sets_

private

Definition at line 139 of file lazy_free_space_updater.h.

process_condition_

boost::condition_variable occupancy_map_monitor::LazyFreeSpaceUpdater::process_condition_

private

Definition at line 148 of file lazy_free_space_updater.h.

process_model_cells_set_

octomap::KeySet* occupancy_map_monitor::LazyFreeSpaceUpdater::process_model_cells_set_

private

Definition at line 146 of file lazy_free_space_updater.h.

process_occupied_cells_set_

OcTreeKeyCountMap* occupancy_map_monitor::LazyFreeSpaceUpdater::process_occupied_cells_set_

private

Definition at line 145 of file lazy_free_space_updater.h.

process_sensor_origin_

octomap::point3d occupancy_map_monitor::LazyFreeSpaceUpdater::process_sensor_origin_

private

Definition at line 147 of file lazy_free_space_updater.h.

process_thread_

boost::thread occupancy_map_monitor::LazyFreeSpaceUpdater::process_thread_

private

Definition at line 152 of file lazy_free_space_updater.h.

running_

bool occupancy_map_monitor::LazyFreeSpaceUpdater::running_

private

Definition at line 135 of file lazy_free_space_updater.h.

sensor_origins_

std::deque<octomap::point3d> occupancy_map_monitor::LazyFreeSpaceUpdater::sensor_origins_

private

Definition at line 141 of file lazy_free_space_updater.h.

tree_

collision_detection::OccMapTreePtr occupancy_map_monitor::LazyFreeSpaceUpdater::tree_

private

Definition at line 134 of file lazy_free_space_updater.h.

update_cell_sets_lock_

boost::mutex occupancy_map_monitor::LazyFreeSpaceUpdater::update_cell_sets_lock_

private

Definition at line 143 of file lazy_free_space_updater.h.

update_condition_

boost::condition_variable occupancy_map_monitor::LazyFreeSpaceUpdater::update_condition_

private

Definition at line 142 of file lazy_free_space_updater.h.

update_thread_

boost::thread occupancy_map_monitor::LazyFreeSpaceUpdater::update_thread_

private

Definition at line 151 of file lazy_free_space_updater.h.

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

• lazy_free_space_updater.h
• lazy_free_space_updater.cpp