OctomapServerMultilayer.cpp
Go to the documentation of this file.00001 00009 /* 00010 * Copyright (c) 2010-2012, A. Hornung, University of Freiburg 00011 * All rights reserved. 00012 * 00013 * Redistribution and use in source and binary forms, with or without 00014 * modification, are permitted provided that the following conditions are met: 00015 * 00016 * * Redistributions of source code must retain the above copyright 00017 * notice, this list of conditions and the following disclaimer. 00018 * * Redistributions in binary form must reproduce the above copyright 00019 * notice, this list of conditions and the following disclaimer in the 00020 * documentation and/or other materials provided with the distribution. 00021 * * Neither the name of the University of Freiburg nor the names of its 00022 * contributors may be used to endorse or promote products derived from 00023 * this software without specific prior written permission. 00024 * 00025 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00026 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00027 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00028 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00029 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00030 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00031 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00032 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00033 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00034 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 */ 00037 00038 #include <octomap_server/OctomapServerMultilayer.h> 00039 00040 using namespace octomap; 00041 00042 namespace octomap_server{ 00043 00044 OctomapServerMultilayer::OctomapServerMultilayer(const std::string& filename) 00045 : OctomapServer(filename), 00046 m_haveAttachedObject(false) 00047 { 00048 00049 m_attachedObjectsSub = m_nh.subscribe("attached_collision_object", 1, &OctomapServerMultilayer::attachedCallback, this); 00050 00051 } 00052 00053 OctomapServerMultilayer::~OctomapServerMultilayer(){ 00054 00055 } 00056 00057 void OctomapServerMultilayer::attachedCallback(const arm_navigation_msgs::AttachedCollisionObjectConstPtr& msg){ 00058 ROS_DEBUG("AttachedCollisionObjects received"); 00059 m_haveAttachedObject = (msg->object.operation.operation == arm_navigation_msgs::CollisionObjectOperation::ATTACH_AND_REMOVE_AS_OBJECT); 00060 if(m_haveAttachedObject){ 00061 m_attachedFrame = msg->link_name; 00062 m_attachedMaxOffset = msg->object.poses.back().position.z + msg->object.shapes.back().dimensions[1]; 00063 m_attachedMinOffset = msg->object.poses.back().position.z - msg->object.shapes.back().dimensions[1]; 00064 } 00065 } 00066 00067 void OctomapServerMultilayer::handlePreNodeTraversal(const ros::Time& rostime){ 00068 00069 // TODO: set up 2D map 00070 } 00071 00072 void OctomapServerMultilayer::handlePostNodeTraversal(const ros::Time& rostime){ 00073 00074 // TODO: publish multilayer maps 00075 00076 } 00077 00078 void OctomapServerMultilayer::handleOccupiedNode(const OcTreeROS::OcTreeType::iterator& it){ 00079 00080 // TODO: set map pixel in layers 00081 00082 } 00083 00084 void OctomapServerMultilayer::handleFreeNode(const OcTreeROS::OcTreeType::iterator& it){ 00085 00086 // TODO: set map pixel in layers 00087 00088 } 00089 } 00090 00091 00092