OctomapServerMultilayer.h
Go to the documentation of this file.00001 00009 /* 00010 * Copyright (c) 2010-2011, 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 00039 #include <octomap_server/OctomapServer.h> 00040 #include <arm_navigation_msgs/AttachedCollisionObject.h> 00041 00042 namespace octomap_server { 00043 class OctomapServerMultilayer : public OctomapServer{ 00044 00045 public: 00046 OctomapServerMultilayer(const std::string& filename= ""); 00047 virtual ~OctomapServerMultilayer(); 00048 void attachedCallback(const arm_navigation_msgs::AttachedCollisionObjectConstPtr& msg); 00049 00050 protected: 00051 00053 void handlePreNodeTraversal(const ros::Time& rostime); 00054 00056 void handleNode(const octomap::OcTreeROS::OcTreeType::iterator& it) {}; 00057 00059 void handleOccupiedNode(const octomap::OcTreeROS::OcTreeType::iterator& it); 00060 00062 void handleFreeNode(const octomap::OcTreeROS::OcTreeType::iterator& it); 00063 00065 void handlePostNodeTraversal(const ros::Time& rostime); 00066 00067 ros::Subscriber m_attachedObjectsSub; 00068 00069 std::string m_attachedFrame; 00070 double m_attachedMaxOffset; 00071 double m_attachedMinOffset; 00072 bool m_haveAttachedObject; 00073 00074 00075 }; 00076 } 00077