octomap_server: octomap_server: TrackingOctomapServer.h Source File

00001 /*
00002  * Copyright (c) 2012, D. Kuhner, P. Ruchti, University of Freiburg
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the University of Freiburg nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef TRACKINGOCTOMAPSERVER_H_
00031 #define TRACKINGOCTOMAPSERVER_H_
00032 
00033 #include "OctomapServer.h"
00034 
00035 namespace octomap_server {
00036 
00037 class TrackingOctomapServer: public OctomapServer {
00038 public:
00039   TrackingOctomapServer(const std::string& filename = "");
00040   virtual ~TrackingOctomapServer();
00041 
00042   void trackCallback(sensor_msgs::PointCloud2Ptr cloud);
00043   void insertScan(const tf::Point& sensorOrigin, const PCLPointCloud& ground, const PCLPointCloud& nonground);
00044 
00045 protected:
00046   void trackChanges();
00047 
00048   bool listen_changes;
00049   bool track_changes;
00050   ros::Publisher pubFreeChangeSet;
00051   ros::Publisher pubChangeSet;
00052   ros::Subscriber subChangeSet;
00053   ros::Subscriber subFreeChanges;
00054 };
00055 
00056 } /* namespace octomap */
00057 #endif /* TRACKINGOCTOMAPSERVER_H_ */