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00001 /****************************************************************************** 00002 * \file 00003 * 00004 * $Id:$ 00005 * 00006 * Copyright (C) Brno University of Technology 00007 * 00008 * This file is part of software developed by dcgm-robotics@FIT group. 00009 * 00010 * Author: Vit Stancl (stancl@fit.vutbr.cz) 00011 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz) 00012 * Date: dd/mm/2012 00013 * 00014 * This file is free software: you can redistribute it and/or modify 00015 * it under the terms of the GNU Lesser General Public License as published by 00016 * the Free Software Foundation, either version 3 of the License, or 00017 * (at your option) any later version. 00018 * 00019 * This file is distributed in the hope that it will be useful, 00020 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00021 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00022 * GNU Lesser General Public License for more details. 00023 * 00024 * You should have received a copy of the GNU Lesser General Public License 00025 * along with this file. If not, see <http://www.gnu.org/licenses/>. 00026 */ 00027 00028 #include <srs_env_model/but_server/plugins/octomap_plugin_tools/octomap_filter_base.h> 00029 00030 srs_env_model::COcTreeFilterBase::COcTreeFilterBase( const std::string & octree_frame_id, ERunMode mode /*= FILTER_ALLWAYS*/ ) 00031 : m_mode(mode) 00032 , m_framesSkipped(0) 00033 , m_framesCount(0) 00034 , m_lap( m_timer.elapsed_min() ) 00035 , m_treeFrameId( octree_frame_id ) 00036 { 00037 m_timer.restart(); 00038 } 00039 00043 void srs_env_model::COcTreeFilterBase::setFrameSkip( unsigned skip ) 00044 { 00045 m_framesSkipped = skip; 00046 } 00047 00052 bool srs_env_model::COcTreeFilterBase::setTimerLap( double lap ) 00053 { 00054 if( lap > m_timer.elapsed_min() && lap < m_timer.elapsed_max() ) 00055 { 00056 m_lap = lap; 00057 m_timer.restart(); 00058 return true; 00059 } 00060 00061 return false; 00062 } 00063 00067 void srs_env_model::COcTreeFilterBase::filter( tButServerOcTree & tree, bool bPruneAfterFinish /*= true*/ ) 00068 { 00069 ++m_framesCount; 00070 00071 if( useFrame() ) 00072 { 00073 filterInternal( tree ); 00074 if(bPruneAfterFinish) 00075 tree.prune(); 00076 } 00077 } 00078 00082 bool srs_env_model::COcTreeFilterBase::useFrame() 00083 { 00084 switch( m_mode ) 00085 { 00086 case FILTER_ALLWAYS: 00087 // std::cerr << "Allways" << std::endl; 00088 return true; 00089 00090 case FILTER_TEST_FRAME: 00091 // std::cerr << "Frame" << std::endl; 00092 if( m_framesCount > m_framesSkipped ) 00093 { 00094 m_framesCount = 0; 00095 return true; 00096 } 00097 00098 return false; 00099 00100 case FILTER_TEST_TIME: 00101 // std::cerr << "Time. Elapsed: " << m_timer.elapsed() << std::endl; 00102 if( m_timer.elapsed() > m_lap) 00103 { 00104 // std::cerr << "Time elapsed: " << m_timer.elapsed() << ", lap: " << m_lap << std::endl; 00105 m_timer.restart(); 00106 return true; 00107 } 00108 00109 return false; 00110 00111 default: 00112 return false; 00113 } 00114 00115 return false; 00116 }