OctomapServerMultilayer.h

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/*
 * Copyright (c) 2010-2011, A. Hornung, M. Philips
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Freiburg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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#ifndef OCTOMAP_SERVER_OCTOMAPSERVERMULTILAYER_H
#define OCTOMAP_SERVER_OCTOMAPSERVERMULTILAYER_H

#include <octomap_server/OctomapServer.h>
#include <arm_navigation_msgs/AttachedCollisionObject.h>

namespace octomap_server {
class OctomapServerMultilayer : public OctomapServer{

public:
  OctomapServerMultilayer(ros::NodeHandle private_nh_ = ros::NodeHandle("~"));
  virtual ~OctomapServerMultilayer();
  void attachedCallback(const arm_navigation_msgs::AttachedCollisionObjectConstPtr& msg);

protected:
  struct ProjectedMap{
    double minZ;
    double maxZ;
    double z; // for visualization
    std::string name;
    nav_msgs::OccupancyGrid map;
  };
  typedef std::vector<ProjectedMap> MultilevelGrid;

  virtual void handlePreNodeTraversal(const ros::Time& rostime);

  virtual void update2DMap(const OcTreeT::iterator& it, bool occupied);

  virtual void handlePostNodeTraversal(const ros::Time& rostime);

  std::vector<ros::Publisher*> m_multiMapPub;
  ros::Subscriber m_attachedObjectsSub;

  std::string m_attachedFrame;
  double m_attachedMaxOffset;
  double m_attachedMinOffset;
  bool m_haveAttachedObject;
  std::vector<std::string> m_armLinks;
  std::vector<double> m_armLinkOffsets;

  MultilevelGrid m_multiGridmap;


};
}

#endif