occupancy_map.h

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/* Author: Ioan Sucan, Jon Binney */

#ifndef MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_
#define MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_

#include <octomap/octomap.h>
#include <boost/shared_ptr.hpp>
#include <boost/thread/shared_mutex.hpp>
#include <boost/function.hpp>

namespace occupancy_map_monitor
{

typedef octomap::OcTreeNode OccMapNode;

class OccMapTree : public octomap::OcTree
{
public:

  OccMapTree(double resolution) : octomap::OcTree(resolution)
  {
  }

  OccMapTree(const std::string &filename) : octomap::OcTree(filename)
  {
  }

  void lockRead()
  {
    tree_mutex_.lock_shared();
  }

  void unlockRead()
  {
    tree_mutex_.unlock_shared();
  }

  void lockWrite()
  {
    tree_mutex_.lock();
  }

  void unlockWrite()
  {
    tree_mutex_.unlock();
  }

  void triggerUpdateCallback(void)
  {
    if (update_callback_)
      update_callback_();
  }

  void setUpdateCallback(const boost::function<void()> &update_callback)
  {
    update_callback_ = update_callback;
  }

private:
  boost::shared_mutex tree_mutex_;
  boost::function<void()> update_callback_;
};

typedef boost::shared_ptr<OccMapTree> OccMapTreePtr;
typedef boost::shared_ptr<const OccMapTree> OccMapTreeConstPtr;

}

#endif