occupancy_map.h
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2012, Willow Garage, Inc.
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Willow Garage nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Ioan Sucan, Jon Binney */
00036 
00037 #ifndef MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_
00038 #define MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_
00039 
00040 #include <octomap/octomap.h>
00041 #include <boost/shared_ptr.hpp>
00042 #include <boost/thread/shared_mutex.hpp>
00043 #include <boost/function.hpp>
00044 
00045 namespace occupancy_map_monitor
00046 {
00047 
00048 typedef octomap::OcTreeNode OccMapNode;
00049 
00050 class OccMapTree : public octomap::OcTree
00051 {
00052 public:
00053 
00054   OccMapTree(double resolution) : octomap::OcTree(resolution)
00055   {
00056   }
00057 
00058   OccMapTree(const std::string &filename) : octomap::OcTree(filename)
00059   {
00060   }
00061 
00064   void lockRead()
00065   {
00066     tree_mutex_.lock_shared();
00067   }
00068 
00070   void unlockRead()
00071   {
00072     tree_mutex_.unlock_shared();
00073   }
00074 
00077   void lockWrite()
00078   {
00079     tree_mutex_.lock();
00080   }
00081 
00083   void unlockWrite()
00084   {
00085     tree_mutex_.unlock();
00086   }
00087 
00088   void triggerUpdateCallback(void)
00089   {
00090     if (update_callback_)
00091       update_callback_();
00092   }
00093 
00095   void setUpdateCallback(const boost::function<void()> &update_callback)
00096   {
00097     update_callback_ = update_callback;
00098   }
00099 
00100 private:
00101   boost::shared_mutex tree_mutex_;
00102   boost::function<void()> update_callback_;
00103 };
00104 
00105 typedef boost::shared_ptr<OccMapTree> OccMapTreePtr;
00106 typedef boost::shared_ptr<const OccMapTree> OccMapTreeConstPtr;
00107 
00108 }
00109 
00110 #endif


perception
Author(s): Ioan Sucan , Jon Binney
autogenerated on Mon Oct 6 2014 02:31:20