occupancy_map_updater.cpp
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00034 
00035 /* Author: Ioan Sucan, Jon Binney  */
00036 
00037 #include <moveit/occupancy_map_monitor/occupancy_map_monitor.h>
00038 #include <moveit/occupancy_map_monitor/occupancy_map_updater.h>
00039 
00040 namespace occupancy_map_monitor
00041 {
00042 
00043 OccupancyMapUpdater::OccupancyMapUpdater(const std::string &type) : type_(type)
00044 {
00045 }
00046 
00047 OccupancyMapUpdater::~OccupancyMapUpdater()
00048 {
00049 }
00050 
00051 void OccupancyMapUpdater::setMonitor(OccupancyMapMonitor *monitor)
00052 {
00053   monitor_ = monitor;
00054   tree_ = monitor->getOcTreePtr();
00055 }
00056 
00057 void OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue &params, const std::string &param_name, double *value)
00058 {
00059   if (params.hasMember(param_name))
00060   {
00061     if (params[param_name].getType() == XmlRpc::XmlRpcValue::TypeInt)
00062       *value = (int) params[param_name];
00063     else
00064       *value = (double) params[param_name];
00065   }
00066 }
00067 
00068 void OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue &params, const std::string &param_name, unsigned int *value)
00069 {
00070   if (params.hasMember(param_name))
00071     *value = (int) params[param_name];
00072 }
00073 
00074 bool OccupancyMapUpdater::updateTransformCache(const std::string &target_frame, const ros::Time &target_time)
00075 {
00076   transform_cache_.clear();
00077   if (transform_provider_callback_)
00078     return transform_provider_callback_(target_frame, target_time, transform_cache_);
00079   else
00080   {
00081     ROS_WARN_THROTTLE(1, "No callback provided for updating the transform cache for octomap updaters");
00082     return false;
00083   }
00084 }
00085 
00086 }


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