occupancy_map_updater.h
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00034 
00035 /* Author: Ioan Sucan, Jon Binney */
00036 
00037 #ifndef MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_UPDATER_
00038 #define MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_UPDATER_
00039 
00040 #include <moveit/occupancy_map_monitor/occupancy_map.h>
00041 #include <geometric_shapes/shapes.h>
00042 #include <boost/shared_ptr.hpp>
00043 #include <Eigen/Core>
00044 #include <Eigen/Geometry>
00045 
00046 namespace occupancy_map_monitor
00047 {
00048 
00049 typedef unsigned int ShapeHandle;
00050 typedef std::map<ShapeHandle, Eigen::Affine3d, std::less<ShapeHandle>,
00051                  Eigen::aligned_allocator<std::pair<const ShapeHandle, Eigen::Affine3d> > > ShapeTransformCache;
00052 typedef boost::function<bool(const std::string &target_frame, const ros::Time &target_time, ShapeTransformCache &cache)> TransformCacheProvider;
00053 
00054 class OccupancyMapMonitor;
00055 
00058 class OccupancyMapUpdater
00059 {
00060 public:
00061 
00062   OccupancyMapUpdater(const std::string &type);
00063   virtual ~OccupancyMapUpdater();
00064 
00066   void setMonitor(OccupancyMapMonitor *monitor);
00067 
00069   virtual bool setParams(XmlRpc::XmlRpcValue &params) = 0;
00070 
00072   virtual bool initialize() = 0;
00073 
00074   virtual void start() = 0;
00075 
00076   virtual void stop() = 0;
00077 
00078   virtual ShapeHandle excludeShape(const shapes::ShapeConstPtr &shape) = 0;
00079 
00080   virtual void forgetShape(ShapeHandle handle) = 0;
00081 
00082   const std::string& getType() const
00083   {
00084     return type_;
00085   }
00086 
00087   void setTransformCacheCallback(const TransformCacheProvider &transform_callback)
00088   {
00089     transform_provider_callback_ = transform_callback;
00090   }
00091 
00092   void publishDebugInformation(bool flag)
00093   {
00094     debug_info_ = flag;
00095   }
00096 
00097 protected:
00098 
00099   OccupancyMapMonitor *monitor_;
00100   std::string type_;
00101   OccMapTreePtr tree_;
00102   TransformCacheProvider transform_provider_callback_;
00103   ShapeTransformCache transform_cache_;
00104   bool debug_info_;
00105 
00106   bool updateTransformCache(const std::string &target_frame, const ros::Time &target_time);
00107 
00108   static void readXmlParam(XmlRpc::XmlRpcValue &params, const std::string &param_name, double *value);
00109   static void readXmlParam(XmlRpc::XmlRpcValue &params, const std::string &param_name, unsigned int *value);
00110 
00111 };
00112 
00113 typedef boost::shared_ptr<OccupancyMapUpdater> OccupancyMapUpdaterPtr;
00114 typedef boost::shared_ptr<const OccupancyMapUpdater> OccupancyMapUpdaterConstPtr;
00115 
00116 }
00117 
00118 #endif


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