observation.h

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/*
 * Copyright (c) 2008, 2013, Willow Garage, Inc.
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 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
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 *       this software without specific prior written permission.
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 * Authors: Conor McGann
 */

#ifndef COSTMAP_OBSERVATION_H_
#define COSTMAP_OBSERVATION_H_

#include <geometry_msgs/Point.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>

namespace costmap_2d
{

class Observation
{
public:
  Observation() :
    cloud_(new pcl::PointCloud<pcl::PointXYZ>()), obstacle_range_(0.0), raytrace_range_(0.0)
  {
  }

  virtual ~Observation()
  {
    delete cloud_;
  }

  Observation(geometry_msgs::Point& origin, pcl::PointCloud<pcl::PointXYZ> cloud, double obstacle_range,
              double raytrace_range) :
      origin_(origin), cloud_(new pcl::PointCloud<pcl::PointXYZ>(cloud)), obstacle_range_(obstacle_range), raytrace_range_(raytrace_range)
  {
  }

  Observation(const Observation& obs) :
      origin_(obs.origin_), cloud_(new pcl::PointCloud<pcl::PointXYZ>(*(obs.cloud_))), obstacle_range_(obs.obstacle_range_), raytrace_range_(
          obs.raytrace_range_)
  {
  }

  Observation(pcl::PointCloud<pcl::PointXYZ> cloud, double obstacle_range) :
      cloud_(new pcl::PointCloud<pcl::PointXYZ>(cloud)), obstacle_range_(obstacle_range), raytrace_range_(0.0)
  {
  }

  geometry_msgs::Point origin_;
  pcl::PointCloud<pcl::PointXYZ>* cloud_;
  double obstacle_range_, raytrace_range_;
};

}
#endif