00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, 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 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 */ 00036 00037 #ifndef MOVEIT_OCCUPANCY_MAP_MONITOR_LAZY_FREE_SPACE_UPDATER_ 00038 #define MOVEIT_OCCUPANCY_MAP_MONITOR_LAZY_FREE_SPACE_UPDATER_ 00039 00040 #include <moveit/occupancy_map_monitor/occupancy_map.h> 00041 #include <boost/thread.hpp> 00042 #include <deque> 00043 00044 namespace occupancy_map_monitor 00045 { 00046 00047 class LazyFreeSpaceUpdater 00048 { 00049 public: 00050 00051 LazyFreeSpaceUpdater(const OccMapTreePtr &tree, unsigned int max_batch_size = 10); 00052 ~LazyFreeSpaceUpdater(); 00053 00054 void pushLazyUpdate(octomap::KeySet *occupied_cells, octomap::KeySet *model_cells, const octomap::point3d &sensor_origin); 00055 00056 private: 00057 00058 #ifdef __APPLE__ 00059 typedef std::unordered_map<octomap::OcTreeKey, unsigned int, octomap::OcTreeKey::KeyHash> OcTreeKeyCountMap; 00060 #else 00061 typedef std::tr1::unordered_map<octomap::OcTreeKey, unsigned int, octomap::OcTreeKey::KeyHash> OcTreeKeyCountMap; 00062 #endif 00063 00064 void pushBatchToProcess(OcTreeKeyCountMap *occupied_cells, octomap::KeySet *model_cells, const octomap::point3d &sensor_origin); 00065 00066 void lazyUpdateThread(); 00067 void processThread(); 00068 00069 OccMapTreePtr tree_; 00070 bool running_; 00071 std::size_t max_batch_size_; 00072 double max_sensor_delta_; 00073 00074 std::deque<octomap::KeySet*> occupied_cells_sets_; 00075 std::deque<octomap::KeySet*> model_cells_sets_; 00076 std::deque<octomap::point3d> sensor_origins_; 00077 boost::condition_variable update_condition_; 00078 boost::mutex update_cell_sets_lock_; 00079 00080 OcTreeKeyCountMap *process_occupied_cells_set_; 00081 octomap::KeySet *process_model_cells_set_; 00082 octomap::point3d process_sensor_origin_; 00083 boost::condition_variable process_condition_; 00084 boost::mutex cell_process_lock_; 00085 00086 boost::thread update_thread_; 00087 boost::thread process_thread_; 00088 }; 00089 00090 } 00091 00092 #endif /* MOVEIT_OCCUPANCY_MAP_UPDATER_H_ */