lazy_free_space_updater.h
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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_ */


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Wed Aug 26 2015 12:43:21