occupancy_map.h
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00034 
00035 /* Author: Ioan Sucan, Jon Binney */
00036 
00037 #ifndef MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_
00038 #define MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_
00039 
00040 #include <octomap/octomap.h>
00041 #include <boost/shared_ptr.hpp>
00042 #include <boost/thread/shared_mutex.hpp>
00043 #include <boost/function.hpp>
00044 
00045 namespace occupancy_map_monitor
00046 {
00047 
00048 typedef octomap::OcTreeNode OccMapNode;
00049 
00050 class OccMapTree : public octomap::OcTree
00051 {
00052 public:
00053 
00054   OccMapTree(double resolution) : octomap::OcTree(resolution)
00055   {
00056   }
00057 
00058   OccMapTree(const std::string &filename) : octomap::OcTree(filename)
00059   {
00060   }
00061 
00064   void lockRead()
00065   {
00066     tree_mutex_.lock_shared();
00067   }
00068 
00070   void unlockRead()
00071   {
00072     tree_mutex_.unlock_shared();
00073   }
00074 
00077   void lockWrite()
00078   {
00079     tree_mutex_.lock();
00080   }
00081 
00083   void unlockWrite()
00084   {
00085     tree_mutex_.unlock();
00086   }
00087 
00088   void triggerUpdateCallback(void)
00089   {
00090     if (update_callback_)
00091       update_callback_();
00092   }
00093 
00095   void setUpdateCallback(const boost::function<void()> &update_callback)
00096   {
00097     update_callback_ = update_callback;
00098   }
00099 
00100 private:
00101   boost::shared_mutex tree_mutex_;
00102   boost::function<void()> update_callback_;
00103 };
00104 
00105 typedef boost::shared_ptr<OccMapTree> OccMapTreePtr;
00106 typedef boost::shared_ptr<const OccMapTree> OccMapTreeConstPtr;
00107 
00108 }
00109 
00110 #endif


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