00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, 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, 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