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, Jon Binney */ 00036 00037 #include <moveit/occupancy_map_monitor/occupancy_map_monitor.h> 00038 #include <moveit/occupancy_map_monitor/occupancy_map_updater.h> 00039 00040 namespace occupancy_map_monitor 00041 { 00042 00043 OccupancyMapUpdater::OccupancyMapUpdater(const std::string &type) : type_(type) 00044 { 00045 } 00046 00047 OccupancyMapUpdater::~OccupancyMapUpdater() 00048 { 00049 } 00050 00051 void OccupancyMapUpdater::setMonitor(OccupancyMapMonitor *monitor) 00052 { 00053 monitor_ = monitor; 00054 tree_ = monitor->getOcTreePtr(); 00055 } 00056 00057 void OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue ¶ms, const std::string ¶m_name, double *value) 00058 { 00059 if (params.hasMember(param_name)) 00060 { 00061 if (params[param_name].getType() == XmlRpc::XmlRpcValue::TypeInt) 00062 *value = (int) params[param_name]; 00063 else 00064 *value = (double) params[param_name]; 00065 } 00066 } 00067 00068 void OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue ¶ms, const std::string ¶m_name, unsigned int *value) 00069 { 00070 if (params.hasMember(param_name)) 00071 *value = (int) params[param_name]; 00072 } 00073 00074 bool OccupancyMapUpdater::updateTransformCache(const std::string &target_frame, const ros::Time &target_time) 00075 { 00076 transform_cache_.clear(); 00077 if (transform_provider_callback_) 00078 return transform_provider_callback_(target_frame, target_time, transform_cache_); 00079 else 00080 { 00081 ROS_WARN_THROTTLE(1, "No callback provided for updating the transform cache for octomap updaters"); 00082 return false; 00083 } 00084 } 00085 00086 }