accumulator.h
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00001 /*
00002  * Copyright (c) 2014-2017, the neonavigation authors
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the copyright holder nor the names of its 
00014  *       contributors may be used to endorse or promote products derived from 
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef COSTMAP_CSPACE_POINTCLOUD_ACCUMULATOR_ACCUMULATOR_H
00031 #define COSTMAP_CSPACE_POINTCLOUD_ACCUMULATOR_ACCUMULATOR_H
00032 
00033 #include <ros/ros.h>
00034 
00035 #include <list>
00036 
00037 template <typename T>
00038 class PointcloudAccumurator
00039 {
00040 public:
00041   class Points : public T
00042   {
00043   public:
00044     ros::Time stamp_;
00045 
00046     Points(const T& points, const ros::Time& stamp)
00047       : T(points)
00048       , stamp_(stamp)
00049     {
00050     }
00051   };
00052 
00053   PointcloudAccumurator()
00054   {
00055   }
00056 
00057   explicit PointcloudAccumurator(const ros::Duration& duration)
00058   {
00059     reset(duration);
00060   }
00061 
00062   void reset(const ros::Duration& duration)
00063   {
00064     time_to_hold_ = duration;
00065     clear();
00066   }
00067 
00068   void clear()
00069   {
00070     points_.clear();
00071   }
00072 
00073   void push(const Points& points)
00074   {
00075     for (auto it = points_.begin(); it != points_.end(); ++it)
00076     {
00077       if (it->stamp_ + time_to_hold_ < points.stamp_)
00078       {
00079         it = points_.erase(it);
00080         continue;
00081       }
00082       break;
00083     }
00084     points_.push_back(points);
00085   }
00086 
00087   typename std::list<Points>::iterator begin()
00088   {
00089     return points_.begin();
00090   }
00091   typename std::list<Points>::iterator end()
00092   {
00093     return points_.end();
00094   }
00095 
00096   typename std::list<Points>::const_iterator begin() const
00097   {
00098     return points_.cbegin();
00099   }
00100   typename std::list<Points>::const_iterator end() const
00101   {
00102     return points_.cend();
00103   }
00104 
00105 protected:
00106   ros::Duration time_to_hold_;
00107   std::list<Points> points_;
00108 };
00109 
00110 #endif  // COSTMAP_CSPACE_POINTCLOUD_ACCUMULATOR_ACCUMULATOR_H


costmap_cspace
Author(s): Atsushi Watanabe
autogenerated on Sat Jun 22 2019 20:07:13