octree_base_pa_ros.h

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/******************************************************************************
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* octree_base_pa_ros.h                                                        *
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* github repository                                                           *
*   https://github.com/TUC-ProAut/ros_octomap                                 *
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* Chair of Automation Technology, Technische Universität Chemnitz             *
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#ifndef __OCTREE_BASE_PA_ROS_H
#define __OCTREE_BASE_PA_ROS_H

// local headers
#include "octomap_pa/addcloud_parameter.h"
#include "octomap_pa/octree_base_pa_ros_parameter.h"

// ros headers
#include <ros/ros.h>

#include <geometry_msgs/Point.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/LaserScan.h>
#include <nav_msgs/Path.h>
#include <std_srvs/Empty.h>

#include <octomap_msgs/Octomap.h>

#include <tf/transform_datatypes.h>

// additional libraries
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <octomap/octomap.h>

//**************************[cOctreeBasePaRos]*********************************
template <typename OCTREE>
class cOctreeBasePaRos : public OCTREE {
  public:

    typedef OCTREE                   TreeTypeBase;
    typedef cOctreeBasePaRos<OCTREE> TreeTypeFull;

    typedef          pcl::PointCloud<pcl::PointXYZ>      PclPointCloud;
    typedef typename pcl::PointCloud<pcl::PointXYZ>::Ptr PclPointCloudPtr;
    typedef typename pcl::PointCloud<pcl::PointXYZ>::ConstPtr
        PclPointCloudConstPtr;

    typedef ::octomap::OcTreeKey OctKey;

    cOctreeBasePaRos(double resolution);

    virtual ~cOctreeBasePaRos();

    virtual void clear(void);

    bool addCloud(const sensor_msgs::PointCloud2ConstPtr &cloud,
      const cAddCloudParameter &params,
      const tf::Transform transform = tf::Transform::getIdentity());
    bool addCloud(const sensor_msgs::PointCloudConstPtr &cloud,
      const cAddCloudParameter &params,
      const tf::Transform transform = tf::Transform::getIdentity());
    bool addCloud(const sensor_msgs::LaserScanConstPtr &cloud,
      const cAddCloudParameter &params,
      const tf::Transform transform = tf::Transform::getIdentity());

    octomap_msgs::OctomapPtr getOctomap(void) const;
    octomap_msgs::OctomapPtr getOctomapFull(void) const;

    sensor_msgs::PointCloud2Ptr getOctomapPcd(
      const int tree_depth = 0, const bool expand = false) const;
    sensor_msgs::PointCloud2Ptr getOctomapPcdFree(
      const int tree_depth = 0, const bool expand = false) const;

    bool updateTime(const ros::Time &time);
    virtual ros::Time getLastInsertionTime(void) const;
    virtual void setLastInsertionTime(const ros::Time &time);
    ros::Time getOutputTime(void) const;
    void setOutputTime(const ros::Time &time);

    OctKey pointToKey(const geometry_msgs::Point &point) const;
    geometry_msgs::PointPtr keyToPoint(const OctKey &key) const;
    void keyToPoint(const OctKey &key, double &x, double &y, double &z) const;

    bool getChildKey(const OctKey &current, const int current_level,
      OctKey &child, const int child_pos) const;
    bool getParentKey(const OctKey &current, const int current_level,
      OctKey &parent) const;

    bool readFull(const std::string& filename);

    cOctreeBasePaRosParameter rosparams_base_;

  protected:
    ros::Time last_insertion_time_;
    ros::Time current_output_time_;

    bool addCloud(const PclPointCloudPtr &cloud,
      const cAddCloudParameter &params,
      const tf::Transform &transform);

    void getOctomapPcdSub(const OctKey &key, const int current_level,
      const int min_level, PclPointCloud &cloud) const;

    void getChildKeySimple(const OctKey &current, const int current_level,
      OctKey &child, const int child_pos) const;
    void getParentKeySimple(const OctKey &current, const int current_level,
      OctKey &parent) const;
};

#include "octomap_pa/octree_base_pa_ros.hxx"

#endif // __OCTREE_BASE_PA_ROS_H