00001 /****************************************************************************** 00002 * * 00003 * octree_stamped_base_pa.h * 00004 * ======================== * 00005 * * 00006 ******************************************************************************* 00007 * * 00008 * github repository * 00009 * https://github.com/TUC-ProAut/ros_octomap * 00010 * * 00011 * Chair of Automation Technology, Technische Universität Chemnitz * 00012 * https://www.tu-chemnitz.de/etit/proaut * 00013 * * 00014 ******************************************************************************* 00015 * * 00016 * New BSD License * 00017 * * 00018 * Copyright (c) 2015-2018, Peter Weissig, Technische Universität Chemnitz * 00019 * All rights reserved. * 00020 * * 00021 * Redistribution and use in source and binary forms, with or without * 00022 * modification, are permitted provided that the following conditions are met: * 00023 * * Redistributions of source code must retain the above copyright * 00024 * notice, this list of conditions and the following disclaimer. * 00025 * * Redistributions in binary form must reproduce the above copyright * 00026 * notice, this list of conditions and the following disclaimer in the * 00027 * documentation and/or other materials provided with the distribution. * 00028 * * Neither the name of the Technische Universität Chemnitz nor the * 00029 * names of its contributors may be used to endorse or promote products * 00030 * derived from this software without specific prior written permission. * 00031 * * 00032 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * 00033 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * 00034 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * 00035 * ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY * 00036 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * 00037 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * 00038 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * 00039 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * 00040 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY * 00041 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH * 00042 * DAMAGE. * 00043 * * 00044 ******************************************************************************/ 00045 00046 #ifndef OCTREE_STAMPED_BASE_PA_H 00047 #define OCTREE_STAMPED_BASE_PA_H 00048 00049 // local headers 00050 #include "octomap_pa/node_stamped_base_pa.h" 00051 00052 // standard headers 00053 #include <string> 00054 00055 //**************************[cOcTreeStampedBasePa]***************************** 00056 template <template <typename> class OCTREE, typename NODE> 00057 class cOcTreeStampedBasePa : public OCTREE< cNodeStampedBasePa<NODE> > { 00058 00059 public: 00060 typedef cNodeStampedBasePa<NODE> NodeTypeFull; 00061 typedef NODE NodeTypeBase; 00062 typedef OCTREE< NodeTypeFull > TreeTypeBase; 00063 00065 cOcTreeStampedBasePa(double resolution); 00066 00067 // Default destructor 00068 virtual ~cOcTreeStampedBasePa(void); 00069 00072 cOcTreeStampedBasePa<OCTREE,NODE>* create() const; 00073 00074 virtual void updateNodeLogOdds(NodeTypeFull* node, const float& update) 00075 const; 00076 00077 void degradeOutdatedNodes(const cTimePa timediff); 00078 00082 inline void setTimestamp(const cTimePa timestamp); 00083 inline const cTimePa& getTimestamp(void) const; 00084 00085 protected: 00087 cTimePa current_timestamp; 00088 00089 }; 00090 00091 00092 #include "octomap_pa/octree_stamped_base_pa.hxx" 00093 00094 #endif //#ifndef OCTREE_STAMPED_BASE_PA_H