octree_stamped_pa_ros.h
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00001 /******************************************************************************
00002 *                                                                             *
00003 * octree_stamped_pa_ros.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.                                                        *
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00045 
00046 #ifndef __OCTREE_STAMPED_PA_ROS_H
00047 #define __OCTREE_STAMPED_PA_ROS_H
00048 
00049 // local headers
00050 #include "octomap_pa/time_pa.h"
00051 #include "octomap_pa/octree_base_pa_ros.h"
00052 #include "octomap_pa/octree_stamped_pa.h"
00053 #include "octomap_pa/octree_stamped_pa_ros_parameter.h"
00054 
00055 // ros headers
00056 #include <ros/ros.h>
00057 
00058 //**************************[cOctreeStampedPaRos]******************************
00059 class cOctreeStampedPaRos : public cOctreeBasePaRos<cOcTreeStampedPa> {
00060   public:
00061     typedef cOctreeBasePaRos<cOcTreeStampedPa> TreeTypeBase;
00062 
00064     cOctreeStampedPaRos(const double resolution);
00065 
00067     virtual ~cOctreeStampedPaRos();
00068 
00070     void degradeOutdatedNodes(void);
00071 
00073     ros::Time getLastInsertionTime(void) const;
00075     void setLastInsertionTime(const ros::Time &time);
00076 
00078     ros::Time timeToRos(const cTimePa &time) const;
00080     cTimePa timeFromRos(const ros::Time &time) const;
00081 
00083     cOctreeStampedPaRosParameter rosparams_;
00084 
00085   protected:
00086     ros::Time last_degrading_time_;
00087 
00089     void checkDegrading(void);
00090 };
00091 
00092 #endif // __OCTREE_STAMPED_PA_ROS_H


octomap_pa
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autogenerated on Thu Jun 6 2019 17:53:30