observation.h
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00001 /*
00002  * Copyright (c) 2008, 2013, Willow Garage, Inc.
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 Willow Garage, Inc. 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  * Authors: Conor McGann
00030  */
00031 
00032 #ifndef COSTMAP_2D_OBSERVATION_H_
00033 #define COSTMAP_2D_OBSERVATION_H_
00034 
00035 #include <geometry_msgs/Point.h>
00036 #include <pcl/point_types.h>
00037 #include <pcl/point_cloud.h>
00038 
00039 namespace costmap_2d
00040 {
00041 
00047 class Observation
00048 {
00049 public:
00053   Observation() :
00054     cloud_(new pcl::PointCloud<pcl::PointXYZ>()), obstacle_range_(0.0), raytrace_range_(0.0)
00055   {
00056   }
00057 
00058   virtual ~Observation()
00059   {
00060     delete cloud_;
00061   }
00062 
00070   Observation(geometry_msgs::Point& origin, pcl::PointCloud<pcl::PointXYZ> cloud,
00071               double obstacle_range, double raytrace_range) :
00072       origin_(origin), cloud_(new pcl::PointCloud<pcl::PointXYZ>(cloud)),
00073       obstacle_range_(obstacle_range), raytrace_range_(raytrace_range)
00074   {
00075   }
00076 
00081   Observation(const Observation& obs) :
00082       origin_(obs.origin_), cloud_(new pcl::PointCloud<pcl::PointXYZ>(*(obs.cloud_))),
00083       obstacle_range_(obs.obstacle_range_), raytrace_range_(obs.raytrace_range_)
00084   {
00085   }
00086 
00092   Observation(pcl::PointCloud<pcl::PointXYZ> cloud, double obstacle_range) :
00093       cloud_(new pcl::PointCloud<pcl::PointXYZ>(cloud)), obstacle_range_(obstacle_range), raytrace_range_(0.0)
00094   {
00095   }
00096 
00097   geometry_msgs::Point origin_;
00098   pcl::PointCloud<pcl::PointXYZ>* cloud_;
00099   double obstacle_range_, raytrace_range_;
00100 };
00101 
00102 }  // namespace costmap_2d
00103 #endif  // COSTMAP_2D_OBSERVATION_H_


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Wed Aug 2 2017 03:12:21