observation_buffer.h

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#ifndef COSTMAP_2D_OBSERVATION_BUFFER_H_
#define COSTMAP_2D_OBSERVATION_BUFFER_H_

#include <vector>
#include <list>
#include <string>
#include <ros/time.h>
#include <costmap_2d/observation.h>
#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>

// PCL Stuff
#include <pcl/point_cloud.h>
#include <sensor_msgs/PointCloud2.h>

// Thread support
#include <boost/thread.hpp>

namespace costmap_2d
{
class ObservationBuffer
{
public:
  ObservationBuffer(std::string topic_name, double observation_keep_time, double expected_update_rate,
                    double min_obstacle_height, double max_obstacle_height, double obstacle_range,
                    double raytrace_range, tf::TransformListener& tf, std::string global_frame,
                    std::string sensor_frame, double tf_tolerance);

  ~ObservationBuffer();

  bool setGlobalFrame(const std::string new_global_frame);

  void bufferCloud(const sensor_msgs::PointCloud2& cloud);

  void bufferCloud(const pcl::PointCloud<pcl::PointXYZ>& cloud);

  void getObservations(std::vector<Observation>& observations);

  bool isCurrent() const;

  inline void lock()
  {
    lock_.lock();
  }

  inline void unlock()
  {
    lock_.unlock();
  }

  void resetLastUpdated();

private:
  void purgeStaleObservations();

  tf::TransformListener& tf_;
  const ros::Duration observation_keep_time_;
  const ros::Duration expected_update_rate_;
  ros::Time last_updated_;
  std::string global_frame_;
  std::string sensor_frame_;
  std::list<Observation> observation_list_;
  std::string topic_name_;
  double min_obstacle_height_, max_obstacle_height_;
  boost::recursive_mutex lock_;  
  double obstacle_range_, raytrace_range_;
  double tf_tolerance_;
};
}  // namespace costmap_2d
#endif  // COSTMAP_2D_OBSERVATION_BUFFER_H_