OctomapServerMultilayer.h
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00001 /*
00002  * Copyright (c) 2010-2013, A. Hornung, M. Philips
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 University of Freiburg 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 #ifndef OCTOMAP_SERVER_OCTOMAPSERVERMULTILAYER_H
00030 #define OCTOMAP_SERVER_OCTOMAPSERVERMULTILAYER_H
00031 
00032 #include <octomap_server/OctomapServer.h>
00033 
00034 namespace octomap_server {
00035 class OctomapServerMultilayer : public OctomapServer{
00036 
00037 public:
00038   OctomapServerMultilayer(ros::NodeHandle private_nh_ = ros::NodeHandle("~"));
00039   virtual ~OctomapServerMultilayer();
00040 
00041 protected:
00042   struct ProjectedMap{
00043     double minZ;
00044     double maxZ;
00045     double z; // for visualization
00046     std::string name;
00047     nav_msgs::OccupancyGrid map;
00048   };
00049   typedef std::vector<ProjectedMap> MultilevelGrid;
00050 
00052   virtual void handlePreNodeTraversal(const ros::Time& rostime);
00053 
00055   virtual void update2DMap(const OcTreeT::iterator& it, bool occupied);
00056 
00058   virtual void handlePostNodeTraversal(const ros::Time& rostime);
00059 
00060   std::vector<ros::Publisher*> m_multiMapPub;
00061   ros::Subscriber m_attachedObjectsSub;
00062 
00063   std::vector<std::string> m_armLinks;
00064   std::vector<double> m_armLinkOffsets;
00065 
00066   MultilevelGrid m_multiGridmap;
00067 
00068 
00069 };
00070 }
00071 
00072 #endif
00073 


octomap_server
Author(s): Armin Hornung
autogenerated on Wed Nov 23 2016 03:40:03