costmap_wrapper.h

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/*
 *  Copyright 2019, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *  3. Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  costmap_wrapper.h
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *    Jorge Santos Simón <santos@magazino.eu>
 *
 */

#ifndef MBF_COSTMAP_NAV__COSTMAP_WRAPPER_H_
#define MBF_COSTMAP_NAV__COSTMAP_WRAPPER_H_

#include <costmap_2d/costmap_2d_ros.h>

#include <mbf_utility/types.h>


namespace mbf_costmap_nav
{
class CostmapWrapper : public costmap_2d::Costmap2DROS
{
public:
  typedef boost::shared_ptr<CostmapWrapper> Ptr;

  CostmapWrapper(const std::string &name, const TFPtr &tf_listener_ptr);

  virtual ~CostmapWrapper();

  void reconfigure(double shutdown_costmap, double shutdown_costmap_delay);

  void clear();

  void checkActivate();

  void checkDeactivate();

private:
  void deactivate(const ros::TimerEvent &event);

  ros::NodeHandle private_nh_;

  boost::mutex check_costmap_mutex_;     
  bool shutdown_costmap_;                
  bool clear_on_shutdown_;               
  int16_t costmap_users_;                
  ros::Timer shutdown_costmap_timer_;    
  ros::Duration shutdown_costmap_delay_; 
};

} /* namespace mbf_costmap_nav */

#endif /* MBF_COSTMAP_NAV__COSTMAP_WRAPPER_H_ */