37 #ifndef MOVEIT_OCCUPANCY_MAP_MONITOR_LAZY_FREE_SPACE_UPDATER_ 38 #define MOVEIT_OCCUPANCY_MAP_MONITOR_LAZY_FREE_SPACE_UPDATER_ 41 #include <boost/thread.hpp> 57 typedef std::unordered_map<octomap::OcTreeKey, unsigned int, octomap::OcTreeKey::KeyHash>
OcTreeKeyCountMap;
59 typedef std::tr1::unordered_map<octomap::OcTreeKey, unsigned int, octomap::OcTreeKey::KeyHash>
OcTreeKeyCountMap;
boost::mutex update_cell_sets_lock_
std::tr1::unordered_map< octomap::OcTreeKey, unsigned int, octomap::OcTreeKey::KeyHash > OcTreeKeyCountMap
std::size_t max_batch_size_
std::shared_ptr< OccMapTree > OccMapTreePtr
octomap::KeySet * process_model_cells_set_
boost::thread process_thread_
octomap::point3d process_sensor_origin_
OcTreeKeyCountMap * process_occupied_cells_set_
std::deque< octomap::KeySet * > occupied_cells_sets_
boost::mutex cell_process_lock_
LazyFreeSpaceUpdater(const OccMapTreePtr &tree, unsigned int max_batch_size=10)
boost::condition_variable update_condition_
boost::thread update_thread_
unordered_ns::unordered_set< OcTreeKey, OcTreeKey::KeyHash > KeySet
void pushLazyUpdate(octomap::KeySet *occupied_cells, octomap::KeySet *model_cells, const octomap::point3d &sensor_origin)
std::deque< octomap::KeySet * > model_cells_sets_
std::deque< octomap::point3d > sensor_origins_
boost::condition_variable process_condition_
void pushBatchToProcess(OcTreeKeyCountMap *occupied_cells, octomap::KeySet *model_cells, const octomap::point3d &sensor_origin)