map_merge.h

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 *  Copyright (c) 2014, Zhi Yan.
 *  Copyright (c) 2015-2016, Jiri Horner.
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#ifndef MAP_MERGE_H_
#define MAP_MERGE_H_

#include <atomic>
#include <forward_list>
#include <mutex>
#include <unordered_map>

#include <combine_grids/merging_pipeline.h>
#include <geometry_msgs/Pose.h>
#include <map_msgs/OccupancyGridUpdate.h>
#include <nav_msgs/OccupancyGrid.h>
#include <ros/ros.h>
#include <boost/thread.hpp>

namespace map_merge
{
struct MapSubscription {
  // protects consistency of writable_map and readonly_map
  // also protects reads and writes of shared_ptrs
  std::mutex mutex;

  geometry_msgs::Transform initial_pose;
  nav_msgs::OccupancyGrid::Ptr writable_map;
  nav_msgs::OccupancyGrid::ConstPtr readonly_map;

  ros::Subscriber map_sub;
  ros::Subscriber map_updates_sub;
};

class MapMerge
{
private:
  ros::NodeHandle node_;

  /* parameters */
  double merging_rate_;
  double discovery_rate_;
  double estimation_rate_;
  double confidence_treshold_;
  std::string robot_map_topic_;
  std::string robot_map_updates_topic_;
  std::string robot_namespace_;
  std::string world_frame_;
  bool have_initial_poses_;

  // publishing
  ros::Publisher merged_map_publisher_;
  // maps robots namespaces to maps. does not own
  std::unordered_map<std::string, MapSubscription*> robots_;
  // owns maps -- iterator safe
  std::forward_list<MapSubscription> subscriptions_;
  size_t subscriptions_size_;
  boost::shared_mutex subscriptions_mutex_;
  combine_grids::MergingPipeline pipeline_;
  std::mutex pipeline_mutex_;

  std::string robotNameFromTopic(const std::string& topic);
  bool isRobotMapTopic(const ros::master::TopicInfo& topic);
  bool getInitPose(const std::string& name, geometry_msgs::Transform& pose);

  void fullMapUpdate(const nav_msgs::OccupancyGrid::ConstPtr& msg,
                     MapSubscription& map);
  void partialMapUpdate(const map_msgs::OccupancyGridUpdate::ConstPtr& msg,
                        MapSubscription& map);

public:
  MapMerge();

  void spin();
  void executetopicSubscribing();
  void executemapMerging();
  void executeposeEstimation();

  void topicSubscribing();
  void mapMerging();
  void poseEstimation();
};

}  // namespace map_merge

#endif /* MAP_MERGE_H_ */