observation_buffer.h

Go to the documentation of this file.

/*********************************************************************
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, 2013, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * 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.
 *   * Neither the name of Willow Garage, Inc. 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 OWNER 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.
 *
 * Author: Eitan Marder-Eppstein
 *********************************************************************/
#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 <tf2_ros/buffer.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, tf2_ros::Buffer& tf2_buffer, 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 getObservations(std::vector<Observation>& observations);
 
  bool isCurrent() const;
 
  inline void lock()
  {
    lock_.lock();
  }
 
  inline void unlock()
  {
    lock_.unlock();
  }
 
  void resetLastUpdated();
 
private:
  void purgeStaleObservations();
 
  tf2_ros::Buffer& tf2_buffer_;
  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_