OctomapServerMultilayer.h

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/*
 * Copyright (c) 2010-2013, A. Hornung, M. Philips
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *     * Redistributions in binary form must reproduce the above copyright
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 *       this software without specific prior written permission.
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#ifndef OCTOMAP_SERVER_OCTOMAPSERVERMULTILAYER_H
#define OCTOMAP_SERVER_OCTOMAPSERVERMULTILAYER_H
 
#include <octomap_server/OctomapServer.h>
 
namespace octomap_server {
class OctomapServerMultilayer : public OctomapServer{
 
public:
  OctomapServerMultilayer(ros::NodeHandle private_nh_ = ros::NodeHandle("~"));
  virtual ~OctomapServerMultilayer();
 
protected:
  struct ProjectedMap{
    double minZ;
    double maxZ;
    double z; // for visualization
    std::string name;
    nav_msgs::OccupancyGrid map;
  };
  typedef std::vector<ProjectedMap> MultilevelGrid;
 
  virtual void handlePreNodeTraversal(const ros::Time& rostime);
 
  virtual void update2DMap(const OcTreeT::iterator& it, bool occupied);
 
  virtual void handlePostNodeTraversal(const ros::Time& rostime);
 
  std::vector<ros::Publisher*> m_multiMapPub;
  ros::Subscriber m_attachedObjectsSub;
 
  std::vector<std::string> m_armLinks;
  std::vector<double> m_armLinkOffsets;
 
  MultilevelGrid m_multiGridmap;
 
 
};
}
 
#endif