occupancy_map_updater.cpp
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34 
35 /* Author: Ioan Sucan, Jon Binney */
36 
39 
40 namespace occupancy_map_monitor
41 {
42 OccupancyMapUpdater::OccupancyMapUpdater(const std::string& type) : type_(type)
43 {
44 }
45 
47 
49 {
50  monitor_ = monitor;
51  tree_ = monitor->getOcTreePtr();
52 }
53 
54 void OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, double* value)
55 {
56  if (params.hasMember(param_name))
57  {
58  if (params[param_name].getType() == XmlRpc::XmlRpcValue::TypeInt)
59  *value = (int)params[param_name];
60  else
61  *value = (double)params[param_name];
62  }
63 }
64 
65 void OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, unsigned int* value)
66 {
67  if (params.hasMember(param_name))
68  *value = (int)params[param_name];
69 }
70 
71 bool OccupancyMapUpdater::updateTransformCache(const std::string& target_frame, const ros::Time& target_time)
72 {
73  transform_cache_.clear();
75  return transform_provider_callback_(target_frame, target_time, transform_cache_);
76  else
77  {
78  ROS_WARN_THROTTLE(1, "No callback provided for updating the transform cache for octomap updaters");
79  return false;
80  }
81 }
82 } // namespace occupancy_map_monitor
#define ROS_WARN_THROTTLE(period,...)
const OccMapTreePtr & getOcTreePtr()
Get a pointer to the underlying octree for this monitor. Lock the tree before reading or writing usin...
void setMonitor(OccupancyMapMonitor *monitor)
This is the first function to be called after construction.
static void readXmlParam(XmlRpc::XmlRpcValue &params, const std::string &param_name, double *value)
bool updateTransformCache(const std::string &target_frame, const ros::Time &target_time)
bool hasMember(const std::string &name) const


occupancy_map_monitor
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Tue Mar 2 2021 03:51:46