octree_stamped_base_pa.h

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/******************************************************************************
*                                                                             *
* octree_stamped_base_pa.h                                                    *
* ========================                                                    *
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*                                                                             *
* Repository:                                                                 *
*   https://github.com/TUC-ProAut/ros_octomap                                 *
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* Chair of Automation Technology, Technische Universität Chemnitz             *
*   https://www.tu-chemnitz.de/etit/proaut                                    *
*                                                                             *
* Author:                                                                     *
*   Peter Weissig                                                             *
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#ifndef OCTREE_STAMPED_BASE_PA_H
#define OCTREE_STAMPED_BASE_PA_H

// local headers
#include "octomap_pa/node_stamped_base_pa.h"

// standard headers
#include <string>

//**************************[cOcTreeStampedBasePa]*****************************
template <template <typename> class OCTREE, typename NODE>
class cOcTreeStampedBasePa : public OCTREE< cNodeStampedBasePa<NODE> > {

  public:
    typedef cNodeStampedBasePa<NODE> NodeTypeFull;
    typedef NODE                     NodeTypeBase;
    typedef OCTREE< NodeTypeFull >   TreeTypeBase;

    cOcTreeStampedBasePa(double resolution);

    // Default destructor
    virtual ~cOcTreeStampedBasePa(void);

    cOcTreeStampedBasePa<OCTREE,NODE>* create() const;

    virtual void updateNodeLogOdds(NodeTypeFull* node, const float& update)
      const;

    void degradeOutdatedNodes(const cTimePa timediff);

    inline void setTimestamp(const cTimePa timestamp);
    inline const cTimePa& getTimestamp(void) const;

  protected:
    cTimePa current_timestamp;

};


#include "octomap_pa/octree_stamped_base_pa.hxx"

#endif //#ifndef OCTREE_STAMPED_BASE_PA_H