octree_stamped_native_ros.h

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

// local headers
#include "octomap_pa/octree_base_pa_ros.h"
#include "octomap_pa/octree_stamped_pa_ros_parameter.h"

// ros headers
#include <ros/ros.h>

// additional libraries
#include <octomap/OcTreeStamped.h>


//**************************[cOctreeStampedNativeRos]**************************
class cOctreeStampedNativeRos : public cOctreeBasePaRos
  <octomap::OcTreeStamped> {
  public:
    typedef cOctreeBasePaRos<OcTreeStamped> TreeTypeBase;

    cOctreeStampedNativeRos(const double resolution);

    virtual ~cOctreeStampedNativeRos();

    void degradeOutdatedNodes(void);

    cOctreeStampedPaRosParameter rosparams_;

  protected:
    ros::Time last_degrading_time_;

    void checkDegrading(void);
};

#endif // __OCTREE_STAMPED_NATIVE_ROS_H