octree_stamped_pa_node.cpp

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/******************************************************************************
*                                                                             *
* octree_stamped_pa_node.cpp                                                  *
* ==========================                                                  *
*                                                                             *
*******************************************************************************
*                                                                             *
* 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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* Copyright (c) 2015-2021 TU Chemnitz                                         *
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// local headers
#include "octomap_pa/octree_stamped_pa_node.h"

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

// standard headers
#include <string>

const std::string cOctreeStampedPaNode::nodename_ = "octree_stamped_pa_node";

//**************************[main]*********************************************
int main(int argc, char **argv) {

    ros::init(argc, argv, cOctreeStampedPaNode::nodename_);
    cOctreeStampedPaNode octomap;

    ros::spin();

    return 0;
}

//**************************[cOctreeStampedPaNode]*****************************
cOctreeStampedPaNode::cOctreeStampedPaNode() :
  TypeBase(nodename_) {

    cParameterPaRos paramloader;

    // degrading parameter
    paramloader.load("~/degrading_time", rosparams_.degrading_time_);
    paramloader.load("~/auto_degrading", rosparams_.auto_degrading_);
    paramloader.load("~/auto_degrading_intervall",
      rosparams_.auto_degrading_intervall_);
}

//**************************[~cOctreeStampedPaNode]****************************
cOctreeStampedPaNode::~cOctreeStampedPaNode() {

}

//**************************[getConfig]****************************************
octomap_pa_msgs::Config cOctreeStampedPaNode::getConfig() {

    // init variables
    octomap_pa_msgs::Config result;

    // call base class function
    result = TypeBase::getConfig();

    // config for degrading (not used by default)
    result.degrading.degrading_time           = rosparams_.degrading_time_;
    result.degrading.auto_degrading           = rosparams_.degrading_time_;
    result.degrading.auto_degrading_intervall =
      rosparams_.auto_degrading_intervall_;

    // return result
    return result;
}

//**************************[internal_node_update]*****************************
void cOctreeStampedPaNode::internal_node_update() {

    checkDegrading();
}