observation.h

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/*
 * Copyright (c) 2008, 2013, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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 * Authors: Conor McGann
 */
 
#ifndef COSTMAP_2D_OBSERVATION_H_
#define COSTMAP_2D_OBSERVATION_H_
 
#include <geometry_msgs/Point.h>
#include <sensor_msgs/PointCloud2.h>
 
namespace costmap_2d
{
 
class Observation
{
public:
  Observation() :
    cloud_(new sensor_msgs::PointCloud2()), obstacle_range_(0.0), raytrace_range_(0.0)
  {
  }
 
  virtual ~Observation()
  {
    delete cloud_;
  }
 
  Observation(geometry_msgs::Point& origin, const sensor_msgs::PointCloud2 &cloud,
              double obstacle_range, double raytrace_range) :
      origin_(origin), cloud_(new sensor_msgs::PointCloud2(cloud)),
      obstacle_range_(obstacle_range), raytrace_range_(raytrace_range)
  {
  }
 
  Observation(const Observation& obs) :
      origin_(obs.origin_), cloud_(new sensor_msgs::PointCloud2(*(obs.cloud_))),
      obstacle_range_(obs.obstacle_range_), raytrace_range_(obs.raytrace_range_)
  {
  }
 
  Observation(const sensor_msgs::PointCloud2 &cloud, double obstacle_range) :
      cloud_(new sensor_msgs::PointCloud2(cloud)), obstacle_range_(obstacle_range), raytrace_range_(0.0)
  {
  }
 
  geometry_msgs::Point origin_;
  sensor_msgs::PointCloud2* cloud_;
  double obstacle_range_, raytrace_range_;
};
 
}  // namespace costmap_2d
#endif  // COSTMAP_2D_OBSERVATION_H_