pointcloud_accumulator.h

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/*
 * Copyright (c) 2014-2017, the neonavigation authors
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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#ifndef COSTMAP_CSPACE_POINTCLOUD_ACCUMULATOR_H
#define COSTMAP_CSPACE_POINTCLOUD_ACCUMULATOR_H
 
#include <ros/ros.h>
 
#include <list>
 
namespace costmap_cspace
{
template <typename T>
class PointcloudAccumulator
{
public:
  class Points : public T
  {
  public:
    ros::Time stamp_;
 
    Points(const T& points, const ros::Time& stamp)
      : T(points)
      , stamp_(stamp)
    {
    }
  };
 
  PointcloudAccumulator()
  {
  }
 
  explicit PointcloudAccumulator(const ros::Duration& duration)
  {
    reset(duration);
  }
 
  void reset(const ros::Duration& duration)
  {
    time_to_hold_ = duration;
    clear();
  }
 
  void clear()
  {
    points_.clear();
  }
 
  void push(const Points& points)
  {
    for (auto it = points_.begin(); it != points_.end(); ++it)
    {
      if (it->stamp_ + time_to_hold_ < points.stamp_)
      {
        it = points_.erase(it);
        continue;
      }
      break;
    }
    points_.push_back(points);
  }
 
  typename std::list<Points>::iterator begin()
  {
    return points_.begin();
  }
  typename std::list<Points>::iterator end()
  {
    return points_.end();
  }
 
  typename std::list<Points>::const_iterator begin() const
  {
    return points_.cbegin();
  }
  typename std::list<Points>::const_iterator end() const
  {
    return points_.cend();
  }
 
protected:
  ros::Duration time_to_hold_;
  std::list<Points> points_;
};
 
// to keep backward compatibility with code base using PointcloudAccumurator
template <typename T>
using PointcloudAccumurator
    [[deprecated("Use costmap_cspace::PointcloudAccumulator instead.")]] = PointcloudAccumulator<T>;
}  // namespace costmap_cspace
 
#endif  // COSTMAP_CSPACE_POINTCLOUD_ACCUMULATOR_H