octree_stamped_pa_ros.h

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/******************************************************************************
*                                                                             *
* octree_stamped_pa_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                                                             *
*                                                                             *
*******************************************************************************
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#ifndef __OCTREE_STAMPED_PA_ROS_H
#define __OCTREE_STAMPED_PA_ROS_H
 
// local headers
#include "octomap_pa/time_pa.h"
#include "octomap_pa/octree_base_pa_ros.h"
#include "octomap_pa/octree_stamped_pa.h"
#include "octomap_pa/octree_stamped_pa_ros_parameter.h"
 
// ros headers
#include <ros/ros.h>
 
//**************************[cOctreeStampedPaRos]******************************
class cOctreeStampedPaRos : public cOctreeBasePaRos<cOcTreeStampedPa> {
  public:
    typedef cOctreeBasePaRos<cOcTreeStampedPa> TreeTypeBase;
 
    cOctreeStampedPaRos(const double resolution);
 
    virtual ~cOctreeStampedPaRos();
 
    void degradeOutdatedNodes(void);
 
    ros::Time getLastInsertionTime(void) const;
    void setLastInsertionTime(const ros::Time &time);
 
    ros::Time timeToRos(const cTimePa &time) const;
    cTimePa timeFromRos(const ros::Time &time) const;
 
    cOctreeStampedPaRosParameter rosparams_;
 
  protected:
    ros::Time last_degrading_time_;
 
    void checkDegrading(void);
};
 
#endif // __OCTREE_STAMPED_PA_ROS_H