Program Listing for File octomap_server_multilayer.hpp
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// Copyright 2010-2013, A. Hornung, M. Philips. All rights reserved.
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#ifndef OCTOMAP_SERVER__OCTOMAP_SERVER_MULTILAYER_HPP_
#define OCTOMAP_SERVER__OCTOMAP_SERVER_MULTILAYER_HPP_
#include <octomap_server/octomap_server.hpp>
#include <string>
#include <vector>
namespace octomap_server
{
class OctomapServerMultilayer : public OctomapServer
{
public:
explicit OctomapServerMultilayer(const rclcpp::NodeOptions & node_options);
protected:
struct ProjectedMap
{
double min_z;
double max_z;
double z; // for visualization
std::string name;
OccupancyGrid map;
};
using MultilevelGrid = std::vector<ProjectedMap>;
virtual void handlePreNodeTraversal(const rclcpp::Time & rostime);
virtual void update2DMap(const OcTreeT::iterator & it, bool occupied);
virtual void handlePostNodeTraversal(const rclcpp::Time & rostime);
std::vector<rclcpp::Publisher<OccupancyGrid>::SharedPtr> multi_map_pub_;
std::vector<std::string> arm_links_;
std::vector<double> arm_link_offsets_;
MultilevelGrid multi_gridmap_;
};
} // namespace octomap_server
#endif // OCTOMAP_SERVER__OCTOMAP_SERVER_MULTILAYER_HPP_