collision_grid_plugin.h

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/******************************************************************************
 * \file
 *
 * $Id:$
 *
 * Copyright (C) Brno University of Technology
 *
 * This file is part of software developed by dcgm-robotics@FIT group.
 *
 * Author: Vit Stancl (stancl@fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: dd/mm/2012
 *
 * This file is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This file is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this file.  If not, see <http://www.gnu.org/licenses/>.
 */
#pragma once
#ifndef CollisionGridPlugin_H_included
#define CollisionGridPlugin_H_included

#include <srs_env_model/but_server/server_tools.h>

#include <nav_msgs/OccupancyGrid.h>
#include <message_filters/subscriber.h>
#include <tf/message_filter.h>

namespace srs_env_model
{

    class CCollisionGridPlugin : public CServerPluginBase, public COctomapCrawlerBase<tButServerOcTree::NodeType>, public CDataHolderBase< nav_msgs::OccupancyGrid >
    {
    public:
        CCollisionGridPlugin(const std::string & name);

        virtual ~CCollisionGridPlugin();

        void enable( bool enabled ){ m_publishGrid = enabled; }

                virtual void init(ros::NodeHandle & node_handle);

        virtual void pause( bool bPause, ros::NodeHandle & node_handle );

    protected:
                bool shouldPublish();

                virtual void publishInternal(const ros::Time & timestamp);

                virtual void newMapDataCB( SMapWithParameters & par );

                virtual void handleFreeNode(tButServerOcTree::iterator & it, const SMapWithParameters & mp );

                virtual void handleOccupiedNode(tButServerOcTree::iterator& it, const SMapWithParameters & mp);

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    protected:
        bool m_publishGrid;

        std::string m_gridPublisherName;

        ros::Publisher m_gridPublisher;

        tf::TransformListener m_tfListener;

        //
        bool m_latchedTopics;

        std::string m_ocFrameId;

        Eigen::Matrix3f m_ocToGridRot;

        Eigen::Vector3f m_ocToGridTrans;

        octomap::OcTreeKey m_paddedMinKey;

        double m_minSizeX;
        double m_minSizeY;

        bool m_bConvert;

        unsigned m_multires2DScale;

    }; // class CCollisionGridPlugin


} // namespace srs_env_model



// namespace srs_env_model


// CollisionGridPlugin_H_included
#endif