map2d_plugin.h
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00001 /******************************************************************************
00002  * \file
00003  *
00004  * $Id:$
00005  *
00006  * Copyright (C) Brno University of Technology
00007  *
00008  * This file is part of software developed by dcgm-robotics@FIT group.
00009  *
00010  * Author: Vit Stancl (stancl@fit.vutbr.cz)
00011  * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
00012  * Date: dd/mm/2012
00013  * 
00014  * This file is free software: you can redistribute it and/or modify
00015  * it under the terms of the GNU Lesser General Public License as published by
00016  * the Free Software Foundation, either version 3 of the License, or
00017  * (at your option) any later version.
00018  * 
00019  * This file is distributed in the hope that it will be useful,
00020  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00021  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00022  * GNU Lesser General Public License for more details.
00023  * 
00024  * You should have received a copy of the GNU Lesser General Public License
00025  * along with this file.  If not, see <http://www.gnu.org/licenses/>.
00026  */
00027 #pragma once
00028 #ifndef Map2DPlugin_H_included
00029 #define Map2DPlugin_H_included
00030 
00031 #include <srs_env_model/but_server/server_tools.h>
00032 
00033 #include <nav_msgs/OccupancyGrid.h>
00034 #include <message_filters/subscriber.h>
00035 #include <tf/message_filter.h>
00036 
00037 namespace srs_env_model
00038 {
00039 
00040     class CMap2DPlugin : public CServerPluginBase, public COctomapCrawlerBase<tButServerOcTree::NodeType>, public CDataHolderBase< nav_msgs::OccupancyGrid >
00041     {
00042     public:
00044         CMap2DPlugin(const std::string & name);
00045 
00047         virtual ~CMap2DPlugin();
00048 
00050         void enable( bool enabled ){ m_publishMap2D = enabled; }
00051 
00053                 virtual void init(ros::NodeHandle & node_handle);
00054 
00056         virtual void pause( bool bPause, ros::NodeHandle & node_handle );
00057 
00058     protected:
00060                 bool shouldPublish();
00061 
00063                 virtual void publishInternal(const ros::Time & timestamp);
00064 
00066                 virtual void newMapDataCB( SMapWithParameters & par );
00067 
00069                 virtual void handleFreeNode(tButServerOcTree::iterator & it, const SMapWithParameters & mp );
00070 
00072                 virtual void handleOccupiedNode(tButServerOcTree::iterator& it, const SMapWithParameters & mp);
00073 
00074     public:
00075       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00076 
00077     protected:
00079         bool m_publishMap2D;
00080 
00082         std::string m_map2DPublisherName;
00083 
00085         ros::Publisher m_map2DPublisher;
00086 
00088         tf::TransformListener m_tfListener;
00089 
00090         //
00091         bool m_latchedTopics;
00092 
00094         std::string m_map2DFrameId;
00095 
00097         std::string m_ocFrameId;
00098 
00100         Eigen::Matrix3f m_ocToMap2DRot;
00101 
00103         Eigen::Vector3f m_ocToMap2DTrans;
00104 
00106         octomap::OcTreeKey m_paddedMinKey;
00107 
00109         double m_minSizeX;
00110         double m_minSizeY;
00111 
00113         bool m_bConvert;
00114 
00115     }; // class CMap2DPlugin
00116 
00117 
00118 } // namespace srs_env_model
00119 
00120 
00121 
00122 // namespace srs_env_model
00123 
00124 
00125 // Map2DPlugin_H_included
00126 #endif
00127 


srs_env_model
Author(s): Vit Stancl (stancl@fit.vutbr.cz), Tomas Lokaj, Jan Gorig, Michal Spanel (spanel@fit.vutbr.cz)
autogenerated on Sun Jan 5 2014 11:50:48