octomap_filter_base.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 OCTOMAP_FILTER_BASE_H_
#define OCTOMAP_FILTER_BASE_H_

#include <srs_env_model/but_server/server_tools.h>
#include <boost/timer.hpp>

namespace srs_env_model
{

class COcTreeFilterBase
{
public:
        enum ERunMode
        {
                FILTER_ALLWAYS,
                FILTER_TEST_FRAME,
                FILTER_TEST_TIME
        };

public:
        COcTreeFilterBase( const std::string & octree_frame_id, ERunMode mode = FILTER_ALLWAYS );

        void setFrameSkip( unsigned skip );

        bool setTimerLap( double lap );

        void filter( tButServerOcTree & tree, bool bPruneAfterFinish = true );

        void setRunMode( ERunMode mode ) { m_mode = mode; }

        void setTreeFrameId( const std::string & tree_frame_id ) { m_treeFrameId = tree_frame_id; }

        virtual void writeLastRunInfo(){}

protected:
        bool useFrame();

        virtual void filterInternal( tButServerOcTree & tree ){}

protected:
        ERunMode m_mode;

        unsigned m_framesSkipped;

        long m_framesCount;

        boost::timer m_timer;

        double m_lap;

        std::string m_treeFrameId;

}; // class COcTreeFilter

} // namespace srs_env_model

#endif /* OCTOMAP_FILTER_BASE_H_ */