observation.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 *
 * Authors: Conor McGann
 */

#ifndef COSTMAP_OBSERVATION_H_
#define COSTMAP_OBSERVATION_H_


#include <geometry_msgs/Point.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>

namespace costmap_2d {

  class Observation {
  public:
    Observation() : cloud_(), obstacle_range_(0.0), raytrace_range_(0.0){}
    Observation(geometry_msgs::Point& origin, pcl::PointCloud<pcl::PointXYZ> cloud, double obstacle_range, double raytrace_range): origin_(origin), 
    cloud_(cloud), obstacle_range_(obstacle_range), raytrace_range_(raytrace_range) {}

    Observation(const Observation& obs): origin_(obs.origin_), cloud_(obs.cloud_), obstacle_range_(obs.obstacle_range_), raytrace_range_(obs.raytrace_range_){}

    Observation(pcl::PointCloud<pcl::PointXYZ> cloud, double obstacle_range): cloud_(cloud), obstacle_range_(obstacle_range), raytrace_range_(0.0){}

    geometry_msgs::Point origin_;
    pcl::PointCloud<pcl::PointXYZ> cloud_;
    double obstacle_range_, raytrace_range_;
  };

}
#endif