observation_buffer.h

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* Author: Eitan Marder-Eppstein
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#ifndef COSTMAP_OBSERVATION_BUFFER_H_
#define COSTMAP_OBSERVATION_BUFFER_H_

#include <vector>
#include <list>
#include <string>
#include <ros/time.h>
#include <costmap_2d/observation.h>
#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>

//PCL Stuff
#include <pcl/point_cloud.h>
#include <sensor_msgs/PointCloud2.h>

// Thread suppport
#include <boost/thread.hpp>

namespace costmap_2d {
  class ObservationBuffer {
    public:
      ObservationBuffer(std::string topic_name, double observation_keep_time, double expected_update_rate, 
          double min_obstacle_height, double max_obstacle_height, double obstacle_range, double raytrace_range,
          tf::TransformListener& tf, std::string global_frame, std::string sensor_frame, double tf_tolerance);

      ~ObservationBuffer();

      bool setGlobalFrame(const std::string new_global_frame);

      void bufferCloud(const sensor_msgs::PointCloud2& cloud);

      void bufferCloud(const pcl::PointCloud<pcl::PointXYZ>& cloud);

      void getObservations(std::vector<Observation>& observations);

      bool isCurrent() const;

      inline void lock() { lock_.lock(); }

      inline void unlock() { lock_.unlock(); }
      
      void resetLastUpdated ();

    private:
      void purgeStaleObservations();

      tf::TransformListener& tf_;
      const ros::Duration observation_keep_time_;
      const ros::Duration expected_update_rate_;
      ros::Time last_updated_;
      std::string global_frame_;
      std::string sensor_frame_;
      std::list<Observation> observation_list_;
      std::string topic_name_;
      double min_obstacle_height_, max_obstacle_height_;
      boost::recursive_mutex lock_; 
      double obstacle_range_, raytrace_range_;
      double tf_tolerance_;
  };
};
#endif