OctomapServerMultilayer.h
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00001 /*
00002  * Copyright (c) 2010-2011, A. Hornung, M. Philips
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the University of Freiburg nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 #ifndef OCTOMAP_SERVER_OCTOMAPSERVERMULTILAYER_H
00030 #define OCTOMAP_SERVER_OCTOMAPSERVERMULTILAYER_H
00031 
00032 #include <octomap_server/OctomapServer.h>
00033 #include <arm_navigation_msgs/AttachedCollisionObject.h>
00034 
00035 namespace octomap_server {
00036 class OctomapServerMultilayer : public OctomapServer{
00037 
00038 public:
00039   OctomapServerMultilayer(ros::NodeHandle private_nh_ = ros::NodeHandle("~"));
00040   virtual ~OctomapServerMultilayer();
00041   void attachedCallback(const arm_navigation_msgs::AttachedCollisionObjectConstPtr& msg);
00042 
00043 protected:
00044   struct ProjectedMap{
00045     double minZ;
00046     double maxZ;
00047     double z; // for visualization
00048     std::string name;
00049     nav_msgs::OccupancyGrid map;
00050   };
00051   typedef std::vector<ProjectedMap> MultilevelGrid;
00052 
00054   virtual void handlePreNodeTraversal(const ros::Time& rostime);
00055 
00057   virtual void update2DMap(const OcTreeT::iterator& it, bool occupied);
00058 
00060   virtual void handlePostNodeTraversal(const ros::Time& rostime);
00061 
00062   std::vector<ros::Publisher*> m_multiMapPub;
00063   ros::Subscriber m_attachedObjectsSub;
00064 
00065   std::string m_attachedFrame;
00066   double m_attachedMaxOffset;
00067   double m_attachedMinOffset;
00068   bool m_haveAttachedObject;
00069   std::vector<std::string> m_armLinks;
00070   std::vector<double> m_armLinkOffsets;
00071 
00072   MultilevelGrid m_multiGridmap;
00073 
00074 
00075 };
00076 }
00077 
00078 #endif
00079 


octomap_server
Author(s): Armin Hornung
autogenerated on Mon Oct 6 2014 02:56:34