occupancy_map_updater.cpp

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/* Author: Ioan Sucan, Jon Binney */

#include <moveit/occupancy_map_monitor/occupancy_map_monitor.h>
#include <moveit/occupancy_map_monitor/occupancy_map_updater.h>

namespace occupancy_map_monitor
{

OccupancyMapUpdater::OccupancyMapUpdater(const std::string &type) : type_(type)
{
}

OccupancyMapUpdater::~OccupancyMapUpdater()
{
}

void OccupancyMapUpdater::setMonitor(OccupancyMapMonitor *monitor)
{
  monitor_ = monitor;
  tree_ = monitor->getOcTreePtr();
}

void OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue &params, const std::string &param_name, double *value)
{
  if (params.hasMember(param_name))
  {
    if (params[param_name].getType() == XmlRpc::XmlRpcValue::TypeInt)
      *value = (int) params[param_name];
    else
      *value = (double) params[param_name];
  }
}

void OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue &params, const std::string &param_name, unsigned int *value)
{
  if (params.hasMember(param_name))
    *value = (int) params[param_name];
}

bool OccupancyMapUpdater::updateTransformCache(const std::string &target_frame, const ros::Time &target_time)
{
  transform_cache_.clear();
  if (transform_provider_callback_)
    return transform_provider_callback_(target_frame, target_time, transform_cache_);
  else
  {
    ROS_WARN_THROTTLE(1, "No callback provided for updating the transform cache for octomap updaters");
    return false;
  }
}

}