lazy_free_space_updater.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OCCUPANCY_MAP_MONITOR_LAZY_FREE_SPACE_UPDATER_
00038 #define MOVEIT_OCCUPANCY_MAP_MONITOR_LAZY_FREE_SPACE_UPDATER_
00039 
00040 #include <moveit/occupancy_map_monitor/occupancy_map.h>
00041 #include <boost/thread.hpp>
00042 #include <deque>
00043 
00044 namespace occupancy_map_monitor
00045 {
00046 class LazyFreeSpaceUpdater
00047 {
00048 public:
00049   LazyFreeSpaceUpdater(const OccMapTreePtr& tree, unsigned int max_batch_size = 10);
00050   ~LazyFreeSpaceUpdater();
00051 
00052   void pushLazyUpdate(octomap::KeySet* occupied_cells, octomap::KeySet* model_cells,
00053                       const octomap::point3d& sensor_origin);
00054 
00055 private:
00056 #ifdef __APPLE__
00057   typedef std::unordered_map<octomap::OcTreeKey, unsigned int, octomap::OcTreeKey::KeyHash> OcTreeKeyCountMap;
00058 #else
00059   typedef std::tr1::unordered_map<octomap::OcTreeKey, unsigned int, octomap::OcTreeKey::KeyHash> OcTreeKeyCountMap;
00060 #endif
00061 
00062   void pushBatchToProcess(OcTreeKeyCountMap* occupied_cells, octomap::KeySet* model_cells,
00063                           const octomap::point3d& sensor_origin);
00064 
00065   void lazyUpdateThread();
00066   void processThread();
00067 
00068   OccMapTreePtr tree_;
00069   bool running_;
00070   std::size_t max_batch_size_;
00071   double max_sensor_delta_;
00072 
00073   std::deque<octomap::KeySet*> occupied_cells_sets_;
00074   std::deque<octomap::KeySet*> model_cells_sets_;
00075   std::deque<octomap::point3d> sensor_origins_;
00076   boost::condition_variable update_condition_;
00077   boost::mutex update_cell_sets_lock_;
00078 
00079   OcTreeKeyCountMap* process_occupied_cells_set_;
00080   octomap::KeySet* process_model_cells_set_;
00081   octomap::point3d process_sensor_origin_;
00082   boost::condition_variable process_condition_;
00083   boost::mutex cell_process_lock_;
00084 
00085   boost::thread update_thread_;
00086   boost::thread process_thread_;
00087 };
00088 }
00089 
00090 #endif /* MOVEIT_OCCUPANCY_MAP_UPDATER_H_ */


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Wed Jan 17 2018 03:32:02