occupancy_map.h
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00034 
00035 /* Author: Ioan Sucan, Jon Binney */
00036 
00037 #ifndef MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_
00038 #define MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_
00039 
00040 #include <octomap/octomap.h>
00041 #include <boost/shared_ptr.hpp>
00042 #include <boost/thread/shared_mutex.hpp>
00043 #include <boost/function.hpp>
00044 
00045 namespace occupancy_map_monitor
00046 {
00047 typedef octomap::OcTreeNode OccMapNode;
00048 
00049 class OccMapTree : public octomap::OcTree
00050 {
00051 public:
00052   OccMapTree(double resolution) : octomap::OcTree(resolution)
00053   {
00054   }
00055 
00056   OccMapTree(const std::string& filename) : octomap::OcTree(filename)
00057   {
00058   }
00059 
00062   void lockRead()
00063   {
00064     tree_mutex_.lock_shared();
00065   }
00066 
00068   void unlockRead()
00069   {
00070     tree_mutex_.unlock_shared();
00071   }
00072 
00075   void lockWrite()
00076   {
00077     tree_mutex_.lock();
00078   }
00079 
00081   void unlockWrite()
00082   {
00083     tree_mutex_.unlock();
00084   }
00085 
00086   typedef boost::shared_lock<boost::shared_mutex> ReadLock;
00087   typedef boost::unique_lock<boost::shared_mutex> WriteLock;
00088 
00089   ReadLock reading()
00090   {
00091     return ReadLock(tree_mutex_);
00092   }
00093 
00094   WriteLock writing()
00095   {
00096     return WriteLock(tree_mutex_);
00097   }
00098 
00099   void triggerUpdateCallback(void)
00100   {
00101     if (update_callback_)
00102       update_callback_();
00103   }
00104 
00106   void setUpdateCallback(const boost::function<void()>& update_callback)
00107   {
00108     update_callback_ = update_callback;
00109   }
00110 
00111 private:
00112   boost::shared_mutex tree_mutex_;
00113   boost::function<void()> update_callback_;
00114 };
00115 
00116 typedef boost::shared_ptr<OccMapTree> OccMapTreePtr;
00117 typedef boost::shared_ptr<const OccMapTree> OccMapTreeConstPtr;
00118 }
00119 
00120 #endif


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