occupancy_map_monitor.h
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00034 
00035 /* Author: Ioan Sucan, Jon Binney */
00036 
00037 #ifndef MOVEIT_PERCEPTION_OCCUPANCY_MAP_MONITOR_
00038 #define MOVEIT_PERCEPTION_OCCUPANCY_MAP_MONITOR_
00039 
00040 #include <vector>
00041 #include <string>
00042 #include <ros/ros.h>
00043 #include <tf/tf.h>
00044 #include <pluginlib/class_loader.h>
00045 
00046 #include <moveit_msgs/SaveMap.h>
00047 #include <moveit_msgs/LoadMap.h>
00048 #include <moveit/occupancy_map_monitor/occupancy_map.h>
00049 #include <moveit/occupancy_map_monitor/occupancy_map_updater.h>
00050 
00051 #include <boost/thread/mutex.hpp>
00052 
00053 namespace occupancy_map_monitor
00054 {
00055 class OccupancyMapMonitor
00056 {
00057 public:
00058   OccupancyMapMonitor(const boost::shared_ptr<tf::Transformer>& tf, const std::string& map_frame = "",
00059                       double map_resolution = 0.0);
00060   OccupancyMapMonitor(double map_resolution = 0.0);
00061   OccupancyMapMonitor(const boost::shared_ptr<tf::Transformer>& tf, ros::NodeHandle& nh,
00062                       const std::string& map_frame = "", double map_resolution = 0.0);
00063 
00064   ~OccupancyMapMonitor();
00065 
00067   void startMonitor();
00068 
00069   void stopMonitor();
00070 
00073   const OccMapTreePtr& getOcTreePtr()
00074   {
00075     return tree_;
00076   }
00077 
00080   const OccMapTreeConstPtr& getOcTreePtr() const
00081   {
00082     return tree_const_;
00083   }
00084 
00085   const std::string& getMapFrame() const
00086   {
00087     return map_frame_;
00088   }
00089 
00090   void setMapFrame(const std::string& frame);
00091 
00092   double getMapResolution() const
00093   {
00094     return map_resolution_;
00095   }
00096 
00097   const boost::shared_ptr<tf::Transformer>& getTFClient() const
00098   {
00099     return tf_;
00100   }
00101 
00102   void addUpdater(const OccupancyMapUpdaterPtr& updater);
00103 
00105   ShapeHandle excludeShape(const shapes::ShapeConstPtr& shape);
00106 
00108   void forgetShape(ShapeHandle handle);
00109 
00111   void setUpdateCallback(const boost::function<void()>& update_callback)
00112   {
00113     tree_->setUpdateCallback(update_callback);
00114   }
00115 
00116   void setTransformCacheCallback(const TransformCacheProvider& transform_cache_callback);
00117 
00118   void publishDebugInformation(bool flag);
00119 
00120   bool isActive() const
00121   {
00122     return active_;
00123   }
00124 
00125 private:
00126   void initialize();
00127 
00129   bool saveMapCallback(moveit_msgs::SaveMap::Request& request, moveit_msgs::SaveMap::Response& response);
00130 
00132   bool loadMapCallback(moveit_msgs::LoadMap::Request& request, moveit_msgs::LoadMap::Response& response);
00133 
00134   bool getShapeTransformCache(std::size_t index, const std::string& target_frame, const ros::Time& target_time,
00135                               ShapeTransformCache& cache) const;
00136 
00137   boost::shared_ptr<tf::Transformer> tf_;
00138   std::string map_frame_;
00139   double map_resolution_;
00140   boost::mutex parameters_lock_;
00141 
00142   OccMapTreePtr tree_;
00143   OccMapTreeConstPtr tree_const_;
00144 
00145   boost::scoped_ptr<pluginlib::ClassLoader<OccupancyMapUpdater> > updater_plugin_loader_;
00146   std::vector<OccupancyMapUpdaterPtr> map_updaters_;
00147   std::vector<std::map<ShapeHandle, ShapeHandle> > mesh_handles_;
00148   TransformCacheProvider transform_cache_callback_;
00149   bool debug_info_;
00150 
00151   std::size_t mesh_handle_count_;
00152 
00153   ros::NodeHandle root_nh_;
00154   ros::NodeHandle nh_;
00155   ros::ServiceServer save_map_srv_;
00156   ros::ServiceServer load_map_srv_;
00157 
00158   bool active_;
00159 };
00160 }
00161 
00162 #endif


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