occupancy_map_updater.cpp
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00034 
00035 /* Author: Ioan Sucan, Jon Binney */
00036 
00037 #include <moveit/occupancy_map_monitor/occupancy_map_monitor.h>
00038 #include <moveit/occupancy_map_monitor/occupancy_map_updater.h>
00039 
00040 namespace occupancy_map_monitor
00041 {
00042 OccupancyMapUpdater::OccupancyMapUpdater(const std::string& type) : type_(type)
00043 {
00044 }
00045 
00046 OccupancyMapUpdater::~OccupancyMapUpdater()
00047 {
00048 }
00049 
00050 void OccupancyMapUpdater::setMonitor(OccupancyMapMonitor* monitor)
00051 {
00052   monitor_ = monitor;
00053   tree_ = monitor->getOcTreePtr();
00054 }
00055 
00056 void OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, double* value)
00057 {
00058   if (params.hasMember(param_name))
00059   {
00060     if (params[param_name].getType() == XmlRpc::XmlRpcValue::TypeInt)
00061       *value = (int)params[param_name];
00062     else
00063       *value = (double)params[param_name];
00064   }
00065 }
00066 
00067 void OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, unsigned int* value)
00068 {
00069   if (params.hasMember(param_name))
00070     *value = (int)params[param_name];
00071 }
00072 
00073 bool OccupancyMapUpdater::updateTransformCache(const std::string& target_frame, const ros::Time& target_time)
00074 {
00075   transform_cache_.clear();
00076   if (transform_provider_callback_)
00077     return transform_provider_callback_(target_frame, target_time, transform_cache_);
00078   else
00079   {
00080     ROS_WARN_THROTTLE(1, "No callback provided for updating the transform cache for octomap updaters");
00081     return false;
00082   }
00083 }
00084 }


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Wed Jun 19 2019 19:24:12