occupancy_map_updater.h
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00034 
00035 /* Author: Ioan Sucan, Jon Binney */
00036 
00037 #ifndef MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_UPDATER_
00038 #define MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_UPDATER_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 #include <moveit/occupancy_map_monitor/occupancy_map.h>
00042 #include <geometric_shapes/shapes.h>
00043 #include <boost/shared_ptr.hpp>
00044 #include <Eigen/Core>
00045 #include <Eigen/Geometry>
00046 
00047 namespace occupancy_map_monitor
00048 {
00049 typedef unsigned int ShapeHandle;
00050 typedef std::map<ShapeHandle, Eigen::Affine3d, std::less<ShapeHandle>,
00051                  Eigen::aligned_allocator<std::pair<const ShapeHandle, Eigen::Affine3d> > >
00052     ShapeTransformCache;
00053 typedef boost::function<bool(const std::string& target_frame, const ros::Time& target_time, ShapeTransformCache& cache)>
00054     TransformCacheProvider;
00055 
00056 class OccupancyMapMonitor;
00057 
00058 MOVEIT_CLASS_FORWARD(OccupancyMapUpdater);
00059 
00062 class OccupancyMapUpdater
00063 {
00064 public:
00065   OccupancyMapUpdater(const std::string& type);
00066   virtual ~OccupancyMapUpdater();
00067 
00069   void setMonitor(OccupancyMapMonitor* monitor);
00070 
00073   virtual bool setParams(XmlRpc::XmlRpcValue& params) = 0;
00074 
00077   virtual bool initialize() = 0;
00078 
00079   virtual void start() = 0;
00080 
00081   virtual void stop() = 0;
00082 
00083   virtual ShapeHandle excludeShape(const shapes::ShapeConstPtr& shape) = 0;
00084 
00085   virtual void forgetShape(ShapeHandle handle) = 0;
00086 
00087   const std::string& getType() const
00088   {
00089     return type_;
00090   }
00091 
00092   void setTransformCacheCallback(const TransformCacheProvider& transform_callback)
00093   {
00094     transform_provider_callback_ = transform_callback;
00095   }
00096 
00097   void publishDebugInformation(bool flag)
00098   {
00099     debug_info_ = flag;
00100   }
00101 
00102 protected:
00103   OccupancyMapMonitor* monitor_;
00104   std::string type_;
00105   OccMapTreePtr tree_;
00106   TransformCacheProvider transform_provider_callback_;
00107   ShapeTransformCache transform_cache_;
00108   bool debug_info_;
00109 
00110   bool updateTransformCache(const std::string& target_frame, const ros::Time& target_time);
00111 
00112   static void readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, double* value);
00113   static void readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, unsigned int* value);
00114 };
00115 }
00116 
00117 #endif


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