octree_stamped_pa_ros.h

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* octree_stamped_pa_ros.h                                                     *
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* github repository                                                           *
*   https://github.com/TUC-ProAut/ros_octomap                                 *
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* Chair of Automation Technology, Technische Universität Chemnitz             *
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#ifndef __OCTREE_STAMPED_PA_ROS_H
#define __OCTREE_STAMPED_PA_ROS_H

// local headers
#include "octomap_pa/time_pa.h"
#include "octomap_pa/octree_base_pa_ros.h"
#include "octomap_pa/octree_stamped_pa.h"
#include "octomap_pa/octree_stamped_pa_ros_parameter.h"

// ros headers
#include <ros/ros.h>

//**************************[cOctreeStampedPaRos]******************************
class cOctreeStampedPaRos : public cOctreeBasePaRos<cOcTreeStampedPa> {
  public:
    typedef cOctreeBasePaRos<cOcTreeStampedPa> TreeTypeBase;

    cOctreeStampedPaRos(const double resolution);

    virtual ~cOctreeStampedPaRos();

    void degradeOutdatedNodes(void);

    ros::Time getLastInsertionTime(void) const;
    void setLastInsertionTime(const ros::Time &time);

    ros::Time timeToRos(const cTimePa &time) const;
    cTimePa timeFromRos(const ros::Time &time) const;

    cOctreeStampedPaRosParameter rosparams_;

  protected:
    ros::Time last_degrading_time_;

    void checkDegrading(void);
};

#endif // __OCTREE_STAMPED_PA_ROS_H