observation_buffer.h
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035  * Author: Eitan Marder-Eppstein
00036  *********************************************************************/
00037 #ifndef COSTMAP_2D_OBSERVATION_BUFFER_H_
00038 #define COSTMAP_2D_OBSERVATION_BUFFER_H_
00039 
00040 #include <vector>
00041 #include <list>
00042 #include <string>
00043 #include <ros/time.h>
00044 #include <costmap_2d/observation.h>
00045 #include <tf/transform_listener.h>
00046 #include <tf/transform_datatypes.h>
00047 
00048 // PCL Stuff
00049 #include <pcl/point_cloud.h>
00050 #include <sensor_msgs/PointCloud2.h>
00051 
00052 // Thread support
00053 #include <boost/thread.hpp>
00054 
00055 namespace costmap_2d
00056 {
00061 class ObservationBuffer
00062 {
00063 public:
00078   ObservationBuffer(std::string topic_name, double observation_keep_time, double expected_update_rate,
00079                     double min_obstacle_height, double max_obstacle_height, double obstacle_range,
00080                     double raytrace_range, tf::TransformListener& tf, std::string global_frame,
00081                     std::string sensor_frame, double tf_tolerance);
00082 
00086   ~ObservationBuffer();
00087 
00095   bool setGlobalFrame(const std::string new_global_frame);
00096 
00102   void bufferCloud(const sensor_msgs::PointCloud2& cloud);
00103 
00109   void bufferCloud(const pcl::PointCloud<pcl::PointXYZ>& cloud);
00110 
00115   void getObservations(std::vector<Observation>& observations);
00116 
00121   bool isCurrent() const;
00122 
00126   inline void lock()
00127   {
00128     lock_.lock();
00129   }
00130 
00134   inline void unlock()
00135   {
00136     lock_.unlock();
00137   }
00138 
00142   void resetLastUpdated();
00143 
00144 private:
00148   void purgeStaleObservations();
00149 
00150   tf::TransformListener& tf_;
00151   const ros::Duration observation_keep_time_;
00152   const ros::Duration expected_update_rate_;
00153   ros::Time last_updated_;
00154   std::string global_frame_;
00155   std::string sensor_frame_;
00156   std::list<Observation> observation_list_;
00157   std::string topic_name_;
00158   double min_obstacle_height_, max_obstacle_height_;
00159   boost::recursive_mutex lock_;  
00160   double obstacle_range_, raytrace_range_;
00161   double tf_tolerance_;
00162 };
00163 }  // namespace costmap_2d
00164 #endif  // COSTMAP_2D_OBSERVATION_BUFFER_H_


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Wed Aug 2 2017 03:12:21