#include <lazy_free_space_updater.h>

Public Member Functions
	LazyFreeSpaceUpdater (const OccMapTreePtr &tree, unsigned int max_batch_size=10)

void	pushLazyUpdate (octomap::KeySet occupied_cells, octomap::KeySet model_cells, const octomap::point3d &sensor_origin)

	~LazyFreeSpaceUpdater ()

Private Types
typedef std::tr1::unordered_map< octomap::OcTreeKey, unsigned int, octomap::OcTreeKey::KeyHash >	OcTreeKeyCountMap

Private Member Functions
void	lazyUpdateThread ()

void	processThread ()

void	pushBatchToProcess (OcTreeKeyCountMap occupied_cells, octomap::KeySet model_cells, const octomap::point3d &sensor_origin)

Private Attributes
boost::mutex	cell_process_lock_

std::size_t	max_batch_size_

double	max_sensor_delta_

std::deque< octomap::KeySet * >	model_cells_sets_

std::deque< octomap::KeySet * >	occupied_cells_sets_

boost::condition_variable	process_condition_

octomap::KeySet *	process_model_cells_set_

OcTreeKeyCountMap *	process_occupied_cells_set_

octomap::point3d	process_sensor_origin_

boost::thread	process_thread_

bool	running_

std::deque< octomap::point3d >	sensor_origins_

OccMapTreePtr	tree_

boost::mutex	update_cell_sets_lock_

boost::condition_variable	update_condition_

boost::thread	update_thread_

Detailed Description

Definition at line 46 of file lazy_free_space_updater.h.

Member Typedef Documentation

typedef std::tr1::unordered_map<octomap::OcTreeKey, unsigned int, octomap::OcTreeKey::KeyHash> occupancy_map_monitor::LazyFreeSpaceUpdater::OcTreeKeyCountMap

private

Definition at line 59 of file lazy_free_space_updater.h.

Constructor & Destructor Documentation

occupancy_map_monitor::LazyFreeSpaceUpdater::LazyFreeSpaceUpdater	(	const OccMapTreePtr &	tree,
		unsigned int	max_batch_size = `10`
	)

Definition at line 42 of file lazy_free_space_updater.cpp.

occupancy_map_monitor::LazyFreeSpaceUpdater::~LazyFreeSpaceUpdater ( )

Definition at line 55 of file lazy_free_space_updater.cpp.

Member Function Documentation

void occupancy_map_monitor::LazyFreeSpaceUpdater::lazyUpdateThread ( )

private

Definition at line 204 of file lazy_free_space_updater.cpp.

void occupancy_map_monitor::LazyFreeSpaceUpdater::processThread ( )

private

Definition at line 104 of file lazy_free_space_updater.cpp.

void occupancy_map_monitor::LazyFreeSpaceUpdater::pushBatchToProcess	(	OcTreeKeyCountMap *	occupied_cells,
		octomap::KeySet *	model_cells,
		const octomap::point3d &	sensor_origin
	)

private

Definition at line 82 of file lazy_free_space_updater.cpp.

void occupancy_map_monitor::LazyFreeSpaceUpdater::pushLazyUpdate	(	octomap::KeySet *	occupied_cells,
		octomap::KeySet *	model_cells,
		const octomap::point3d &	sensor_origin
	)

Definition at line 70 of file lazy_free_space_updater.cpp.

Member Data Documentation

boost::mutex occupancy_map_monitor::LazyFreeSpaceUpdater::cell_process_lock_

private

Definition at line 83 of file lazy_free_space_updater.h.

std::size_t occupancy_map_monitor::LazyFreeSpaceUpdater::max_batch_size_

private

Definition at line 70 of file lazy_free_space_updater.h.

double occupancy_map_monitor::LazyFreeSpaceUpdater::max_sensor_delta_

private

Definition at line 71 of file lazy_free_space_updater.h.

std::deque<octomap::KeySet*> occupancy_map_monitor::LazyFreeSpaceUpdater::model_cells_sets_

private

Definition at line 74 of file lazy_free_space_updater.h.

std::deque<octomap::KeySet*> occupancy_map_monitor::LazyFreeSpaceUpdater::occupied_cells_sets_

private

Definition at line 73 of file lazy_free_space_updater.h.

boost::condition_variable occupancy_map_monitor::LazyFreeSpaceUpdater::process_condition_

private

Definition at line 82 of file lazy_free_space_updater.h.

octomap::KeySet* occupancy_map_monitor::LazyFreeSpaceUpdater::process_model_cells_set_

private

Definition at line 80 of file lazy_free_space_updater.h.

OcTreeKeyCountMap* occupancy_map_monitor::LazyFreeSpaceUpdater::process_occupied_cells_set_

private

Definition at line 79 of file lazy_free_space_updater.h.

octomap::point3d occupancy_map_monitor::LazyFreeSpaceUpdater::process_sensor_origin_

private

Definition at line 81 of file lazy_free_space_updater.h.

boost::thread occupancy_map_monitor::LazyFreeSpaceUpdater::process_thread_

private

Definition at line 86 of file lazy_free_space_updater.h.

bool occupancy_map_monitor::LazyFreeSpaceUpdater::running_

private

Definition at line 69 of file lazy_free_space_updater.h.

std::deque<octomap::point3d> occupancy_map_monitor::LazyFreeSpaceUpdater::sensor_origins_

private

Definition at line 75 of file lazy_free_space_updater.h.

OccMapTreePtr occupancy_map_monitor::LazyFreeSpaceUpdater::tree_

private

Definition at line 68 of file lazy_free_space_updater.h.

boost::mutex occupancy_map_monitor::LazyFreeSpaceUpdater::update_cell_sets_lock_

private

Definition at line 77 of file lazy_free_space_updater.h.

boost::condition_variable occupancy_map_monitor::LazyFreeSpaceUpdater::update_condition_

private

Definition at line 76 of file lazy_free_space_updater.h.

boost::thread occupancy_map_monitor::LazyFreeSpaceUpdater::update_thread_

private

Definition at line 85 of file lazy_free_space_updater.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation