lazy_free_space_updater.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_OCCUPANCY_MAP_MONITOR_LAZY_FREE_SPACE_UPDATER_
38 #define MOVEIT_OCCUPANCY_MAP_MONITOR_LAZY_FREE_SPACE_UPDATER_
39 
41 #include <boost/thread.hpp>
42 #include <deque>
43 
44 namespace occupancy_map_monitor
45 {
47 {
48 public:
49  LazyFreeSpaceUpdater(const OccMapTreePtr& tree, unsigned int max_batch_size = 10);
51 
52  void pushLazyUpdate(octomap::KeySet* occupied_cells, octomap::KeySet* model_cells,
53  const octomap::point3d& sensor_origin);
54 
55 private:
56 #ifdef __APPLE__
57  typedef std::unordered_map<octomap::OcTreeKey, unsigned int, octomap::OcTreeKey::KeyHash> OcTreeKeyCountMap;
58 #else
59  typedef std::tr1::unordered_map<octomap::OcTreeKey, unsigned int, octomap::OcTreeKey::KeyHash> OcTreeKeyCountMap;
60 #endif
61 
62  void pushBatchToProcess(OcTreeKeyCountMap* occupied_cells, octomap::KeySet* model_cells,
63  const octomap::point3d& sensor_origin);
64 
65  void lazyUpdateThread();
66  void processThread();
67 
69  bool running_;
70  std::size_t max_batch_size_;
72 
73  std::deque<octomap::KeySet*> occupied_cells_sets_;
74  std::deque<octomap::KeySet*> model_cells_sets_;
75  std::deque<octomap::point3d> sensor_origins_;
77  boost::mutex update_cell_sets_lock_;
78 
79  OcTreeKeyCountMap* process_occupied_cells_set_;
83  boost::mutex cell_process_lock_;
84 
85  boost::thread update_thread_;
86  boost::thread process_thread_;
87 };
88 }
89 
90 #endif /* MOVEIT_OCCUPANCY_MAP_UPDATER_H_ */
std::tr1::unordered_map< octomap::OcTreeKey, unsigned int, octomap::OcTreeKey::KeyHash > OcTreeKeyCountMap
std::shared_ptr< OccMapTree > OccMapTreePtr
std::deque< octomap::KeySet * > occupied_cells_sets_
LazyFreeSpaceUpdater(const OccMapTreePtr &tree, unsigned int max_batch_size=10)
unordered_ns::unordered_set< OcTreeKey, OcTreeKey::KeyHash > KeySet
void pushLazyUpdate(octomap::KeySet *occupied_cells, octomap::KeySet *model_cells, const octomap::point3d &sensor_origin)
std::deque< octomap::KeySet * > model_cells_sets_
void pushBatchToProcess(OcTreeKeyCountMap *occupied_cells, octomap::KeySet *model_cells, const octomap::point3d &sensor_origin)


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Wed Dec 12 2018 03:49:24