occupancy_map_updater.cpp
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34 
35 /* Author: Ioan Sucan, Jon Binney */
36 
39 
40 namespace occupancy_map_monitor
41 {
42 OccupancyMapUpdater::OccupancyMapUpdater(const std::string& type) : type_(type)
43 {
44 }
45 
47 {
48 }
49 
51 {
52  monitor_ = monitor;
53  tree_ = monitor->getOcTreePtr();
54 }
55 
56 void OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, double* value)
57 {
58  if (params.hasMember(param_name))
59  {
60  if (params[param_name].getType() == XmlRpc::XmlRpcValue::TypeInt)
61  *value = (int)params[param_name];
62  else
63  *value = (double)params[param_name];
64  }
65 }
66 
67 void OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, unsigned int* value)
68 {
69  if (params.hasMember(param_name))
70  *value = (int)params[param_name];
71 }
72 
73 bool OccupancyMapUpdater::updateTransformCache(const std::string& target_frame, const ros::Time& target_time)
74 {
75  transform_cache_.clear();
77  return transform_provider_callback_(target_frame, target_time, transform_cache_);
78  else
79  {
80  ROS_WARN_THROTTLE(1, "No callback provided for updating the transform cache for octomap updaters");
81  return false;
82  }
83 }
84 }
#define ROS_WARN_THROTTLE(rate,...)
const OccMapTreePtr & getOcTreePtr()
Get a pointer to the underlying octree for this monitor. Lock the tree before reading or writing usin...
void setMonitor(OccupancyMapMonitor *monitor)
This is the first function to be called after construction.
bool hasMember(const std::string &name) const
static void readXmlParam(XmlRpc::XmlRpcValue &params, const std::string &param_name, double *value)
bool updateTransformCache(const std::string &target_frame, const ros::Time &target_time)


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Sat Sep 15 2018 02:51:29