occupancy_map_updater.h
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34 
35 /* Author: Ioan Sucan, Jon Binney */
36 
37 #ifndef MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_UPDATER_
38 #define MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_UPDATER_
39 
43 #include <boost/shared_ptr.hpp>
44 #include <Eigen/Core>
45 #include <Eigen/Geometry>
46 
47 namespace occupancy_map_monitor
48 {
49 typedef unsigned int ShapeHandle;
50 typedef std::map<ShapeHandle, Eigen::Affine3d, std::less<ShapeHandle>,
51  Eigen::aligned_allocator<std::pair<const ShapeHandle, Eigen::Affine3d> > >
53 typedef boost::function<bool(const std::string& target_frame, const ros::Time& target_time, ShapeTransformCache& cache)>
55 
57 
59 
63 {
64 public:
65  OccupancyMapUpdater(const std::string& type);
66  virtual ~OccupancyMapUpdater();
67 
69  void setMonitor(OccupancyMapMonitor* monitor);
70 
73  virtual bool setParams(XmlRpc::XmlRpcValue& params) = 0;
74 
77  virtual bool initialize() = 0;
78 
79  virtual void start() = 0;
80 
81  virtual void stop() = 0;
82 
83  virtual ShapeHandle excludeShape(const shapes::ShapeConstPtr& shape) = 0;
84 
85  virtual void forgetShape(ShapeHandle handle) = 0;
86 
87  const std::string& getType() const
88  {
89  return type_;
90  }
91 
92  void setTransformCacheCallback(const TransformCacheProvider& transform_callback)
93  {
94  transform_provider_callback_ = transform_callback;
95  }
96 
97  void publishDebugInformation(bool flag)
98  {
99  debug_info_ = flag;
100  }
101 
102 protected:
104  std::string type_;
109 
110  bool updateTransformCache(const std::string& target_frame, const ros::Time& target_time);
111 
112  static void readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, double* value);
113  static void readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, unsigned int* value);
114 };
115 }
116 
117 #endif
std::map< ShapeHandle, Eigen::Affine3d, std::less< ShapeHandle >, Eigen::aligned_allocator< std::pair< const ShapeHandle, Eigen::Affine3d > > > ShapeTransformCache
std::shared_ptr< OccMapTree > OccMapTreePtr
Base class for classes which update the occupancy map.
virtual void forgetShape(ShapeHandle handle)=0
virtual ShapeHandle excludeShape(const shapes::ShapeConstPtr &shape)=0
virtual bool initialize()=0
Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams(...
void setTransformCacheCallback(const TransformCacheProvider &transform_callback)
MOVEIT_CLASS_FORWARD(OccupancyMapUpdater)
void setMonitor(OccupancyMapMonitor *monitor)
This is the first function to be called after construction.
boost::function< bool(const std::string &target_frame, const ros::Time &target_time, ShapeTransformCache &cache)> TransformCacheProvider
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)
virtual bool setParams(XmlRpc::XmlRpcValue &params)=0
Set updater params using struct that comes from parsing a yaml string. This must be called after setM...
std::shared_ptr< const Shape > ShapeConstPtr


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Sun Jan 21 2018 03:55:02