00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 * 00029 */ 00030 00039 #include <pose_graph/diff_publisher.h> 00040 #include <pose_graph/message_conversion.h> 00041 00042 namespace pose_graph 00043 { 00044 00045 namespace msg=graph_mapping_msgs; 00046 00047 DiffPublisher::DiffPublisher () : 00048 diff_pub_(nh_.advertise<msg::ConstraintGraphDiff>("graph_diffs", 100, true)), 00049 graph_srv_(nh_.advertiseService("get_full_graph", &DiffPublisher::getGraph, this)), 00050 current_id_(1) 00051 {} 00052 00053 00054 void DiffPublisher::addDiff (msg::ConstraintGraphDiff* diff) 00055 { 00056 boost::mutex::scoped_lock lock(mutex_); 00057 diff->id = current_id_++; 00058 applyDiff(&graph_, *diff); 00059 diff_pub_.publish(*diff); 00060 } 00061 00062 bool DiffPublisher::getGraph (msg::GetGraph::Request& req, msg::GetGraph::Response& resp) 00063 { 00064 boost::mutex::scoped_lock lock(mutex_); 00065 resp.graph = constraintGraphToMessage(graph_); 00066 resp.id = current_id_-1; 00067 return true; 00068 } 00069 00070 void DiffPublisher::setGraph (const ConstraintGraph& graph) 00071 { 00072 { 00073 boost::mutex::scoped_lock lock(mutex_); 00074 graph_ = graph; 00075 current_id_ += 2; // make all subscribers think they dropped a diff 00076 } 00077 // It's fine if a call to getGraph intervenes here, but not addDiff 00078 msg::ConstraintGraphDiff fake_diff; 00079 addDiff(&fake_diff); // Trigger all subscribers requesting new graph 00080 } 00081 00082 00083 00084 00085 } // namespace