Program Listing for File tracking_octomap_server.hpp

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// Copyright 2012, D. Kuhner, P. Ruchti, University of Freiburg. All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
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#ifndef OCTOMAP_SERVER__TRACKING_OCTOMAP_SERVER_HPP_
#define OCTOMAP_SERVER__TRACKING_OCTOMAP_SERVER_HPP_

#include <string>

#include "octomap_server/octomap_server.hpp"

namespace octomap_server
{
class TrackingOctomapServer : public OctomapServer
{
public:
  explicit TrackingOctomapServer(const rclcpp::NodeOptions & node_options);

  void trackCallback(const PointCloud2::ConstSharedPtr cloud);
  void insertScan(
    const tf2::Vector3 & sensor_origin,
    const PCLPointCloud & ground, const PCLPointCloud & nonground);

protected:
  void trackChanges();

  bool listen_changes_;
  bool track_changes_;
  int min_change_pub_;
  std::string change_id_frame_;
  rclcpp::Publisher<PointCloud2>::SharedPtr pub_change_set_;
  rclcpp::Subscription<PointCloud2>::SharedPtr sub_change_set_;
};

}  // namespace octomap_server

#endif  // OCTOMAP_SERVER__TRACKING_OCTOMAP_SERVER_HPP_