Program Listing for File measurement_buffer.hpp
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* Author: Steve Macenski (steven.macenski@simberobotics.com)
* Purpose: buffer incoming measurements for grid
*********************************************************************/
#ifndef SPATIO_TEMPORAL_VOXEL_LAYER__MEASUREMENT_BUFFER_HPP_
#define SPATIO_TEMPORAL_VOXEL_LAYER__MEASUREMENT_BUFFER_HPP_
// STL
#include <vector>
#include <list>
#include <string>
#include <chrono>
#include <memory>
// measurement structs
#include "spatio_temporal_voxel_layer/measurement_reading.h"
// PCL
#include "pcl/common/transforms.h"
#include "pcl/filters/voxel_grid.h"
#include "pcl_conversions/pcl_conversions.h"
#include "pcl/filters/passthrough.h"
// ROS
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
// TF
#include "tf2_ros/buffer.h"
#include "message_filters/subscriber.h"
// msgs
#include "sensor_msgs/msg/point_cloud2.hpp"
#include "geometry_msgs/msg/quaternion.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
// Mutex
#include "boost/thread.hpp"
namespace buffer
{
enum class Filters
{
NONE = 0,
VOXEL = 1,
PASSTHROUGH = 2
};
// conveniences for line lengths
typedef std::list<observation::MeasurementReading>::iterator readings_iter;
typedef std::unique_ptr<sensor_msgs::msg::PointCloud2> point_cloud_ptr;
// Measurement buffer
class MeasurementBuffer
{
public:
MeasurementBuffer(
const std::string & source_name,
const std::string & topic_name,
const double & observation_keep_time,
const double & expected_update_rate,
const double & min_obstacle_height,
const double & max_obstacle_height,
const double & obstacle_range,
tf2_ros::Buffer & tf,
const std::string & global_frame,
const std::string & sensor_frame,
const double & tf_tolerance,
const double & min_d,
const double & max_d,
const double & vFOV,
const double & vFOVPadding,
const double & hFOV,
const double & decay_acceleration,
const bool & marking,
const bool & clearing,
const double & voxel_size,
const Filters & filter,
const int & voxel_min_points,
const bool & enabled,
const bool & clear_buffer_after_reading,
const ModelType & model_type,
rclcpp::Clock::SharedPtr clock,
rclcpp::Logger logger);
~MeasurementBuffer(void);
// Buffers for different types of pointclouds
void BufferROSCloud(const sensor_msgs::msg::PointCloud2 & cloud);
// Get measurements from the buffer
void GetReadings(std::vector<observation::MeasurementReading> & observations);
// enabler setter getter
bool IsEnabled(void) const;
void SetEnabled(const bool & enabled);
// Source name getter
std::string GetSourceName(void) const;
// params setters
void SetMinObstacleHeight(const double & min_obstacle_height);
void SetMaxObstacleHeight(const double & max_obstacle_height);
void SetMinZ(const double & min_z);
void SetMaxZ(const double & max_z);
void SetVerticalFovPadding(const double & vertical_fov_padding);
void SetHorizontalFovAngle(const double & horizontal_fov_angle);
void SetVerticalFovAngle(const double & vertical_fov_angle);
// State knoweldge if sensors are operating as expected
bool UpdatedAtExpectedRate(void) const;
void ResetLastUpdatedTime(void);
void ResetAllMeasurements(void);
bool ClearAfterReading(void);
// Public mutex locks
void Lock(void);
void Unlock(void);
private:
// Removing old observations from buffer
void RemoveStaleObservations(void);
tf2_ros::Buffer & _buffer;
const rclcpp::Duration _observation_keep_time, _expected_update_rate;
rclcpp::Time _last_updated;
boost::recursive_mutex _lock;
std::string _global_frame, _sensor_frame, _source_name, _topic_name;
std::list<observation::MeasurementReading> _observation_list;
double _min_obstacle_height, _max_obstacle_height, _obstacle_range, _tf_tolerance;
double _min_z, _max_z, _vertical_fov, _vertical_fov_padding, _horizontal_fov;
double _decay_acceleration, _voxel_size;
bool _marking, _clearing;
Filters _filter;
int _voxel_min_points;
bool _clear_buffer_after_reading, _enabled;
ModelType _model_type;
rclcpp::Clock::SharedPtr clock_;
rclcpp::Logger logger_;
};
} // namespace buffer
#endif // SPATIO_TEMPORAL_VOXEL_LAYER__MEASUREMENT_BUFFER_HPP_