occupancy_map_updater.h

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/* Author: Ioan Sucan, Jon Binney */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/collision_detection/occupancy_map.h>
 
#include <geometric_shapes/shapes.h>
#include <rclcpp/rclcpp.hpp>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include <map>
#include <string>
#include <functional>
 
namespace occupancy_map_monitor
{
using ShapeHandle = unsigned int;
using ShapeTransformCache = std::map<ShapeHandle, Eigen::Isometry3d, std::less<ShapeHandle>,
                                     Eigen::aligned_allocator<std::pair<const ShapeHandle, Eigen::Isometry3d> > >;
using TransformCacheProvider = std::function<bool(const std::string&, const rclcpp::Time&, ShapeTransformCache&)>;
 
class OccupancyMapMonitor;
 
MOVEIT_CLASS_FORWARD(OccupancyMapUpdater);  // Defines OccupancyMapUpdaterPtr, ConstPtr, WeakPtr... etc
 
class OccupancyMapUpdater
{
public:
  OccupancyMapUpdater(const std::string& type);
  virtual ~OccupancyMapUpdater();
 
  void setMonitor(OccupancyMapMonitor* monitor);
 
  virtual bool setParams(const std::string& name_space) = 0;
 
  virtual bool initialize(const rclcpp::Node::SharedPtr& node) = 0;
 
  virtual void start() = 0;
 
  virtual void stop() = 0;
 
  virtual ShapeHandle excludeShape(const shapes::ShapeConstPtr& shape) = 0;
 
  virtual void forgetShape(ShapeHandle handle) = 0;
 
  const std::string& getType() const
  {
    return type_;
  }
 
  void setTransformCacheCallback(const TransformCacheProvider& transform_callback)
  {
    transform_provider_callback_ = transform_callback;
  }
 
  void publishDebugInformation(bool flag)
  {
    debug_info_ = flag;
  }
 
protected:
  OccupancyMapMonitor* monitor_;
  std::string type_;
  collision_detection::OccMapTreePtr tree_;
  TransformCacheProvider transform_provider_callback_;
  ShapeTransformCache transform_cache_;
  bool debug_info_;
 
  bool updateTransformCache(const std::string& target_frame, const rclcpp::Time& target_time);
 
  // TODO rework this function
  // static void readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, double* value);
  // static void readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, unsigned int* value);
};
}  // namespace occupancy_map_monitor