occupancy_map.h

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/* Author: Ioan Sucan, Jon Binney */
 
#pragma once
 
#include <octomap/octomap.h>
 
#include <memory>
#include <string>
#include <shared_mutex>
#include <mutex>
#include <functional>
 
namespace collision_detection
{
typedef octomap::OcTreeNode OccMapNode;
 
class OccMapTree : public octomap::OcTree
{
public:
  OccMapTree(double resolution) : octomap::OcTree(resolution)
  {
  }
 
  OccMapTree(const std::string& filename) : octomap::OcTree(filename)
  {
  }
 
  void lockRead()
  {
    tree_mutex_.lock_shared();
  }
 
  void unlockRead()
  {
    tree_mutex_.unlock_shared();
  }
 
  void lockWrite()
  {
    tree_mutex_.lock();
  }
 
  void unlockWrite()
  {
    tree_mutex_.unlock();
  }
 
  using ReadLock = std::shared_lock<std::shared_mutex>;
  using WriteLock = std::unique_lock<std::shared_mutex>;
 
  ReadLock reading()
  {
    return ReadLock(tree_mutex_);
  }
 
  WriteLock writing()
  {
    return WriteLock(tree_mutex_);
  }
 
  void triggerUpdateCallback()
  {
    if (update_callback_)
      update_callback_();
  }
 
  void setUpdateCallback(const std::function<void()>& update_callback)
  {
    update_callback_ = update_callback;
  }
 
private:
  std::shared_mutex tree_mutex_;
  std::function<void()> update_callback_;
};
 
using OccMapTreePtr = std::shared_ptr<OccMapTree>;
using OccMapTreeConstPtr = std::shared_ptr<const OccMapTree>;
}  // namespace collision_detection