103 lines
3.8 KiB
C++
103 lines
3.8 KiB
C++
/*
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* Copyright (c) 2008, 2013, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* Authors: Conor McGann
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*/
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#ifndef COSTMAP_2D_OBSERVATION_H_
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#define COSTMAP_2D_OBSERVATION_H_
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#include <sensor_msgs/PointCloud2.h>
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#include <geometry_msgs/Point.h>
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namespace costmap_2d
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{
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/**
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* @brief Stores an observation in terms of a point cloud and the origin of the source
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* @note Tried to make members and constructor arguments const but the compiler would not accept the default
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* assignment operator for vector insertion!
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*/
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class Observation
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{
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public:
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/**
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* @brief Creates an empty observation
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*/
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Observation() :
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cloud_(new sensor_msgs::PointCloud2()), obstacle_range_(0.0), raytrace_range_(0.0)
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{
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}
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virtual ~Observation()
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{
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delete cloud_;
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}
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/**
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* @brief Creates an observation from an origin point and a point cloud
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* @param origin The origin point of the observation
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* @param cloud The point cloud of the observation
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* @param obstacle_range The range out to which an observation should be able to insert obstacles
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* @param raytrace_range The range out to which an observation should be able to clear via raytracing
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*/
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Observation(geometry_msgs::Point& origin, const sensor_msgs::PointCloud2 &cloud,
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double obstacle_range, double raytrace_range) :
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origin_(origin), cloud_(new sensor_msgs::PointCloud2(cloud)),
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obstacle_range_(obstacle_range), raytrace_range_(raytrace_range)
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{
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}
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/**
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* @brief Copy constructor
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* @param obs The observation to copy
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*/
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Observation(const Observation& obs) :
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origin_(obs.origin_), cloud_(new sensor_msgs::PointCloud2(*(obs.cloud_))),
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obstacle_range_(obs.obstacle_range_), raytrace_range_(obs.raytrace_range_)
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{
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}
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/**
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* @brief Creates an observation from a point cloud
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* @param cloud The point cloud of the observation
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* @param obstacle_range The range out to which an observation should be able to insert obstacles
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*/
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Observation(const sensor_msgs::PointCloud2 &cloud, double obstacle_range) :
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cloud_(new sensor_msgs::PointCloud2(cloud)), obstacle_range_(obstacle_range), raytrace_range_(0.0)
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{
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}
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geometry_msgs::Point origin_;
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sensor_msgs::PointCloud2* cloud_;
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double obstacle_range_, raytrace_range_;
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};
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} // namespace costmap_2d
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#endif // COSTMAP_2D_OBSERVATION_H_
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