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