observation_buffer.hpp

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 * Author: Eitan Marder-Eppstein
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#ifndef NAV2_COSTMAP_2D__OBSERVATION_BUFFER_HPP_
#define NAV2_COSTMAP_2D__OBSERVATION_BUFFER_HPP_
 
#include <vector>
#include <list>
#include <string>
 
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "rclcpp/time.hpp"
#include "tf2_ros/buffer.h"
#include "tf2_sensor_msgs/tf2_sensor_msgs.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
#include "nav2_costmap_2d/observation.hpp"
#include "nav2_util/lifecycle_node.hpp"
 
 
namespace nav2_costmap_2d
{
class ObservationBuffer
{
public:
  ObservationBuffer(
    const nav2_util::LifecycleNode::WeakPtr & parent,
    std::string topic_name,
    double observation_keep_time,
    double expected_update_rate,
    double min_obstacle_height, double max_obstacle_height, double obstacle_max_range,
    double obstacle_min_range,
    double raytrace_max_range, double raytrace_min_range, tf2_ros::Buffer & tf2_buffer,
    std::string global_frame,
    std::string sensor_frame,
    tf2::Duration tf_tolerance);
 
  ~ObservationBuffer();
 
  void bufferCloud(const sensor_msgs::msg::PointCloud2 & cloud);
 
  void getObservations(std::vector<Observation> & observations);
 
  bool isCurrent() const;
 
  inline void lock()
  {
    lock_.lock();
  }
 
  inline void unlock()
  {
    lock_.unlock();
  }
 
  void resetLastUpdated();
 
private:
  void purgeStaleObservations();
 
  rclcpp::Clock::SharedPtr clock_;
  rclcpp::Logger logger_{rclcpp::get_logger("nav2_costmap_2d")};
  tf2_ros::Buffer & tf2_buffer_;
  const rclcpp::Duration observation_keep_time_;
  const rclcpp::Duration expected_update_rate_;
  rclcpp::Time last_updated_;
  std::string global_frame_;
  std::string sensor_frame_;
  std::list<Observation> observation_list_;
  std::string topic_name_;
  double min_obstacle_height_, max_obstacle_height_;
  std::recursive_mutex lock_;  
  double obstacle_max_range_, obstacle_min_range_, raytrace_max_range_, raytrace_min_range_;
  tf2::Duration tf_tolerance_;
};
}  // namespace nav2_costmap_2d
#endif  // NAV2_COSTMAP_2D__OBSERVATION_BUFFER_HPP_