VoxelGridModule.hpp

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#ifndef AIKIDO_PERCEPTION_VOXELGRIDMODULE_HPP_
#define AIKIDO_PERCEPTION_VOXELGRIDMODULE_HPP_
 
#ifdef DART_HAS_VOXELGRIDSHAPE
 
#include <memory>
#include <string>
 
#include <dart/dynamics/dynamics.hpp>
#include <ros/ros.h>
 
namespace aikido {
namespace perception {
 
class VoxelGridPerceptionModule
{
public:
  VoxelGridPerceptionModule(
      const ros::NodeHandle& nodeHandle,
      const std::string& pointCloudTopic,
      std::shared_ptr<dart::dynamics::VoxelGridShape> voxelGridShape = nullptr);
 
  virtual ~VoxelGridPerceptionModule() = default;
 
  std::shared_ptr<dart::dynamics::VoxelGridShape> getVoxelGridShape();
 
  std::shared_ptr<const dart::dynamics::VoxelGridShape> getVoxelGridShape()
      const;
 
  bool update(
      const Eigen::Vector3d& sensorOrigin,
      const Eigen::Isometry3d& inCoordinatesOf,
      const ros::Duration& timeout);
 
  bool update(
      const Eigen::Vector3d& sensorOrigin,
      const dart::dynamics::Frame& inCoordinatesOf,
      const ros::Duration& timeout);
 
private:
  ros::NodeHandle mNodeHandle;
 
  std::string mPointCloudTopic;
 
  std::shared_ptr<dart::dynamics::VoxelGridShape> mVoxelGridShape;
 
  octomap::Pointcloud mOctomapPointCloud;
};
 
} // namespace perception
} // namespace aikido
 
#endif // DART_HAS_VOXELGRIDSHAPE
 
#endif // AIKIDO_PERCEPTION_VOXELGRIDMODULE_HPP_