OctomapFilter.hpp

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// Copyright 2025 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in short)
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
 
#ifndef EASYNAV_PLANNER__FILTERS__OCTOMAPFILTER_HPP_
#define EASYNAV_PLANNER__FILTERS__OCTOMAPFILTER_HPP_
 
#include <string>
 
#include "octomap/octomap.h"
#include "easynav_common/types/NavState.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
namespace easynav
{
namespace octomap
{
 
class OctomapFilter
{
public:
  OctomapFilter();
 
  void
  initialize(
    const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> parent_node,
    const std::string & plugin_name);
 
  virtual void on_initialize() = 0;
  virtual void update(::easynav::NavState & nav_state) = 0;
 
  float get_map_resolution() {return map_resolution_;}
  void set_map_resolution(float resolution) {map_resolution_ = resolution;}
 
protected:
  std::shared_ptr<rclcpp_lifecycle::LifecycleNode> get_node() const;
 
  const std::string & get_plugin_name() const;
 
protected:
  std::shared_ptr<rclcpp_lifecycle::LifecycleNode> parent_node_ {nullptr};
  std::string plugin_name_;
 
  float map_resolution_ {0.1};
};
}  // namespace octomap
}  // namespace easynav
#endif  // EASYNAV_PLANNER__FILTERS__OCTOMAPFILTER_HPP_