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  /* Author: Ioan Sucan, Jon Binney */
  
  #ifndef MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_UPDATER_
  #define MOVEIT_OCCUPANCY_MAP_MONITOR_OCCUPANCY_MAP_UPDATER_
  
  #include <moveit/macros/class_forward.h>
  #include <moveit/occupancy_map_monitor/occupancy_map.h>
  #include <geometric_shapes/shapes.h>
  #include <Eigen/Core>
  #include <Eigen/Geometry>
  
  namespace occupancy_map_monitor
  {
  typedef unsigned int ShapeHandle;
  typedef std::map<ShapeHandle, Eigen::Isometry3d, std::less<ShapeHandle>,
                   Eigen::aligned_allocator<std::pair<const ShapeHandle, Eigen::Isometry3d> > >
      ShapeTransformCache;
  typedef boost::function<bool(const std::string& target_frame, const ros::Time& target_time, ShapeTransformCache& cache)>
      TransformCacheProvider;
  
  class OccupancyMapMonitor;
  
  MOVEIT_CLASS_FORWARD(OccupancyMapUpdater);
  
  /** \brief Base class for classes which update the occupancy map.
   */
  class OccupancyMapUpdater
  {
  public:
    OccupancyMapUpdater(const std::string& type);
    virtual ~OccupancyMapUpdater();
  
    /** \brief This is the first function to be called after construction */
    void setMonitor(OccupancyMapMonitor* monitor);
  
    /** @brief Set updater params using struct that comes from parsing a yaml string. This must be called after
     * setMonitor() */
    virtual bool setParams(XmlRpc::XmlRpcValue& params) = 0;
  
    /** @brief Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams() have
     * been previously called. */
    virtual bool initialize() = 0;
  
    virtual void start() = 0;
  
    virtual void stop() = 0;
  
    virtual ShapeHandle excludeShape(const shapes::ShapeConstPtr& shape) = 0;
  
    virtual void forgetShape(ShapeHandle handle) = 0;
  
    const std::string& getType() const
    {
      return type_;
    }
  
    void setTransformCacheCallback(const TransformCacheProvider& transform_callback)
    {
      transform_provider_callback_ = transform_callback;
    }
  
    void publishDebugInformation(bool flag)
    {
      debug_info_ = flag;
    }
  
  protected:
    OccupancyMapMonitor* monitor_;
    std::string type_;
    OccMapTreePtr tree_;
    TransformCacheProvider transform_provider_callback_;
    ShapeTransformCache transform_cache_;
    bool debug_info_;
  
    bool updateTransformCache(const std::string& target_frame, const ros::Time& target_time);
  
    static void readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, double* value);
    static void readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, unsigned int* value);
  };
  }
  
  #endif
  