void OutdatedDataDeleter::visit(GeometricNode* node){
Timer timer;
TimeStamp maxDuration(5, Units::Second);
TimeStamp now(timer.getCurrentTime(), Units::MilliSecond);
if (enableGeometricNodeDeletions) {
if (now > (node->getTimeStamp() + maxDuration)) {
doDeleteNode(node);
}
}
}
bool IGraph::deleteNode(int first, int last, int user)
{
if (size() <= 0)
return false;
if (!nodeExist(first, last, user))
return false;
return doDeleteNode(first, last, user);
}
void SceneGraphROSListener::handleSceneGraphUpdate(const brics_3d_msgs::SceneGraphUpdate& update) {
switch (update.command) {
case brics_3d_msgs::SceneGraphUpdate::ADD_NODE:
doAddNode(update);
break;
case brics_3d_msgs::SceneGraphUpdate::ADD_GROUP:
doAddGroup(update);
break;
case brics_3d_msgs::SceneGraphUpdate::ADD_TRANSFORM_NODE:
doAddTransformNode(update);
break;
case brics_3d_msgs::SceneGraphUpdate::ADD_GEOMETRIC_NODE:
doAddGeometricNode(update);
break;
case brics_3d_msgs::SceneGraphUpdate::SET_NOTE_ATTRIBUTES:
doSetNodeAttributes(update);
break;
case brics_3d_msgs::SceneGraphUpdate::SET_TRANSFORM:
doSetTransform(update);
break;
case brics_3d_msgs::SceneGraphUpdate::DELETE_NOTE:
doDeleteNode(update);
break;
case brics_3d_msgs::SceneGraphUpdate::ADD_PARENT:
doAddParent(update);
break;
case brics_3d_msgs::SceneGraphUpdate::REMOVE_PARENT:
doRemoveParent(update);
break;
default:
LOG(ERROR) << "SceneGraphROSListener: undefined command type in incoming update message.";
break;
}
}
void OutdatedDataDeleter::visit(Transform* node){
if (enableTransformDeletions) {
bool isStaticTransform = false;
Attribute staticTransformTag("transformType","static");
isStaticTransform = attributeListContainsAttribute(node->getAttributes(), staticTransformTag);
if(!isStaticTransform) {
if (performAutomaticHistoryUpdates) {
/* optionally update history/cache */
node->deleteOutdatedTransforms(TimeStamp(timer.getCurrentTime()));
}
/* check if node is outdated */
if (node->getCurrentHistoryLenght() < minHistoryLength) {
doDeleteNode(node);
}
}
}
}
