#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include???//autogenerated?for?the?cloud_to_map?package?by?the?dynamic_reconfigure?package.

/*?Define?the?two?point?cloud?types?used?in?this?code?*/
typedef?pcl::PointCloud?PointCloud;
typedef?pcl::PointCloud?NormalCloud;

/*?Global?*/
PointCloud::ConstPtr?currentPC;
bool?newPointCloud?=?false;
bool?reconfig?=?false;

//?-----------------------------------------------
//?-----Define?a?structure?to?hold?parameters-----
//?-----------------------------------------------
struct?Param?
{
??std::string?frame;
??double?searchRadius;
??double?deviation;
??int?buffer;
??double?loopRate;
??double?cellResolution;
};

//?-----------------------------------
//?-----Define?default?parameters-----
//If?the?value?cannot?be?retrieved?from?the?server?default_val?is?used?instead.
//?-----------------------------------
Param?param;
boost::mutex?mutex;??//多線程
void?loadDefaults（ros::NodeHandle&?nh）?
{
??nh.param（“frame“?param.frame?“world“）;
??nh.param（“search_radius“?param.searchRadius?0.05）;
??nh.param（“deviation“?param.deviation?0.78539816339）;
??nh.param（“buffer“?param.buffer?5）;
??nh.param（“loop_rate“?param.loopRate?10.0）;
??nh.param（“cell_resolution“?param.cellResolution?0.05）;
}


//?------------------------------------------
//?-----Callback?for?Dynamic?Reconfigure-----調用動態參數配置
//?------------------------------------------
void?callbackReconfig（cloud_to_map::cloud_to_map_nodeConfig?&config?uint32_t?level）?
{
??ROS_INFO（“\n\nReconfigure?Request:?\nframe:%s?\ndeviation:%f?\nloop_rate:%f?\ncell_resolution:%f?\nsearch_radius:%f“?
??????????????????config.frame.c_str（）?config.deviationconfig.loop_rateconfig.cell_resolution?config.search_radius）;
??boost::unique_lock（mutex）;
??param.frame?=?config.frame.c_str（）;
??param.searchRadius?=?config.search_radius;
??param.deviation?=?config.deviation;
??param.buffer?=?config.buffer;
??param.loopRate?=?config.loop_rate;
??param.cellResolution?=?config.cell_resolution;
??reconfig?=?true;
}

//?------------------------------------------------------
//?-----Update?current?PointCloud?if?msg?is?received-----
//?------------------------------------------------------
void?callback（const?PointCloud::ConstPtr&?msg）?
{
??boost::unique_lock（mutex）;?//unique_lock是write?lock。被鎖后不允許其他線程執行被shared_lock或unique_lock的代碼。
???????????????????????????????????????????//在寫操作時，

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????1144??2019-11-25?04:31??cloud_to_map\cfg\cloud_to_map_node.cfg

?????文件??????27254??2019-11-25?04:31??cloud_to_map\cfg\cpp\cloud_to_map\cloud_to_map_nodeConfig.h

?????文件????????701??2019-11-25?04:31??cloud_to_map\CMakeLists.txt

?????文件????????474??2019-11-25?04:31??cloud_to_map\docs\cloud_to_map_nodeConfig-usage.dox

?????文件???????1059??2019-11-25?04:31??cloud_to_map\docs\cloud_to_map_nodeConfig.dox

?????文件???????1281??2019-11-25?04:31??cloud_to_map\docs\cloud_to_map_nodeConfig.wikidoc

?????文件????????570??2019-11-25?04:31??cloud_to_map\launch\cloud_to_map.launch

?????文件????????861??2019-11-25?04:31??cloud_to_map\package.xml

?????文件????????152??2020-03-28?14:39??cloud_to_map\readme.txt

?????文件???????3634??2019-11-25?04:31??cloud_to_map\src\cloud_to_map\cfg\cloud_to_map_nodeConfig.py

?????文件??????????0??2019-11-25?04:31??cloud_to_map\src\cloud_to_map\cfg\__init__.py

?????文件??????????0??2019-11-25?04:31??cloud_to_map\src\cloud_to_map\__init__.py

?????文件??????12390??2019-11-25?04:31??cloud_to_map\src\cloud_to_map_node.cpp

?????目錄??????????0??2019-11-25?04:31??cloud_to_map\cfg\cpp\cloud_to_map

?????目錄??????????0??2019-11-25?04:31??cloud_to_map\src\cloud_to_map\cfg

?????目錄??????????0??2019-11-25?04:31??cloud_to_map\cfg\cpp

?????目錄??????????0??2019-11-25?04:31??cloud_to_map\src\cloud_to_map

?????目錄??????????0??2019-11-25?04:31??cloud_to_map\cfg

?????目錄??????????0??2019-11-25?04:31??cloud_to_map\docs

?????目錄??????????0??2019-11-25?04:31??cloud_to_map\launch

?????目錄??????????0??2019-11-25?04:31??cloud_to_map\src

?????目錄??????????0??2019-11-25?04:31??cloud_to_map

-----------?---------??----------?-----??----

????????????????49520????????????????????22