inflation_layer.hpp

/*********************************************************************
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, 2013, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * Author: Eitan Marder-Eppstein
 *         David V. Lu!!
 *********************************************************************/
#ifndef NAV2_COSTMAP_2D__INFLATION_LAYER_HPP_
#define NAV2_COSTMAP_2D__INFLATION_LAYER_HPP_
 
#include <map>
#include <vector>
#include <mutex>
 
#include "rclcpp/rclcpp.hpp"
#include "nav2_costmap_2d/layer.hpp"
#include "nav2_costmap_2d/layered_costmap.hpp"
 
namespace nav2_costmap_2d
{
class CellData
{
public:
  CellData(double i, unsigned int x, unsigned int y, unsigned int sx, unsigned int sy)
  : index_(static_cast<unsigned int>(i)), x_(x), y_(y), src_x_(sx), src_y_(sy)
  {
  }
  unsigned int index_;
  unsigned int x_, y_;
  unsigned int src_x_, src_y_;
};
 
class InflationLayer : public Layer
{
public:
  InflationLayer();
 
  ~InflationLayer();
 
  void onInitialize() override;
 
  void updateBounds(
    double robot_x, double robot_y, double robot_yaw, double * min_x,
    double * min_y,
    double * max_x,
    double * max_y) override;
  void updateCosts(
    nav2_costmap_2d::Costmap2D & master_grid,
    int min_i, int min_j, int max_i, int max_j) override;
 
  void matchSize() override;
 
  virtual bool isClearable() override {return false;}
 
  void reset() override
  {
    matchSize();
    current_ = false;
  }
 
  inline unsigned char computeCost(double distance) const
  {
    unsigned char cost = 0;
    if (distance == 0) {
      cost = LETHAL_OBSTACLE;
    } else if (distance * resolution_ <= inscribed_radius_) {
      cost = INSCRIBED_INFLATED_OBSTACLE;
    } else {
      // make sure cost falls off by Euclidean distance
      double factor =
        exp(-1.0 * cost_scaling_factor_ * (distance * resolution_ - inscribed_radius_));
      cost = static_cast<unsigned char>((INSCRIBED_INFLATED_OBSTACLE - 1) * factor);
    }
    return cost;
  }
 
  // Provide a typedef to ease future code maintenance
  typedef std::recursive_mutex mutex_t;
 
  mutex_t * getMutex()
  {
    return access_;
  }
 
protected:
  void onFootprintChanged() override;
 
  inline double distanceLookup(
    unsigned int mx, unsigned int my, unsigned int src_x,
    unsigned int src_y)
  {
    unsigned int dx = (mx > src_x) ? mx - src_x : src_x - mx;
    unsigned int dy = (my > src_y) ? my - src_y : src_y - my;
    return cached_distances_[dx * cache_length_ + dy];
  }
 
  inline unsigned char costLookup(
    unsigned int mx, unsigned int my, unsigned int src_x,
    unsigned int src_y)
  {
    unsigned int dx = (mx > src_x) ? mx - src_x : src_x - mx;
    unsigned int dy = (my > src_y) ? my - src_y : src_y - my;
    return cached_costs_[dx * cache_length_ + dy];
  }
 
  void computeCaches();
 
  int generateIntegerDistances();
 
  unsigned int cellDistance(double world_dist)
  {
    return layered_costmap_->getCostmap()->cellDistance(world_dist);
  }
 
  inline void enqueue(
    unsigned int index, unsigned int mx, unsigned int my,
    unsigned int src_x, unsigned int src_y);
 
  rcl_interfaces::msg::SetParametersResult
  dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
 
  double inflation_radius_, inscribed_radius_, cost_scaling_factor_;
  bool inflate_unknown_, inflate_around_unknown_;
  unsigned int cell_inflation_radius_;
  unsigned int cached_cell_inflation_radius_;
  std::vector<std::vector<CellData>> inflation_cells_;
 
  double resolution_;
 
  std::vector<bool> seen_;
 
  std::vector<unsigned char> cached_costs_;
  std::vector<double> cached_distances_;
  std::vector<std::vector<int>> distance_matrix_;
  unsigned int cache_length_;
  double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
 
  // Indicates that the entire costmap should be reinflated next time around.
  bool need_reinflation_;
  mutex_t * access_;
  // Dynamic parameters handler
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
};
 
}  // namespace nav2_costmap_2d
 
#endif  // NAV2_COSTMAP_2D__INFLATION_LAYER_HPP_