observation.hpp

/*
 * 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 the 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.
 *
 * Authors: Conor McGann
 */
 
#ifndef NAV2_COSTMAP_2D__OBSERVATION_HPP_
#define NAV2_COSTMAP_2D__OBSERVATION_HPP_
 
#include <geometry_msgs/msg/point.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
 
namespace nav2_costmap_2d
{
 
class Observation
{
public:
  Observation()
  : cloud_(new sensor_msgs::msg::PointCloud2()), obstacle_max_range_(0.0), obstacle_min_range_(0.0),
    raytrace_max_range_(0.0),
    raytrace_min_range_(0.0)
  {
  }
  virtual ~Observation()
  {
    delete cloud_;
  }
 
  Observation & operator=(const Observation & obs)
  {
    origin_ = obs.origin_;
    cloud_ = new sensor_msgs::msg::PointCloud2(*(obs.cloud_));
    obstacle_max_range_ = obs.obstacle_max_range_;
    obstacle_min_range_ = obs.obstacle_min_range_;
    raytrace_max_range_ = obs.raytrace_max_range_;
    raytrace_min_range_ = obs.raytrace_min_range_;
 
    return *this;
  }
 
  Observation(
    geometry_msgs::msg::Point & origin, const sensor_msgs::msg::PointCloud2 & cloud,
    double obstacle_max_range, double obstacle_min_range, double raytrace_max_range,
    double raytrace_min_range)
  : origin_(origin), cloud_(new sensor_msgs::msg::PointCloud2(cloud)),
    obstacle_max_range_(obstacle_max_range), obstacle_min_range_(obstacle_min_range),
    raytrace_max_range_(raytrace_max_range), raytrace_min_range_(
      raytrace_min_range)
  {
  }
 
  Observation(const Observation & obs)
  : origin_(obs.origin_), cloud_(new sensor_msgs::msg::PointCloud2(*(obs.cloud_))),
    obstacle_max_range_(obs.obstacle_max_range_), obstacle_min_range_(obs.obstacle_min_range_),
    raytrace_max_range_(obs.raytrace_max_range_),
    raytrace_min_range_(obs.raytrace_min_range_)
  {
  }
 
  Observation(
    const sensor_msgs::msg::PointCloud2 & cloud, double obstacle_max_range,
    double obstacle_min_range)
  : cloud_(new sensor_msgs::msg::PointCloud2(cloud)), obstacle_max_range_(obstacle_max_range),
    obstacle_min_range_(obstacle_min_range),
    raytrace_max_range_(0.0), raytrace_min_range_(0.0)
  {
  }
 
  geometry_msgs::msg::Point origin_;
  sensor_msgs::msg::PointCloud2 * cloud_;
  double obstacle_max_range_, obstacle_min_range_, raytrace_max_range_, raytrace_min_range_;
};
 
}  // namespace nav2_costmap_2d
#endif  // NAV2_COSTMAP_2D__OBSERVATION_HPP_