costmap_downsampler.hpp

// Copyright (c) 2020, Carlos Luis
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License. Reserved.
 
#ifndef NAV2_SMAC_PLANNER__COSTMAP_DOWNSAMPLER_HPP_
#define NAV2_SMAC_PLANNER__COSTMAP_DOWNSAMPLER_HPP_
 
#include <algorithm>
#include <string>
#include <memory>
 
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_smac_planner/constants.hpp"
 
namespace nav2_smac_planner
{
 
class CostmapDownsampler
{
public:
  CostmapDownsampler();
 
  ~CostmapDownsampler();
 
  void on_configure(
    const nav2_util::LifecycleNode::WeakPtr & node,
    const std::string & global_frame,
    const std::string & topic_name,
    nav2_costmap_2d::Costmap2D * const costmap,
    const unsigned int & downsampling_factor,
    const bool & use_min_cost_neighbor = false);
 
  void on_activate();
 
  void on_deactivate();
 
  void on_cleanup();
 
  nav2_costmap_2d::Costmap2D * downsample(const unsigned int & downsampling_factor);
 
  void resizeCostmap();
 
protected:
  void updateCostmapSize();
 
  void setCostOfCell(
    const unsigned int & new_mx,
    const unsigned int & new_my);
 
  unsigned int _size_x;
  unsigned int _size_y;
  unsigned int _downsampled_size_x;
  unsigned int _downsampled_size_y;
  unsigned int _downsampling_factor;
  bool _use_min_cost_neighbor;
  float _downsampled_resolution;
  nav2_costmap_2d::Costmap2D * _costmap;
  std::unique_ptr<nav2_costmap_2d::Costmap2D> _downsampled_costmap;
  std::unique_ptr<nav2_costmap_2d::Costmap2DPublisher> _downsampled_costmap_pub;
};
 
}  // namespace nav2_smac_planner
 
#endif  // NAV2_SMAC_PLANNER__COSTMAP_DOWNSAMPLER_HPP_