plugin_container_layer.hpp

// Copyright (c) 2024 Polymath Robotics, Inc.
//
// 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.
 
#ifndef NAV2_COSTMAP_2D__PLUGIN_CONTAINER_LAYER_HPP_
#define NAV2_COSTMAP_2D__PLUGIN_CONTAINER_LAYER_HPP_
 
#include <Eigen/Dense>
#include <cmath>
#include <memory>
#include <string>
#include <vector>
 
#include "rclcpp/rclcpp.hpp"
#include "nav2_costmap_2d/layer.hpp"
#include "nav2_costmap_2d/layered_costmap.hpp"
#include "nav2_costmap_2d/costmap_layer.hpp"
#include "nav2_costmap_2d/observation_buffer.hpp"
#include "nav2_costmap_2d/inflation_layer.hpp"
#include "tf2_ros/message_filter.h"
#include "pluginlib/class_loader.hpp"
 
using nav2_costmap_2d::LETHAL_OBSTACLE;
using nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE;
using nav2_costmap_2d::NO_INFORMATION;
using rcl_interfaces::msg::ParameterType;
namespace nav2_costmap_2d
{
class PluginContainerLayer : public CostmapLayer
{
public:
  virtual void onInitialize();
  virtual void updateBounds(
    double robot_x,
    double robot_y,
    double robot_yaw,
    double * min_x,
    double * min_y,
    double * max_x,
    double * max_y);
  virtual void updateCosts(
    nav2_costmap_2d::Costmap2D & master_grid,
    int min_i,
    int min_j,
    int max_i,
    int max_j);
  virtual void onFootprintChanged();
  virtual void matchSize();
  virtual void deactivate();
  virtual void activate();
  virtual void reset();
  virtual bool isClearable();
  void clearArea(int start_x, int start_y, int end_x, int end_y, bool invert) override;
 
  void addPlugin(std::shared_ptr<Layer> plugin, std::string layer_name);
  pluginlib::ClassLoader<Layer> plugin_loader_{"nav2_costmap_2d", "nav2_costmap_2d::Layer"};
  rcl_interfaces::msg::SetParametersResult dynamicParametersCallback(
    std::vector<rclcpp::Parameter> parameters);
 
private:
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr
    dyn_params_handler_;
 
  nav2_costmap_2d::CombinationMethod combination_method_;
  std::vector<std::shared_ptr<Layer>> plugins_;
  std::vector<std::string> plugin_names_;
  std::vector<std::string> plugin_types_;
};
}  // namespace nav2_costmap_2d
#endif  // NAV2_COSTMAP_2D__PLUGIN_CONTAINER_LAYER_HPP_