voxel_layer.hpp

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 * Author: Eitan Marder-Eppstein
 *         David V. Lu!!
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#ifndef NAV2_COSTMAP_2D__VOXEL_LAYER_HPP_
#define NAV2_COSTMAP_2D__VOXEL_LAYER_HPP_
 
#include <vector>
 
#include <rclcpp/rclcpp.hpp>
#include <nav2_costmap_2d/layer.hpp>
#include <nav2_costmap_2d/layered_costmap.hpp>
#include <nav2_costmap_2d/observation_buffer.hpp>
#include <nav_msgs/msg/occupancy_grid.hpp>
#include <nav2_msgs/msg/voxel_grid.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
#include <laser_geometry/laser_geometry.hpp>
#include <sensor_msgs/msg/point_cloud.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <nav2_costmap_2d/obstacle_layer.hpp>
#include <nav2_voxel_grid/voxel_grid.hpp>
 
namespace nav2_costmap_2d
{
 
class VoxelLayer : public ObstacleLayer
{
public:
  VoxelLayer()
  : voxel_grid_(0, 0, 0)
  {
    costmap_ = NULL;  // this is the unsigned char* member of parent class's parent class Costmap2D
  }
 
  virtual ~VoxelLayer();
 
  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);
 
  void updateOrigin(double new_origin_x, double new_origin_y);
 
  bool isDiscretized()
  {
    return true;
  }
 
  virtual void matchSize();
 
  virtual void reset();
 
  virtual bool isClearable() {return true;}
 
protected:
  virtual void resetMaps();
 
  virtual void raytraceFreespace(
    const nav2_costmap_2d::Observation & clearing_observation,
    double * min_x, double * min_y,
    double * max_x,
    double * max_y);
 
  bool publish_voxel_;
  rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::VoxelGrid>::SharedPtr voxel_pub_;
  nav2_voxel_grid::VoxelGrid voxel_grid_;
  double z_resolution_, origin_z_;
  int unknown_threshold_, mark_threshold_, size_z_;
  rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::PointCloud2>::SharedPtr
    clearing_endpoints_pub_;
 
  inline bool worldToMap3DFloat(
    double wx, double wy, double wz, double & mx, double & my,
    double & mz)
  {
    if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_) {
      return false;
    }
    mx = ((wx - origin_x_) / resolution_);
    my = ((wy - origin_y_) / resolution_);
    mz = ((wz - origin_z_) / z_resolution_);
    if (mx < size_x_ && my < size_y_ && mz < size_z_) {
      return true;
    }
 
    return false;
  }
 
  inline bool worldToMap3D(
    double wx, double wy, double wz, unsigned int & mx, unsigned int & my,
    unsigned int & mz)
  {
    if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_) {
      return false;
    }
 
    mx = static_cast<unsigned int>((wx - origin_x_) / resolution_);
    my = static_cast<unsigned int>((wy - origin_y_) / resolution_);
    mz = static_cast<unsigned int>((wz - origin_z_) / z_resolution_);
 
    if (mx < size_x_ && my < size_y_ && mz < (unsigned int)size_z_) {
      return true;
    }
 
    return false;
  }
 
  inline void mapToWorld3D(
    unsigned int mx, unsigned int my, unsigned int mz, double & wx,
    double & wy,
    double & wz)
  {
    // returns the center point of the cell
    wx = origin_x_ + (mx + 0.5) * resolution_;
    wy = origin_y_ + (my + 0.5) * resolution_;
    wz = origin_z_ + (mz + 0.5) * z_resolution_;
  }
 
  inline double dist(double x0, double y0, double z0, double x1, double y1, double z1)
  {
    return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0));
  }
 
  double getSizeInMetersZ() const
  {
    return (size_z_ - 1 + 0.5) * z_resolution_;
  }
 
  rcl_interfaces::msg::SetParametersResult
  dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
 
  // Dynamic parameters handler
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
};
 
}  // namespace nav2_costmap_2d
 
#endif  // NAV2_COSTMAP_2D__VOXEL_LAYER_HPP_