static_layer.hpp

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 * Author: Eitan Marder-Eppstein
 *         David V. Lu!!
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#ifndef NAV2_COSTMAP_2D__STATIC_LAYER_HPP_
#define NAV2_COSTMAP_2D__STATIC_LAYER_HPP_
 
#include <mutex>
#include <string>
#include <vector>
 
#include "map_msgs/msg/occupancy_grid_update.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/parameter.hpp"
#include "nav2_costmap_2d/costmap_layer.hpp"
#include "nav2_costmap_2d/layered_costmap.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "nav2_costmap_2d/footprint.hpp"
 
namespace nav2_costmap_2d
{
 
class StaticLayer : public CostmapLayer
{
public:
  StaticLayer();
  virtual ~StaticLayer();
 
  virtual void onInitialize();
 
  virtual void activate();
  virtual void deactivate();
 
  virtual void reset();
 
  virtual bool isClearable() {return false;}
 
  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 matchSize();
 
protected:
  void getParameters();
 
  void processMap(const nav_msgs::msg::OccupancyGrid & new_map);
 
  bool usesMasterCostmapSize() const;
 
  void incomingMap(const nav_msgs::msg::OccupancyGrid::ConstSharedPtr & new_map);
  void incomingUpdate(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update);
 
  unsigned char interpretValue(unsigned char value);
 
  bool isEqual(double a, double b, double epsilon);
 
  rcl_interfaces::msg::SetParametersResult validateParameterUpdatesCallback(
    const std::vector<rclcpp::Parameter> & parameters);
 
  void updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters);
 
  std::vector<geometry_msgs::msg::Point> transformed_footprint_;
  bool footprint_clearing_enabled_;
  bool restore_cleared_footprint_;
  void updateFootprint(
    double robot_x, double robot_y, double robot_yaw, double * min_x,
    double * min_y,
    double * max_x,
    double * max_y);
 
  std::string global_frame_;  
  std::string map_frame_;  
 
  bool has_updated_data_{false};
  bool resize_master_{true};
 
  unsigned int x_{0};
  unsigned int y_{0};
  unsigned int width_{0};
  unsigned int height_{0};
 
  nav2::Subscription<nav_msgs::msg::OccupancyGrid>::SharedPtr map_sub_;
  nav2::Subscription<map_msgs::msg::OccupancyGridUpdate>::SharedPtr map_update_sub_;
 
  // Parameters
  std::string map_topic_;
  bool map_subscribe_transient_local_;
  bool subscribe_to_updates_;
  bool track_unknown_space_;
  bool use_maximum_;
  unsigned char lethal_threshold_;
  unsigned char inscribed_obstacle_cost_value_;
  unsigned char unknown_cost_value_;
  bool trinary_costmap_;
  bool map_received_{false};
  bool map_received_in_update_bounds_{false};
  tf2::Duration transform_tolerance_;
  nav_msgs::msg::OccupancyGrid::ConstSharedPtr map_buffer_;
  // Dynamic parameters handler
  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_params_handler_;
};
 
}  // namespace nav2_costmap_2d
 
#endif  // NAV2_COSTMAP_2D__STATIC_LAYER_HPP_