vector_object_shapes.hpp

// Copyright (c) 2023 Samsung R&D Institute Russia
//
// 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_MAP_SERVER__VECTOR_OBJECT_SHAPES_HPP_
#define NAV2_MAP_SERVER__VECTOR_OBJECT_SHAPES_HPP_
 
#include <cstddef>
#include <memory>
#include <string>
#include <utility>
#include <vector>
 
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/polygon.hpp"
#include "geometry_msgs/msg/point32.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
 
#include "nav2_ros_common/tf2_factories.hpp"
 
#include "nav2_msgs/msg/polygon_object.hpp"
#include "nav2_msgs/msg/circle_object.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
 
#include "nav2_map_server/vector_object_utils.hpp"
 
namespace nav2_map_server
{
 
enum ShapeType
{
  UNKNOWN = 0,
  POLYGON = 1,
  CIRCLE = 2
};
 
class Shape
{
public:
  explicit Shape(const nav2::LifecycleNode::WeakPtr & node);
 
  virtual ~Shape();
 
  ShapeType getType();
 
  bool obtainShapeUUID(const std::string & shape_name, unsigned char * out_uuid);
 
  virtual int8_t getValue() const = 0;
 
  virtual std::string getFrameID() const = 0;
 
  virtual std::string getUUID() const = 0;
 
  virtual bool isUUID(const unsigned char * uuid) const = 0;
 
  virtual bool isFill() const = 0;
 
  virtual bool obtainParams(const std::string & shape_name) = 0;
 
  virtual bool toFrame(
    const std::string & to_frame,
    const nav2::TransformBuffer::SharedPtr tf_buffer,
    const double transform_tolerance) = 0;
 
  virtual void getBoundaries(double & min_x, double & min_y, double & max_x, double & max_y) = 0;
 
  virtual bool isPointInside(const double px, const double py) const = 0;
 
  virtual void getRowSpans(
    const double py, std::vector<std::pair<double, double>> & spans) const = 0;
 
  bool putFill(nav_msgs::msg::OccupancyGrid::SharedPtr map, const OverlayType overlay_type);
 
  virtual void putBorders(
    nav_msgs::msg::OccupancyGrid::SharedPtr map, const OverlayType overlay_type) = 0;
 
protected:
  static void processRun(
    int8_t * cells, const size_t count, const int8_t shape_val,
    const OverlayType overlay_type);
 
  ShapeType type_;
 
  nav2::LifecycleNode::WeakPtr node_;
};
 
class Polygon : public Shape
{
public:
  /*
   * @brief Polygon class constructor
   * @param node Vector Object server node pointer
   * @note setParams()/obtainParams() should be called after to configure the shape
   */
  explicit Polygon(const nav2::LifecycleNode::WeakPtr & node);
 
  int8_t getValue() const;
 
  std::string getFrameID() const;
 
  std::string getUUID() const;
 
  bool isUUID(const unsigned char * uuid) const;
 
  bool isFill() const;
 
  bool obtainParams(const std::string & shape_name);
 
  nav2_msgs::msg::PolygonObject::SharedPtr getParams() const;
 
  bool setParams(const nav2_msgs::msg::PolygonObject::SharedPtr params);
 
  bool toFrame(
    const std::string & to_frame,
    const nav2::TransformBuffer::SharedPtr tf_buffer,
    const double transform_tolerance);
 
  void getBoundaries(double & min_x, double & min_y, double & max_x, double & max_y);
 
  bool isPointInside(const double px, const double py) const;
 
  void getRowSpans(const double py, std::vector<std::pair<double, double>> & spans) const;
 
  void putBorders(nav_msgs::msg::OccupancyGrid::SharedPtr map, const OverlayType overlay_type);
 
protected:
  bool checkConsistency();
 
  nav2_msgs::msg::PolygonObject::SharedPtr params_;
  geometry_msgs::msg::Polygon::SharedPtr polygon_;
};
 
class Circle : public Shape
{
public:
  /*
   * @brief Circle class constructor
   * @param node Vector Object server node pointer
   * @note setParams()/obtainParams() should be called after to configure the shape
   */
  explicit Circle(const nav2::LifecycleNode::WeakPtr & node);
 
  int8_t getValue() const;
 
  std::string getFrameID() const;
 
  std::string getUUID() const;
 
  bool isUUID(const unsigned char * uuid) const;
 
  bool isFill() const;
 
  bool obtainParams(const std::string & shape_name);
 
  nav2_msgs::msg::CircleObject::SharedPtr getParams() const;
 
  bool setParams(const nav2_msgs::msg::CircleObject::SharedPtr params);
 
  bool toFrame(
    const std::string & to_frame,
    const nav2::TransformBuffer::SharedPtr tf_buffer,
    const double transform_tolerance);
 
  void getBoundaries(double & min_x, double & min_y, double & max_x, double & max_y);
 
  bool isPointInside(const double px, const double py) const;
 
  void getRowSpans(const double py, std::vector<std::pair<double, double>> & spans) const;
 
  void putBorders(nav_msgs::msg::OccupancyGrid::SharedPtr map, const OverlayType overlay_type);
 
protected:
  bool checkConsistency();
 
  bool centerToMap(
    nav_msgs::msg::OccupancyGrid::ConstSharedPtr map,
    unsigned int & mcx, unsigned int & mcy);
 
  void putPoint(
    unsigned int mx, unsigned int my,
    nav_msgs::msg::OccupancyGrid::SharedPtr map,
    const OverlayType overlay_type);
 
  nav2_msgs::msg::CircleObject::SharedPtr params_;
  geometry_msgs::msg::Point32::SharedPtr center_;
};
 
}  // namespace nav2_map_server
 
#endif  // NAV2_MAP_SERVER__VECTOR_OBJECT_SHAPES_HPP_