costmap_2d.hpp

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 * Author: Eitan Marder-Eppstein
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#ifndef NAV2_COSTMAP_2D__COSTMAP_2D_HPP_
#define NAV2_COSTMAP_2D__COSTMAP_2D_HPP_
 
#include <string.h>
#include <stdio.h>
#include <limits.h>
#include <algorithm>
#include <cmath>
#include <string>
#include <vector>
#include <queue>
#include <mutex>
#include "geometry_msgs/msg/point.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
 
namespace nav2_costmap_2d
{
 
// convenient for storing x/y point pairs
struct MapLocation
{
  unsigned int x;
  unsigned int y;
  unsigned char cost;
};
 
class Costmap2D
{
  friend class CostmapTester;  // Need this for gtest to work correctly
 
public:
  Costmap2D(
    unsigned int cells_size_x, unsigned int cells_size_y, double resolution,
    double origin_x, double origin_y, unsigned char default_value = 0);
 
  Costmap2D(const Costmap2D & map);
 
  explicit Costmap2D(const nav_msgs::msg::OccupancyGrid & map);
 
  Costmap2D & operator=(const Costmap2D & map);
 
  bool copyCostmapWindow(
    const Costmap2D & map, double win_origin_x, double win_origin_y,
    double win_size_x,
    double win_size_y);
 
  bool copyWindow(
    const Costmap2D & source,
    unsigned int sx0, unsigned int sy0, unsigned int sxn, unsigned int syn,
    unsigned int dx0, unsigned int dy0);
 
  Costmap2D();
 
  virtual ~Costmap2D();
 
  unsigned char getCost(unsigned int mx, unsigned int my) const;
 
  unsigned char getCost(unsigned int index) const;
 
  void setCost(unsigned int mx, unsigned int my, unsigned char cost);
 
  void mapToWorld(unsigned int mx, unsigned int my, double & wx, double & wy) const;
 
  void mapToWorldNoBounds(int mx, int my, double & wx, double & wy) const;
 
  bool worldToMap(double wx, double wy, unsigned int & mx, unsigned int & my) const;
 
  bool worldToMapContinuous(double wx, double wy, float & mx, float & my) const;
 
  void worldToMapNoBounds(double wx, double wy, int & mx, int & my) const;
 
  void worldToMapEnforceBounds(double wx, double wy, int & mx, int & my) const;
 
  inline unsigned int getIndex(unsigned int mx, unsigned int my) const
  {
    return my * size_x_ + mx;
  }
 
  inline void indexToCells(unsigned int index, unsigned int & mx, unsigned int & my) const
  {
    my = index / size_x_;
    mx = index - (my * size_x_);
  }
 
  unsigned char * getCharMap() const;
 
  unsigned int getSizeInCellsX() const;
 
  unsigned int getSizeInCellsY() const;
 
  double getSizeInMetersX() const;
 
  double getSizeInMetersY() const;
 
  double getOriginX() const;
 
  double getOriginY() const;
 
  double getResolution() const;
 
  void setDefaultValue(unsigned char c)
  {
    default_value_ = c;
  }
 
  unsigned char getDefaultValue()
  {
    return default_value_;
  }
 
  bool setConvexPolygonCost(
    const std::vector<geometry_msgs::msg::Point> & polygon,
    unsigned char cost_value);
 
  bool getMapRegionOccupiedByPolygon(
    const std::vector<geometry_msgs::msg::Point> & polygon,
    std::vector<MapLocation> & polygon_map_region);
 
  void setMapRegionOccupiedByPolygon(
    const std::vector<MapLocation> & polygon_map_region,
    unsigned char new_cost_value);
 
  void restoreMapRegionOccupiedByPolygon(
    const std::vector<MapLocation> & polygon_map_region);
 
  void polygonOutlineCells(
    const std::vector<MapLocation> & polygon,
    std::vector<MapLocation> & polygon_cells);
 
  void convexFillCells(
    const std::vector<MapLocation> & polygon,
    std::vector<MapLocation> & polygon_cells);
 
  virtual void updateOrigin(double new_origin_x, double new_origin_y);
 
  bool saveMap(std::string file_name);
 
  void resizeMap(
    unsigned int size_x, unsigned int size_y, double resolution, double origin_x,
    double origin_y);
 
  void resetMap(unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn);
 
  void resetMapToValue(
    unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn, unsigned char value);
 
  unsigned int cellDistance(double world_dist);
 
  // Provide a typedef to ease future code maintenance
  typedef std::recursive_mutex mutex_t;
  mutex_t * getMutex()
  {
    return access_;
  }
 
protected:
  template<typename data_type>
  void copyMapRegion(
    data_type * source_map, unsigned int sm_lower_left_x,
    unsigned int sm_lower_left_y,
    unsigned int sm_size_x, data_type * dest_map, unsigned int dm_lower_left_x,
    unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x,
    unsigned int region_size_y)
  {
    // we'll first need to compute the starting points for each map
    data_type * sm_index = source_map + (sm_lower_left_y * sm_size_x + sm_lower_left_x);
    data_type * dm_index = dest_map + (dm_lower_left_y * dm_size_x + dm_lower_left_x);
 
    // now, we'll copy the source map into the destination map
    for (unsigned int i = 0; i < region_size_y; ++i) {
      memcpy(dm_index, sm_index, region_size_x * sizeof(data_type));
      sm_index += sm_size_x;
      dm_index += dm_size_x;
    }
  }
 
  virtual void deleteMaps();
 
  virtual void resetMaps();
 
  virtual void initMaps(unsigned int size_x, unsigned int size_y);
 
private:
  mutex_t * access_;
 
protected:
  unsigned int size_x_;
  unsigned int size_y_;
  double resolution_;
  double origin_x_;
  double origin_y_;
  unsigned char * costmap_;
  unsigned char default_value_;
 
  // *INDENT-OFF* Uncrustify doesn't handle indented public/private labels
  class MarkCell
  {
  public:
    MarkCell(unsigned char * costmap, unsigned char value)
    : costmap_(costmap), value_(value)
    {
    }
    inline void operator()(unsigned int offset)
    {
      costmap_[offset] = value_;
    }
 
  private:
    unsigned char * costmap_;
    unsigned char value_;
  };
 
  class PolygonOutlineCells
  {
  public:
    PolygonOutlineCells(
      const Costmap2D & costmap, const unsigned char * /*char_map*/,
      std::vector<MapLocation> & cells)
    : costmap_(costmap), cells_(cells)
    {
    }
 
    // just push the relevant cells back onto the list
    inline void operator()(unsigned int offset)
    {
      MapLocation loc;
      costmap_.indexToCells(offset, loc.x, loc.y);
      loc.cost = costmap_.getCost(loc.x, loc.y);
      cells_.push_back(loc);
    }
 
  private:
    const Costmap2D & costmap_;
    std::vector<MapLocation> & cells_;
  };
  // *INDENT-ON*
};
}  // namespace nav2_costmap_2d
 
#endif  // NAV2_COSTMAP_2D__COSTMAP_2D_HPP_