keepout_filter.hpp

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 * Author: Alexey Merzlyakov
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#ifndef NAV2_COSTMAP_2D__COSTMAP_FILTERS__KEEPOUT_FILTER_HPP_
#define NAV2_COSTMAP_2D__COSTMAP_FILTERS__KEEPOUT_FILTER_HPP_
 
#include <string>
#include <memory>
 
#include "nav2_costmap_2d/costmap_filters/costmap_filter.hpp"
 
#include "rclcpp/rclcpp.hpp"
#include "nav2_msgs/msg/costmap_filter_info.hpp"
 
namespace nav2_costmap_2d
{
 
class KeepoutFilter : public CostmapFilter
{
public:
  KeepoutFilter();
 
  void initializeFilter(
    const std::string & filter_info_topic);
 
  void updateBounds(
    double robot_x, double robot_y, double robot_yaw,
    double * min_x, double * min_y, double * max_x, double * max_y) override;
 
  void process(
    nav2_costmap_2d::Costmap2D & master_grid,
    int min_i, int min_j, int max_i, int max_j,
    const geometry_msgs::msg::Pose & pose);
 
  void resetFilter();
 
  bool isActive();
 
private:
  void filterInfoCallback(const nav2_msgs::msg::CostmapFilterInfo::SharedPtr msg);
  void maskCallback(const nav_msgs::msg::OccupancyGrid::SharedPtr msg);
 
  nav2::Subscription<nav2_msgs::msg::CostmapFilterInfo>::SharedPtr filter_info_sub_;
  nav2::Subscription<nav_msgs::msg::OccupancyGrid>::SharedPtr mask_sub_;
 
  nav_msgs::msg::OccupancyGrid::SharedPtr filter_mask_;
 
  std::string global_frame_;  // Frame of current layer (master_grid)
 
  bool override_lethal_cost_{false};  // If true, lethal cost will be overridden
  unsigned char lethal_override_cost_{252};  // Value to override lethal cost with
  bool last_pose_lethal_{false};  // If true, last pose was lethal
  bool is_pose_lethal_{false};
  double lethal_state_update_min_x_, lethal_state_update_min_y_;
  double lethal_state_update_max_x_, lethal_state_update_max_y_;
 
  unsigned int x_{0};
  unsigned int y_{0};
  unsigned int width_{0};
  unsigned int height_{0};
  bool has_updated_data_{false};
};
 
}  // namespace nav2_costmap_2d
 
#endif  // NAV2_COSTMAP_2D__COSTMAP_FILTERS__KEEPOUT_FILTER_HPP_