layered_costmap.hpp

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 * Author: Eitan Marder-Eppstein
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#ifndef NAV2_COSTMAP_2D__LAYERED_COSTMAP_HPP_
#define NAV2_COSTMAP_2D__LAYERED_COSTMAP_HPP_
 
#include <memory>
#include <string>
#include <vector>
 
#include "nav2_costmap_2d/cost_values.hpp"
#include "nav2_costmap_2d/layer.hpp"
#include "nav2_costmap_2d/costmap_2d.hpp"
 
namespace nav2_costmap_2d
{
class Layer;
 
class LayeredCostmap
{
public:
  LayeredCostmap(std::string global_frame, bool rolling_window, bool track_unknown);
 
  ~LayeredCostmap();
 
  void updateMap(double robot_x, double robot_y, double robot_yaw);
 
  std::string getGlobalFrameID() const
  {
    return global_frame_;
  }
 
  void resizeMap(
    unsigned int size_x, unsigned int size_y, double resolution, double origin_x,
    double origin_y,
    bool size_locked = false);
 
  void getUpdatedBounds(double & minx, double & miny, double & maxx, double & maxy)
  {
    minx = minx_;
    miny = miny_;
    maxx = maxx_;
    maxy = maxy_;
  }
 
  bool isCurrent();
 
  Costmap2D * getCostmap()
  {
    return &combined_costmap_;
  }
 
  bool isRolling()
  {
    return rolling_window_;
  }
 
  bool isTrackingUnknown()
  {
    return combined_costmap_.getDefaultValue() == nav2_costmap_2d::NO_INFORMATION;
  }
 
  std::vector<std::shared_ptr<Layer>> * getPlugins()
  {
    return &plugins_;
  }
 
  std::vector<std::shared_ptr<Layer>> * getFilters()
  {
    return &filters_;
  }
 
  void addPlugin(std::shared_ptr<Layer> plugin);
 
 
  void addFilter(std::shared_ptr<Layer> filter);
 
 
  bool isSizeLocked()
  {
    return size_locked_;
  }
 
  void getBounds(unsigned int * x0, unsigned int * xn, unsigned int * y0, unsigned int * yn)
  {
    *x0 = bx0_;
    *xn = bxn_;
    *y0 = by0_;
    *yn = byn_;
  }
 
  bool isInitialized()
  {
    return initialized_;
  }
 
  void setFootprint(const std::vector<geometry_msgs::msg::Point> & footprint_spec);
 
  const std::vector<geometry_msgs::msg::Point> & getFootprint()
  {
    return *std::atomic_load(&footprint_);
  }
 
  double getCircumscribedRadius() {return circumscribed_radius_.load();}
 
  double getInscribedRadius() {return inscribed_radius_.load();}
 
  bool isOutofBounds(double robot_x, double robot_y);
 
private:
  // primary_costmap_ is a bottom costmap used by plugins when costmap filters were enabled.
  // combined_costmap_ is a final costmap where all results produced by plugins and filters (if any)
  // to be merged.
  // The separation is aimed to avoid interferences of work between plugins and filters.
  // primary_costmap_ and combined_costmap_ have the same sizes, origins and default values.
  Costmap2D primary_costmap_, combined_costmap_;
  std::string global_frame_;
 
  bool rolling_window_;  
 
  bool current_;
  double minx_, miny_, maxx_, maxy_;
  unsigned int bx0_, bxn_, by0_, byn_;
 
  std::vector<std::shared_ptr<Layer>> plugins_;
  std::vector<std::shared_ptr<Layer>> filters_;
 
  bool initialized_;
  bool size_locked_;
  std::atomic<double> circumscribed_radius_, inscribed_radius_;
  std::shared_ptr<std::vector<geometry_msgs::msg::Point>> footprint_;
};
 
}  // namespace nav2_costmap_2d
 
#endif  // NAV2_COSTMAP_2D__LAYERED_COSTMAP_HPP_