occ_grid_utils.hpp

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// Author: Eitan Marder-Eppstein
//         David V. Lu!!
//         Alexey Merzlyakov
 
#ifndef NAV2_UTIL__OCC_GRID_UTILS_HPP_
#define NAV2_UTIL__OCC_GRID_UTILS_HPP_
 
#include "nav_msgs/msg/occupancy_grid.hpp"
 
namespace nav2_util
{
 
inline bool worldToMap(
  nav_msgs::msg::OccupancyGrid::ConstSharedPtr map,
  const double wx, const double wy, unsigned int & mx, unsigned int & my)
{
  const double origin_x = map->info.origin.position.x;
  const double origin_y = map->info.origin.position.y;
  const double resolution = map->info.resolution;
  const unsigned int size_x = map->info.width;
  const unsigned int size_y = map->info.height;
 
  if (wx < origin_x || wy < origin_y) {
    return false;
  }
 
  mx = static_cast<unsigned int>((wx - origin_x) / resolution);
  my = static_cast<unsigned int>((wy - origin_y) / resolution);
  if (mx >= size_x || my >= size_y) {
    return false;
  }
 
  return true;
}
 
inline void mapToWorld(
  nav_msgs::msg::OccupancyGrid::ConstSharedPtr map,
  const unsigned int mx, const unsigned int my, double & wx, double & wy)
{
  const double origin_x = map->info.origin.position.x;
  const double origin_y = map->info.origin.position.y;
  const double resolution = map->info.resolution;
 
  wx = origin_x + (mx + 0.5) * resolution;
  wy = origin_y + (my + 0.5) * resolution;
}
 
}  // namespace nav2_util
 
#endif  // NAV2_UTIL__OCC_GRID_UTILS_HPP_