costmap_2d: costmap_2d: voxel_costmap

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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef COSTMAP_VOXEL_COSTMAP_2D_H_
00038 #define COSTMAP_VOXEL_COSTMAP_2D_H_
00039 
00040 #include <vector>
00041 #include <queue>
00042 #include <costmap_2d/costmap_2d.h>
00043 #include <costmap_2d/observation.h>
00044 #include <costmap_2d/cell_data.h>
00045 #include <costmap_2d/cost_values.h>
00046 #include <voxel_grid/voxel_grid.h>
00047 #include <costmap_2d/VoxelGrid.h>
00048 #include <sensor_msgs/PointCloud.h>
00049 #include <boost/thread.hpp>
00050 #include <costmap_2d/Costmap2DConfig.h>
00051 
00052 namespace costmap_2d {
00057   class VoxelCostmap2D : public Costmap2D {
00058     public:
00082       VoxelCostmap2D(unsigned int cells_size_x, unsigned int cells_size_y, unsigned int cells_size_z,
00083           double xy_resolution, double z_resolution, double origin_x, double origin_y, double origin_z = 0.0, double inscribed_radius = 0.0,
00084           double circumscribed_radius = 0.0, double inflation_radius = 0.0, double obstacle_range = 0.0,
00085           double raytrace_range = 0.0, double weight = 25.0,
00086           const std::vector<unsigned char>& static_data = std::vector<unsigned char>(0), unsigned char lethal_threshold = 0,
00087           unsigned int unknown_threshold = 0, unsigned int mark_threshold = 0, unsigned char unknown_cost_value = 0);
00088 
00089 
00090       VoxelCostmap2D(costmap_2d::Costmap2D& costmap, 
00091           double z_resolution, unsigned int cells_size_z, double origin_z=0.0, 
00092           unsigned int mark_threshold=0, unsigned int unknown_threshold=0);
00093 
00097       ~VoxelCostmap2D();
00098 
00106       void resetMapOutsideWindow(double wx, double wy, double w_size_x, double w_size_y);
00107 
00113       void updateOrigin(double new_origin_x, double new_origin_y);
00114 
00123       virtual void clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info = false);
00124 
00129       void getPoints(pcl::PointCloud<pcl::PointXYZ>& cloud);
00130 
00131       void getVoxelGridMessage(VoxelGrid& grid);
00132 
00133       static inline void mapToWorld3D(const unsigned int mx, const unsigned int my, const unsigned int mz,
00134                                       const double origin_x, const double origin_y, const double origin_z,
00135                                       const double x_resolution, const double y_resolution, const double z_resolution,
00136                                       double& wx, double& wy, double& wz){
00137         //returns the center point of the cell
00138         wx = origin_x + (mx + 0.5) * x_resolution;
00139         wy = origin_y + (my + 0.5) * y_resolution;
00140         wz = origin_z + (mz + 0.5) * z_resolution;
00141       }
00142 
00143     protected:
00147       virtual void resetMaps();
00148 
00154       virtual void initMaps(unsigned int size_x, unsigned int size_y);
00155 
00156 
00157     private:
00163       void updateObstacles(const std::vector<Observation>& observations, std::priority_queue<CellData>& inflation_queue);
00164 
00169       void raytraceFreespace(const Observation& clearing_observation);
00170 
00171       inline bool worldToMap3DFloat(double wx, double wy, double wz, double& mx, double& my, double& mz){
00172         if(wx < origin_x_ || wy < origin_y_ || wz < origin_z_)
00173           return false;
00174         mx = ((wx - origin_x_) / xy_resolution_);
00175         my = ((wy - origin_y_) / xy_resolution_);
00176         mz = ((wz - origin_z_) / z_resolution_);
00177 
00178         if(mx < size_x_ && my < size_y_ && mz < size_z_)
00179           return true;
00180 
00181         return false;
00182       }
00183 
00184       inline bool worldToMap3D(double wx, double wy, double wz, unsigned int& mx, unsigned int& my, unsigned int& mz){
00185         if(wx < origin_x_ || wy < origin_y_ || wz < origin_z_)
00186           return false;
00187 
00188         mx = (int) ((wx - origin_x_) / xy_resolution_);
00189         my = (int) ((wy - origin_y_) / xy_resolution_);
00190         mz = (int) ((wz - origin_z_) / z_resolution_);
00191 
00192         if(mx < size_x_ && my < size_y_ && mz < size_z_)
00193           return true;
00194 
00195         return false;
00196       }
00197 
00198       inline void mapToWorld3D(unsigned int mx, unsigned int my, unsigned int mz, double& wx, double& wy, double& wz){
00199         //returns the center point of the cell
00200         wx = origin_x_ + (mx + 0.5) * xy_resolution_;
00201         wy = origin_y_ + (my + 0.5) * xy_resolution_;
00202         wz = origin_z_ + (mz + 0.5) * z_resolution_;
00203       }
00204 
00205       inline double dist(double x0, double y0, double z0, double x1, double y1, double z1){
00206         return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0));
00207       }
00208 
00209       void finishConfiguration(costmap_2d::Costmap2DConfig &config);
00210 
00211     protected:
00212       voxel_grid::VoxelGrid voxel_grid_;
00213       double xy_resolution_, z_resolution_, origin_z_;
00214       unsigned int unknown_threshold_, mark_threshold_, size_z_;
00215 
00216   };
00217 };
00218 
00219 #endif
voxel_costmap_2d.h
