occupancy_grid_utils: occupancy_grid_utils: geometry.hpp Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  */
00030 
00040 namespace occupancy_grid_utils
00041 {
00042 
00043 namespace nm=nav_msgs;
00044 typedef std::set<Cell> Cells;
00045 
00046 template <typename Pred>
00047 std::set<Cell> tileCells (const nm::MapMetaData& info, const float d,
00048                           const Pred& pred)
00049 {
00050   ROS_DEBUG_NAMED ("tile", "Tiling %ux%u map", info.height, info.width);
00051   Cells cells;
00052   Cells forbidden;
00053   int rad = ceil(d/info.resolution);
00054   for (size_t x=0; x<info.width; x++)
00055   {
00056     for (size_t y=0; y<info.height; y++)
00057     {
00058       const Cell c(x, y);
00059       if (!pred(c))
00060         continue;
00061       ROS_DEBUG_STREAM_NAMED("tile", "Cell " << c << " satisfies condition");
00062       if (forbidden.find(c)!=forbidden.end())
00063         continue;
00064       ROS_DEBUG_STREAM_NAMED ("tile", "  Sufficiently far");
00065       cells.insert(c);
00066       ROS_DEBUG_STREAM_NAMED ("tile", "  Inserted");
00067       for (int dx=0; dx<=rad; dx++)
00068       {
00069         for (int dy=-rad; dy<=rad; dy++)
00070         {
00071           const Cell c2(int(x)+dx, int(y)+dy);
00072           if (dx*dx+dy*dy <= rad*rad && withinBounds(info, c2))
00073           {
00074             ROS_DEBUG_STREAM_NAMED ("tile", "  Blocking " << c2);
00075             forbidden.insert(c2);
00076           }
00077         }
00078       }
00079     }
00080   }
00081   ROS_DEBUG_NAMED("tile", "Done tiling");
00082   return cells;
00083 }
00084 
00085 
00086 } // namespace