footprint_helper.h

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#ifndef FOOTPRINT_HELPER_H_
#define FOOTPRINT_HELPER_H_
 
#include <vector>
 
#include <costmap_2d/costmap_2d.h>
#include <geometry_msgs/Point.h>
 
namespace mbf_costmap_nav
{
 
struct Cell
{
  unsigned int x, y;
};
 
class FootprintHelper
{
public:
  static std::vector<Cell> getFootprintCells(double x, double y, double theta,
                                             const std::vector<geometry_msgs::Point>& footprint_spec,
                                             const costmap_2d::Costmap2D&, bool fill);
 
  static void getLineCells(int x0, int x1, int y0, int y1, std::vector<Cell>& pts);
 
  static void getFillCells(std::vector<Cell>& footprint);
};
 
} /* namespace mbf_costmap_nav */
#endif /* FOOTPRINT_HELPER_H_ */