geometry.h
Go to the documentation of this 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 00039 #ifndef OCCUPANCY_GRID_UTILS_GEOMETRY_H 00040 #define OCCUPANCY_GRID_UTILS_GEOMETRY_H 00041 00042 #include "coordinate_conversions.h" 00043 #include <set> 00044 #include <boost/multi_array.hpp> 00045 00046 namespace occupancy_grid_utils 00047 { 00048 00049 00055 std::set<Cell> cellsInConvexPolygon (const nav_msgs::MapMetaData& info, 00056 const geometry_msgs::Polygon& p); 00057 00058 00062 template <typename Pred> 00063 std::set<Cell> tileCells (const nav_msgs::MapMetaData& info, float d, 00064 const Pred& p); 00065 00066 00069 class DistanceField 00070 { 00071 public: 00072 00073 typedef boost::multi_array<float, 2> Array; 00074 typedef boost::shared_ptr<Array> ArrayPtr; 00075 00076 DistanceField (ArrayPtr distances) : distances_(distances) {} 00077 00078 inline 00079 float operator[] (const Cell& c) const 00080 { 00081 return (*distances_)[c.x][c.y]; 00082 }; 00083 00084 private: 00085 00086 ArrayPtr distances_; 00087 }; 00088 00089 00090 00095 DistanceField distanceField (const nav_msgs::OccupancyGrid& m, 00096 float max_dist=-42); 00097 00098 } // namespace 00099 00100 #include "impl/geometry.hpp" 00101 00102 #endif // include guard