voxel_costmap_2d.h

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* Author: Eitan Marder-Eppstein
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#ifndef COSTMAP_VOXEL_COSTMAP_2D_H_
#define COSTMAP_VOXEL_COSTMAP_2D_H_

#include <vector>
#include <queue>
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/observation.h>
#include <costmap_2d/cell_data.h>
#include <costmap_2d/cost_values.h>
#include <voxel_grid/voxel_grid.h>
#include <costmap_2d/VoxelGrid.h>
#include <sensor_msgs/PointCloud.h>
#include <boost/thread.hpp>
#include <costmap_2d/Costmap2DConfig.h>

namespace costmap_2d {
  class VoxelCostmap2D : public Costmap2D {
    public:
      VoxelCostmap2D(unsigned int cells_size_x, unsigned int cells_size_y, unsigned int cells_size_z,
          double xy_resolution, double z_resolution, double origin_x, double origin_y, double origin_z = 0.0, double inscribed_radius = 0.0,
          double circumscribed_radius = 0.0, double inflation_radius = 0.0, double obstacle_range = 0.0,
          double raytrace_range = 0.0, double weight = 25.0,
          const std::vector<unsigned char>& static_data = std::vector<unsigned char>(0), unsigned char lethal_threshold = 0,
          unsigned int unknown_threshold = 0, unsigned int mark_threshold = 0, unsigned char unknown_cost_value = 0);


      VoxelCostmap2D(costmap_2d::Costmap2D& costmap, 
          double z_resolution, unsigned int cells_size_z, double origin_z=0.0, 
          unsigned int mark_threshold=0, unsigned int unknown_threshold=0);

      ~VoxelCostmap2D();

      void resetMapOutsideWindow(double wx, double wy, double w_size_x, double w_size_y);

      void updateOrigin(double new_origin_x, double new_origin_y);

      virtual void clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info = false);

      void getPoints(pcl::PointCloud<pcl::PointXYZ>& cloud);

      void getVoxelGridMessage(VoxelGrid& grid);

      static inline void mapToWorld3D(const unsigned int mx, const unsigned int my, const unsigned int mz,
                                      const double origin_x, const double origin_y, const double origin_z,
                                      const double x_resolution, const double y_resolution, const double z_resolution,
                                      double& wx, double& wy, double& wz){
        //returns the center point of the cell
        wx = origin_x + (mx + 0.5) * x_resolution;
        wy = origin_y + (my + 0.5) * y_resolution;
        wz = origin_z + (mz + 0.5) * z_resolution;
      }

    protected:
      virtual void resetMaps();

      virtual void initMaps(unsigned int size_x, unsigned int size_y);


    private:
      void updateObstacles(const std::vector<Observation>& observations, std::priority_queue<CellData>& inflation_queue);

      void raytraceFreespace(const Observation& clearing_observation);

      inline bool worldToMap3DFloat(double wx, double wy, double wz, double& mx, double& my, double& mz){
        if(wx < origin_x_ || wy < origin_y_ || wz < origin_z_)
          return false;
        mx = ((wx - origin_x_) / xy_resolution_);
        my = ((wy - origin_y_) / xy_resolution_);
        mz = ((wz - origin_z_) / z_resolution_);

        if(mx < size_x_ && my < size_y_ && mz < size_z_)
          return true;

        return false;
      }

      inline bool worldToMap3D(double wx, double wy, double wz, unsigned int& mx, unsigned int& my, unsigned int& mz){
        if(wx < origin_x_ || wy < origin_y_ || wz < origin_z_)
          return false;

        mx = (int) ((wx - origin_x_) / xy_resolution_);
        my = (int) ((wy - origin_y_) / xy_resolution_);
        mz = (int) ((wz - origin_z_) / z_resolution_);

        if(mx < size_x_ && my < size_y_ && mz < size_z_)
          return true;

        return false;
      }

      inline void mapToWorld3D(unsigned int mx, unsigned int my, unsigned int mz, double& wx, double& wy, double& wz){
        //returns the center point of the cell
        wx = origin_x_ + (mx + 0.5) * xy_resolution_;
        wy = origin_y_ + (my + 0.5) * xy_resolution_;
        wz = origin_z_ + (mz + 0.5) * z_resolution_;
      }

      inline double dist(double x0, double y0, double z0, double x1, double y1, double z1){
        return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0));
      }

      void finishConfiguration(costmap_2d::Costmap2DConfig &config);

    protected:
      voxel_grid::VoxelGrid voxel_grid_;
      double xy_resolution_, z_resolution_, origin_z_;
      unsigned int unknown_threshold_, mark_threshold_, size_z_;

  };
};

#endif