map_grid.h

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#ifndef TRAJECTORY_ROLLOUT_MAP_GRID_H_
#define TRAJECTORY_ROLLOUT_MAP_GRID_H_

#include <vector>
#include <iostream>
#include <iri_diff_local_planner/trajectory_inc.h>
#include <ros/console.h>
#include <ros/ros.h>

#include <iri_diff_local_planner/map_cell.h>
#include <costmap_2d/costmap_2d.h>
#include <geometry_msgs/PoseStamped.h>

namespace iri_diff_local_planner{
  class MapGrid{
    public:
      MapGrid();

      MapGrid(unsigned int size_x, unsigned int size_y);

      MapGrid(unsigned int size_x, unsigned int size_y, double scale, double x, double y);

      inline MapCell& operator() (unsigned int x, unsigned int y){
        return map_[size_x_ * y + x];
      }

      inline MapCell operator() (unsigned int x, unsigned int y) const {
        return map_[size_x_ * y + x];
      }

      inline MapCell& getCell(unsigned int x, unsigned int y){
        return map_[size_x_ * y + x];
      }

      ~MapGrid(){}

      MapGrid(const MapGrid& mg);

      MapGrid& operator= (const MapGrid& mg);

      void resetPathDist();

      void sizeCheck(unsigned int size_x, unsigned int size_y, double o_x, double o_y);

      void commonInit();

      size_t getIndex(int x, int y);

      inline void updatePathCell(MapCell* current_cell, MapCell* check_cell, 
          std::queue<MapCell*>& dist_queue, const costmap_2d::Costmap2D& costmap){
        //mark the cell as visisted
        check_cell->path_mark = true;

        //if the cell is an obstacle set the max path distance
        unsigned char cost = costmap.getCost(check_cell->cx, check_cell->cy);
        if(!getCell(check_cell->cx, check_cell->cy).within_robot && (cost == costmap_2d::LETHAL_OBSTACLE || cost == costmap_2d::INSCRIBED_INFLATED_OBSTACLE || cost == costmap_2d::NO_INFORMATION)){
          check_cell->path_dist = map_.size();
          return;
        }

        double new_path_dist = current_cell->path_dist + 1;
        if(new_path_dist < check_cell->path_dist)
          check_cell->path_dist = new_path_dist;

        dist_queue.push(check_cell);
      }

      inline void updateGoalCell(MapCell* current_cell, MapCell* check_cell, 
          std::queue<MapCell*>& dist_queue, const costmap_2d::Costmap2D& costmap ){
        check_cell->goal_mark = true;

        //if the cell is an obstacle set the max goal distance
        unsigned char cost = costmap.getCost(check_cell->cx, check_cell->cy);
        if(!getCell(check_cell->cx, check_cell->cy).within_robot && (cost == costmap_2d::LETHAL_OBSTACLE || cost == costmap_2d::INSCRIBED_INFLATED_OBSTACLE || cost == costmap_2d::NO_INFORMATION)){
          check_cell->goal_dist = map_.size();
          return;
        }

        double new_goal_dist = current_cell->goal_dist + 1;
        if(new_goal_dist < check_cell->goal_dist)
          check_cell->goal_dist = new_goal_dist;

        dist_queue.push(check_cell);
      }

      void computePathDistance(std::queue<MapCell*>& dist_queue, const costmap_2d::Costmap2D& costmap);

      void computeGoalDistance(std::queue<MapCell*>& dist_queue, const costmap_2d::Costmap2D& costmap);

      void setPathCells(const costmap_2d::Costmap2D& costmap, const std::vector<geometry_msgs::PoseStamped>& global_plan);

      unsigned int size_x_, size_y_; 
      std::vector<MapCell> map_; 

      double scale; 

      double goal_x_, goal_y_; 
      double origin_x, origin_y; 
  };
};

#endif