MapInflationTool.h

Go to the documentation of this file.

#ifndef MAP_INFLATION_TOOL_H
#define MAP_INFLATION_TOOL_H

#include <queue>

#include "ros/ros.h"
#include "GridMap.h"

class CellData
{
public:
        CellData(double d, double i, unsigned int sx, unsigned int sy);
        double distance;
        unsigned int index;
        unsigned int sx, sy;
};

inline bool operator<(const CellData &a, const CellData &b)
{
        return a.distance > b.distance;
}


class MapInflationTool
{
public:
        MapInflationTool();
        ~MapInflationTool();
        
        void computeCaches(unsigned int radius);
        void inflateMap(GridMap* map);
        
private:
        void enqueueObstacle(unsigned int index, unsigned int sx, unsigned int sy);
        inline double distanceLookup(int mx, int my, int src_x, int src_y);
        inline char costLookup(int mx, int my, int src_x, int src_y);
        
        GridMap* mGridMap;
        
        unsigned int mCellInflationRadius;
        char** mCachedCosts;
        double ** mCachedDistances;
        
        std::priority_queue<CellData> mInflationQueue;
        unsigned char* mInflationMarkers;
        
        char mCostObstacle;
//      char mCostLethal;
};

#endif