voxel_layer.h
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00002  *
00003  * Software License Agreement (BSD License)
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00008  *  Redistribution and use in source and binary forms, with or without
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00013  *     notice, this list of conditions and the following disclaimer.
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00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035  * Author: Eitan Marder-Eppstein
00036  *         David V. Lu!!
00037  *********************************************************************/
00038 #ifndef COSTMAP_2D_VOXEL_LAYER_H_
00039 #define COSTMAP_2D_VOXEL_LAYER_H_
00040 
00041 #include <ros/ros.h>
00042 #include <costmap_2d/layer.h>
00043 #include <costmap_2d/layered_costmap.h>
00044 #include <costmap_2d/observation_buffer.h>
00045 #include <costmap_2d/VoxelGrid.h>
00046 #include <nav_msgs/OccupancyGrid.h>
00047 #include <sensor_msgs/LaserScan.h>
00048 #include <laser_geometry/laser_geometry.h>
00049 #include <sensor_msgs/PointCloud.h>
00050 #include <sensor_msgs/PointCloud2.h>
00051 #include <sensor_msgs/point_cloud_conversion.h>
00052 #include <tf/message_filter.h>
00053 #include <message_filters/subscriber.h>
00054 #include <dynamic_reconfigure/server.h>
00055 #include <costmap_2d/VoxelPluginConfig.h>
00056 #include <costmap_2d/obstacle_layer.h>
00057 #include <voxel_grid/voxel_grid.h>
00058 
00059 namespace costmap_2d
00060 {
00061 
00062 class VoxelLayer : public ObstacleLayer
00063 {
00064 public:
00065   VoxelLayer() :
00066       voxel_grid_(0, 0, 0)
00067   {
00068     costmap_ = NULL; // this is the unsigned char* member of parent class's parent class Costmap2D.
00069   }
00070 
00071   virtual ~VoxelLayer();
00072 
00073   virtual void onInitialize();
00074   virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, double* max_x,
00075                              double* max_y);
00076 
00077   void updateOrigin(double new_origin_x, double new_origin_y);
00078   bool isDiscretized()
00079   {
00080     return true;
00081   }
00082   virtual void matchSize();
00083   virtual void reset();
00084 
00085 
00086 protected:
00087   virtual void setupDynamicReconfigure(ros::NodeHandle& nh);
00088 
00089   virtual void resetMaps();
00090 
00091 private:
00092   void reconfigureCB(costmap_2d::VoxelPluginConfig &config, uint32_t level);
00093   void clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info);
00094   virtual void raytraceFreespace(const costmap_2d::Observation& clearing_observation, double* min_x, double* min_y,
00095                                  double* max_x, double* max_y);
00096 
00097   dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig> *dsrv_;
00098 
00099   bool publish_voxel_;
00100   ros::Publisher voxel_pub_;
00101   voxel_grid::VoxelGrid voxel_grid_;
00102   double z_resolution_, origin_z_;
00103   unsigned int unknown_threshold_, mark_threshold_, size_z_;
00104   ros::Publisher clearing_endpoints_pub_;
00105   sensor_msgs::PointCloud clearing_endpoints_;
00106 
00107   inline bool worldToMap3DFloat(double wx, double wy, double wz, double& mx, double& my, double& mz)
00108   {
00109     if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_)
00110       return false;
00111     mx = ((wx - origin_x_) / resolution_);
00112     my = ((wy - origin_y_) / resolution_);
00113     mz = ((wz - origin_z_) / z_resolution_);
00114     if (mx < size_x_ && my < size_y_ && mz < size_z_)
00115       return true;
00116 
00117     return false;
00118   }
00119 
00120   inline bool worldToMap3D(double wx, double wy, double wz, unsigned int& mx, unsigned int& my, unsigned int& mz)
00121   {
00122     if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_)
00123       return false;
00124 
00125     mx = (int)((wx - origin_x_) / resolution_);
00126     my = (int)((wy - origin_y_) / resolution_);
00127     mz = (int)((wz - origin_z_) / z_resolution_);
00128 
00129     if (mx < size_x_ && my < size_y_ && mz < size_z_)
00130       return true;
00131 
00132     return false;
00133   }
00134 
00135   inline void mapToWorld3D(unsigned int mx, unsigned int my, unsigned int mz, double& wx, double& wy, double& wz)
00136   {
00137     //returns the center point of the cell
00138     wx = origin_x_ + (mx + 0.5) * resolution_;
00139     wy = origin_y_ + (my + 0.5) * resolution_;
00140     wz = origin_z_ + (mz + 0.5) * z_resolution_;
00141   }
00142 
00143   inline double dist(double x0, double y0, double z0, double x1, double y1, double z1)
00144   {
00145     return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0));
00146   }
00147 };
00148 
00149 }  // namespace costmap_2d
00150 
00151 #endif  // COSTMAP_2D_VOXEL_LAYER_H_


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:06:55