00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: TKruse 00036 *********************************************************************/ 00037 00038 #ifndef FOOTPRINT_HELPER_H_ 00039 #define FOOTPRINT_HELPER_H_ 00040 00041 #include <vector> 00042 00043 #include <costmap_2d/costmap_2d.h> 00044 #include <geometry_msgs/Point.h> 00045 #include <Eigen/Core> 00046 #include <base_local_planner/Position2DInt.h> 00047 00048 namespace base_local_planner { 00049 00050 class FootprintHelper { 00051 public: 00052 FootprintHelper(); 00053 virtual ~FootprintHelper(); 00054 00063 std::vector<base_local_planner::Position2DInt> getFootprintCells( 00064 Eigen::Vector3f pos, 00065 std::vector<geometry_msgs::Point> footprint_spec, 00066 const costmap_2d::Costmap2D&, 00067 bool fill); 00068 00077 void getLineCells(int x0, int x1, int y0, int y1, std::vector<base_local_planner::Position2DInt>& pts); 00078 00083 void getFillCells(std::vector<base_local_planner::Position2DInt>& footprint); 00084 }; 00085 00086 } /* namespace base_local_planner */ 00087 #endif /* FOOTPRINT_HELPER_H_ */