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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: Eitan Marder-Eppstein 00036 * David V. Lu!! 00037 *********************************************************************/ 00038 #ifndef COSTMAP_2D_COSTMAP_LAYER_H_ 00039 #define COSTMAP_2D_COSTMAP_LAYER_H_ 00040 #include <ros/ros.h> 00041 #include <costmap_2d/layer.h> 00042 #include <costmap_2d/layered_costmap.h> 00043 00044 namespace costmap_2d 00045 { 00046 00047 class CostmapLayer : public Layer, public Costmap2D 00048 { 00049 public: 00050 CostmapLayer() : has_extra_bounds_(false), 00051 extra_min_x_(1e6), extra_max_x_(-1e6), 00052 extra_min_y_(1e6), extra_max_y_(-1e6) {} 00053 00054 bool isDiscretized() 00055 { 00056 return true; 00057 } 00058 00059 virtual void matchSize(); 00060 00070 void addExtraBounds(double mx0, double my0, double mx1, double my1); 00071 00072 protected: 00073 /* 00074 * Updates the master_grid within the specified 00075 * bounding box using this layer's values. 00076 * 00077 * TrueOverwrite means every value from this layer 00078 * is written into the master grid. 00079 */ 00080 void updateWithTrueOverwrite(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j); 00081 00082 /* 00083 * Updates the master_grid within the specified 00084 * bounding box using this layer's values. 00085 * 00086 * Overwrite means every valid value from this layer 00087 * is written into the master grid (does not copy NO_INFORMATION) 00088 */ 00089 void updateWithOverwrite(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j); 00090 00091 /* 00092 * Updates the master_grid within the specified 00093 * bounding box using this layer's values. 00094 * 00095 * Sets the new value to the maximum of the master_grid's value 00096 * and this layer's value. If the master value is NO_INFORMATION, 00097 * it is overwritten. If the layer's value is NO_INFORMATION, 00098 * the master value does not change. 00099 */ 00100 void updateWithMax(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j); 00101 00102 /* 00103 * Updates the master_grid within the specified 00104 * bounding box using this layer's values. 00105 * 00106 * Sets the new value to the sum of the master grid's value 00107 * and this layer's value. If the master value is NO_INFORMATION, 00108 * it is overwritten with the layer's value. If the layer's value 00109 * is NO_INFORMATION, then the master value does not change. 00110 * 00111 * If the sum value is larger than INSCRIBED_INFLATED_OBSTACLE, 00112 * the master value is set to (INSCRIBED_INFLATED_OBSTACLE - 1). 00113 */ 00114 void updateWithAddition(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j); 00115 00127 void touch(double x, double y, double* min_x, double* min_y, double* max_x, double* max_y); 00128 00129 /* 00130 * Updates the bounding box specified in the parameters 00131 * to include the bounding box from the addExtraBounds 00132 * call. If addExtraBounds was not called, the method will do nothing. 00133 * 00134 * Should be called at the beginning of the updateBounds method 00135 * 00136 * @param min_x bounding box (input and output) 00137 * @param min_y bounding box (input and output) 00138 * @param max_x bounding box (input and output) 00139 * @param max_y bounding box (input and output) 00140 */ 00141 void useExtraBounds(double* min_x, double* min_y, double* max_x, double* max_y); 00142 bool has_extra_bounds_; 00143 00144 private: 00145 double extra_min_x_, extra_max_x_, extra_min_y_, extra_max_y_; 00146 }; 00147 00148 } // namespace costmap_2d 00149 #endif // COSTMAP_2D_COSTMAP_LAYER_H_