00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2018, Locus Robotics 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the copyright holder nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef NAV_CORE2_BASIC_COSTMAP_H 00036 #define NAV_CORE2_BASIC_COSTMAP_H 00037 00038 #include <nav_core2/costmap.h> 00039 #include <string> 00040 #include <vector> 00041 00042 namespace nav_core2 00043 { 00044 class BasicCostmap : public nav_core2::Costmap 00045 { 00046 public: 00047 // Standard Costmap Interface 00048 mutex_t* getMutex() override { return &my_mutex_; } 00049 00050 // NavGrid Interface 00051 void reset() override; 00052 void setValue(const unsigned int x, const unsigned int y, const unsigned char& value) override; 00053 unsigned char getValue(const unsigned int x, const unsigned int y) const override; 00054 void setInfo(const nav_grid::NavGridInfo& new_info) override 00055 { 00056 info_ = new_info; 00057 reset(); 00058 } 00059 00060 // Index Conversion 00061 unsigned int getIndex(const unsigned int x, const unsigned int y) const; 00062 protected: 00063 mutex_t my_mutex_; 00064 std::vector<unsigned char> data_; 00065 }; 00066 } // namespace nav_core2 00067 00068 #endif // NAV_CORE2_BASIC_COSTMAP_H