00001 //================================================================================================= 00002 // Copyright (c) 2017, Alexander Stumpf, TU Darmstadt 00003 // Based on http://wiki.ros.org/footstep_planner by Johannes Garimort and Armin Hornung 00004 // All rights reserved. 00005 00006 // Redistribution and use in source and binary forms, with or without 00007 // modification, are permitted provided that the following conditions are met: 00008 // * Redistributions of source code must retain the above copyright 00009 // notice, this list of conditions and the following disclaimer. 00010 // * Redistributions in binary form must reproduce the above copyright 00011 // notice, this list of conditions and the following disclaimer in the 00012 // documentation and/or other materials provided with the distribution. 00013 // * Neither the name of the Simulation, Systems Optimization and Robotics 00014 // group, TU Darmstadt nor the names of its contributors may be used to 00015 // endorse or promote products derived from this software without 00016 // specific prior written permission. 00017 00018 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00019 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00020 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00021 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00022 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00023 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00024 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00025 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00026 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00027 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00028 //================================================================================================= 00029 00030 #ifndef VIGIR_FOOTSTEP_PLANNING_PLUGINS_COLLISION_CHECK_GRID_MAP_PLUGIN_H__ 00031 #define VIGIR_FOOTSTEP_PLANNING_PLUGINS_COLLISION_CHECK_GRID_MAP_PLUGIN_H__ 00032 00033 #include <ros/ros.h> 00034 00035 #include <boost/thread/shared_mutex.hpp> 00036 00037 #include <nav_msgs/OccupancyGrid.h> 00038 00039 #include <vigir_footstep_planning_lib/helper.h> 00040 00041 #include <vigir_footstep_planning_plugins/plugins/collision_check_plugin.h> 00042 00043 00044 00045 namespace vigir_footstep_planning 00046 { 00047 class CollisionCheckGridMapPlugin 00048 : public CollisionCheckPlugin 00049 { 00050 public: 00051 CollisionCheckGridMapPlugin(const std::string& name = "collision_check_grid_map_plugin"); 00052 00053 bool initialize(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override; 00054 00055 void reset() override; 00056 00057 bool isCollisionCheckAvailable() const override; 00058 00059 bool isAccessible(const State& s) const override; 00060 bool isAccessible(const State& next, const State& current) const override; 00061 00062 void setOccupancyThreshold(unsigned char thresh); 00063 00064 protected: 00065 virtual void mapCallback(const nav_msgs::OccupancyGridConstPtr& occupancy_grid_map); 00066 00067 // subscribers 00068 ros::Subscriber occupancy_grid_map_sub_; 00069 00070 // mutex 00071 mutable boost::shared_mutex grid_map_shared_mutex_; 00072 00073 // pointer to last received grid map 00074 nav_msgs::OccupancyGridConstPtr occupancy_grid_map_; 00075 00076 // occupancy threshold 00077 int8_t occ_thresh_; 00078 }; 00079 } 00080 00081 #endif