grid_map_model.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
// Based on http://wiki.ros.org/footstep_planner by Johannes Garimort and Armin Hornung
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
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//=================================================================================================

#ifndef VIGIR_FOOTSTEP_PLANNING_GRID_MAP_MODEL_H__
#define VIGIR_FOOTSTEP_PLANNING_GRID_MAP_MODEL_H__

#include <ros/ros.h>

#include <nav_msgs/OccupancyGrid.h>

#include <vigir_footstep_planning_plugins/plugins/collision_check_grid_map_plugin.h>

#include <vigir_footstep_planning_default_plugins/world_model/grid_map_2d.h>



namespace vigir_footstep_planning
{
class GridMapModel
  : public CollisionCheckGridMapPlugin
{
public:
  GridMapModel(const std::string& name);

  bool loadParams(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;

protected:
  void mapCallback(const nav_msgs::OccupancyGridConstPtr& occupancy_grid_map_);

  bool collision_check(double x, double y, double cos_theta, double sin_theta, double height, double width) const;



  vigir_gridmap_2d::GridMap2D distance_map;

  int collision_check_accuracy;
};
}

#endif