obstacle_layer.h

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#ifndef COSTMAP_2D_OBSTACLE_LAYER_H_
#define COSTMAP_2D_OBSTACLE_LAYER_H_

#include <ros/ros.h>
#include <costmap_2d/costmap_layer.h>
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/observation_buffer.h>

#include <nav_msgs/OccupancyGrid.h>

#include <sensor_msgs/LaserScan.h>
#include <laser_geometry/laser_geometry.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud_conversion.h>
#include <tf/message_filter.h>
#include <message_filters/subscriber.h>
#include <dynamic_reconfigure/server.h>
#include <costmap_2d/ObstaclePluginConfig.h>
#include <costmap_2d/footprint.h>

namespace costmap_2d
{

class ObstacleLayer : public CostmapLayer
{
public:
  ObstacleLayer()
  {
    costmap_ = NULL;  // this is the unsigned char* member of parent class Costmap2D.
  }

  virtual ~ObstacleLayer();
  virtual void onInitialize();
  virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
                            double* max_x, double* max_y);
  virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);

  virtual void activate();
  virtual void deactivate();
  virtual void reset();

  void laserScanCallback(const sensor_msgs::LaserScanConstPtr& message,
                         const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);

  void laserScanValidInfCallback(const sensor_msgs::LaserScanConstPtr& message,
                                 const boost::shared_ptr<ObservationBuffer>& buffer);

  void pointCloudCallback(const sensor_msgs::PointCloudConstPtr& message,
                          const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);

  void pointCloud2Callback(const sensor_msgs::PointCloud2ConstPtr& message,
                           const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);

  // for testing purposes
  void addStaticObservation(costmap_2d::Observation& obs, bool marking, bool clearing);
  void clearStaticObservations(bool marking, bool clearing);

protected:
  virtual void setupDynamicReconfigure(ros::NodeHandle& nh);

  bool getMarkingObservations(std::vector<costmap_2d::Observation>& marking_observations) const;

  bool getClearingObservations(std::vector<costmap_2d::Observation>& clearing_observations) const;

  virtual void raytraceFreespace(const costmap_2d::Observation& clearing_observation, double* min_x, double* min_y,
                                 double* max_x, double* max_y);

  void updateRaytraceBounds(double ox, double oy, double wx, double wy, double range, double* min_x, double* min_y,
                            double* max_x, double* max_y);

  std::vector<geometry_msgs::Point> transformed_footprint_;
  bool footprint_clearing_enabled_;
  void updateFootprint(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, 
                       double* max_x, double* max_y);

  std::string global_frame_;  
  double max_obstacle_height_;  

  laser_geometry::LaserProjection projector_;  

  std::vector<boost::shared_ptr<message_filters::SubscriberBase> > observation_subscribers_;  
  std::vector<boost::shared_ptr<tf::MessageFilterBase> > observation_notifiers_;  
  std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > observation_buffers_;  
  std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > marking_buffers_;  
  std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > clearing_buffers_;  

  // Used only for testing purposes
  std::vector<costmap_2d::Observation> static_clearing_observations_, static_marking_observations_;

  bool rolling_window_;
  dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig> *dsrv_;

  int combination_method_;

private:
  void reconfigureCB(costmap_2d::ObstaclePluginConfig &config, uint32_t level);
};

}  // namespace costmap_2d

#endif  // COSTMAP_2D_OBSTACLE_LAYER_H_