unknown_handle.h

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/*
 * Copyright (c) 2014-2018, the neonavigation authors
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#ifndef COSTMAP_CSPACE_COSTMAP_3D_LAYER_UNKNOWN_HANDLE_H
#define COSTMAP_CSPACE_COSTMAP_3D_LAYER_UNKNOWN_HANDLE_H

#include <memory>

#include <geometry_msgs/PolygonStamped.h>
#include <nav_msgs/OccupancyGrid.h>
#include <costmap_cspace_msgs/CSpace3D.h>
#include <costmap_cspace_msgs/CSpace3DUpdate.h>

#include <costmap_cspace/costmap_3d_layer/base.h>

namespace costmap_cspace
{
class Costmap3dLayerUnknownHandle : public Costmap3dLayerBase
{
public:
  using Ptr = std::shared_ptr<Costmap3dLayerUnknownHandle>;

protected:
  int8_t unknown_cost_;

public:
  Costmap3dLayerUnknownHandle()
    : unknown_cost_(-1)
  {
  }
  void loadConfig(XmlRpc::XmlRpcValue config)
  {
    if (config.hasMember("unknown_cost"))
    {
      unknown_cost_ = static_cast<int>(config["unknown_cost"]);
    }
  }
  void setMapMetaData(const costmap_cspace_msgs::MapMetaData3D& info)
  {
  }

protected:
  int getRangeMax() const
  {
    return 0;
  }
  bool updateChain(const bool output)
  {
    for (
        size_t a = region_.yaw_;
        static_cast<int>(a) < region_.yaw_ + region_.angle_ && a < map_->info.angle;
        ++a)
    {
      for (
          size_t y = region_.y_;
          static_cast<int>(y) < region_.y_ + region_.height_ && y < map_->info.height;
          ++y)
      {
        for (
            size_t x = region_.x_;
            static_cast<int>(x) < region_.x_ + region_.width_ && x < map_->info.width;
            ++x)
        {
          auto& m = map_overlay_->getCost(x, y, a);
          if (m < 0)
            m = unknown_cost_;
        }
      }
    }
    return false;
  }
  void updateCSpace(
      const nav_msgs::OccupancyGrid::ConstPtr& map,
      const UpdatedRegion& region)
  {
  }
};
}  // namespace costmap_cspace

#endif  // COSTMAP_CSPACE_COSTMAP_3D_LAYER_UNKNOWN_HANDLE_H