costmap_queue.h

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#ifndef COSTMAP_QUEUE_COSTMAP_QUEUE_H
#define COSTMAP_QUEUE_COSTMAP_QUEUE_H

#include <nav_core2/costmap.h>
#include <costmap_queue/map_based_queue.h>
#include <nav_grid/vector_nav_grid.h>
#include <algorithm>
#include <limits>
#include <memory>
#include <vector>

namespace costmap_queue
{
class CellData
{
public:
  CellData(const double d, const unsigned int x, const unsigned int y, const unsigned int sx, const unsigned int sy) :
    distance_(d), x_(x), y_(y), src_x_(sx), src_y_(sy)
  {
  }

  CellData() :
    distance_(std::numeric_limits<double>::max()), x_(0), y_(0), src_x_(0), src_y_(0)
  {
  }

  double distance_;
  unsigned int x_, y_;
  unsigned int src_x_, src_y_;
};

class CostmapQueue : public MapBasedQueue<CellData>
{
public:
  explicit CostmapQueue(nav_core2::Costmap& costmap, bool manhattan = false);

  void reset() override;

  void enqueueCell(unsigned int x, unsigned int y);

  CellData getNextCell();

  virtual int getMaxDistance() const { return std::max(costmap_.getWidth(), costmap_.getHeight()); }

  virtual bool validCellToQueue(const CellData& cell) { return true; }

  using Ptr = std::shared_ptr<CostmapQueue>;
protected:
  void enqueueCell(unsigned int cur_x, unsigned int cur_y, unsigned int src_x, unsigned int src_y);

  void computeCache();

  nav_core2::Costmap& costmap_;

  // This really should be VectorNavGrid<bool>, but since
  // vector<bool> is wacky, it would result in compile errors.
  nav_grid::VectorNavGrid<unsigned char> seen_;
  bool manhattan_;
protected:
  inline double distanceLookup(const unsigned int cur_x, const unsigned int cur_y,
                               const unsigned int src_x, const unsigned int src_y)
  {
    unsigned int dx = std::abs(static_cast<int>(cur_x) - static_cast<int>(src_x));
    unsigned int dy = std::abs(static_cast<int>(cur_y) - static_cast<int>(src_y));
    return cached_distances_[dx][dy];
  }
  std::vector<std::vector<double> > cached_distances_;
  int cached_max_distance_;
};
}  // namespace costmap_queue

#endif  // COSTMAP_QUEUE_COSTMAP_QUEUE_H