map_grid.h

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#ifndef DWB_CRITICS_MAP_GRID_H
#define DWB_CRITICS_MAP_GRID_H

#include <dwb_local_planner/trajectory_critic.h>
#include <costmap_queue/costmap_queue.h>
#include <memory>
#include <vector>

namespace dwb_critics
{
class MapGridCritic: public dwb_local_planner::TrajectoryCritic
{
public:
  MapGridCritic() : cell_values_(-1.0) {}

  // Standard TrajectoryCritic Interface
  void onInit() override;
  double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override;
  void addCriticVisualization(sensor_msgs::PointCloud& pc) override;
  double getScale() const override { return costmap_->getResolution() * 0.5 * scale_; }

  // Helper Functions
  virtual double scorePose(const geometry_msgs::Pose2D& pose);

  inline double getScore(unsigned int x, unsigned int y) { return cell_values_(x, y); }

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

protected:
  enum class ScoreAggregationType {Last, Sum, Product};

  class MapGridQueue : public costmap_queue::CostmapQueue
  {
  public:
    MapGridQueue(nav_core2::Costmap& costmap, MapGridCritic& parent)
      : costmap_queue::CostmapQueue(costmap, true), parent_(parent) {}
    bool validCellToQueue(const costmap_queue::CellData& cell) override;
  protected:
    MapGridCritic& parent_;
  };

  void reset() override;

  void propogateManhattanDistances();

  std::shared_ptr<MapGridQueue> queue_;
  nav_grid::VectorNavGrid<double> cell_values_;
  double obstacle_score_, unreachable_score_;  
  bool stop_on_failure_;
  ScoreAggregationType aggregationType_;
};
}  // namespace dwb_critics

#endif  // DWB_CRITICS_MAP_GRID_H