footprint_helper.h

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#ifndef FOOTPRINT_HELPER_H_
#define FOOTPRINT_HELPER_H_

#include <vector>

#include <costmap_2d/costmap_2d.h>
#include <geometry_msgs/Point.h>

namespace mbf_costmap_nav
{

struct Cell
{
  unsigned int x, y;
};

class FootprintHelper
{
public:
  static std::vector<Cell> getFootprintCells(
      double x, double y, double theta,
      std::vector<geometry_msgs::Point> footprint_spec,
      const costmap_2d::Costmap2D&,
      bool fill);

  static void getLineCells(int x0, int x1, int y0, int y1, std::vector<Cell>& pts);

  static void getFillCells(std::vector<Cell>& footprint);
};

} /* namespace mbf_costmap_nav */
#endif /* FOOTPRINT_HELPER_H_ */