cost_interpretation.h

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#ifndef NAV_GRID_PUB_SUB_COST_INTERPRETATION_H
#define NAV_GRID_PUB_SUB_COST_INTERPRETATION_H

#include <nav_grid/nav_grid.h>
#include <nav_grid_iterators/whole_grid.h>
#include <vector>

namespace nav_grid_pub_sub
{
template<typename NumericType, typename IntegralType>
inline NumericType interpretCost(IntegralType original_value,
                                 const std::vector<NumericType>& cost_interpretation_table)
{
  unsigned int index = static_cast<unsigned int>(original_value);
  if (index < cost_interpretation_table.size())
  {
    return cost_interpretation_table[index];
  }
  else
  {
    return original_value;
  }
}

template<typename IntegralType>
inline void applyInterpretation(nav_grid::NavGrid<IntegralType>& grid,
                                const std::vector<IntegralType>& cost_interpretation_table)
{
  for (const nav_grid::Index& index : nav_grid_iterators::WholeGrid(grid.getInfo()))
  {
    grid.setValue(index, interpretCost(grid(index), cost_interpretation_table));
  }
}

template<typename NumericType>
inline unsigned char interpretValue(const NumericType value, const NumericType min_value,
                                    const NumericType denominator, const NumericType unknown_value)
{
  if (value == unknown_value)
  {
    return -1;
  }
  else
  {
    double ratio = (value - min_value) / denominator;
    return static_cast<unsigned char>(ratio * 100.0);
  }
}

}  // namespace nav_grid_pub_sub

#endif  // NAV_GRID_PUB_SUB_COST_INTERPRETATION_H