costmap.h

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#ifndef NAV_CORE2_COSTMAP_H
#define NAV_CORE2_COSTMAP_H

#include <nav_grid/nav_grid.h>
#include <nav_core2/common.h>
#include <nav_core2/bounds.h>
#include <boost/thread.hpp>
#include <string>

namespace nav_core2
{

class Costmap : public nav_grid::NavGrid<unsigned char>
{
public:
  static const unsigned char NO_INFORMATION = 255;
  static const unsigned char LETHAL_OBSTACLE = 254;
  static const unsigned char INSCRIBED_INFLATED_OBSTACLE = 253;
  static const unsigned char FREE_SPACE = 0;

  using Ptr = std::shared_ptr<Costmap>;

  virtual ~Costmap() {}

  virtual void initialize(const ros::NodeHandle& parent, const std::string& name, TFListenerPtr tf) {}

  inline unsigned char getCost(const unsigned int x, const unsigned int y)
  {
    return getValue(x, y);
  }

  inline unsigned char getCost(const nav_grid::Index& index)
  {
    return getValue(index.x, index.y);
  }

  inline void setCost(const unsigned int x, const unsigned int y, const unsigned char cost)
  {
    setValue(x, y, cost);
  }

  inline void setCost(const nav_grid::Index& index, const unsigned char cost)
  {
    setValue(index, cost);
  }

  virtual void update() {}

  using mutex_t = boost::recursive_mutex;
  virtual mutex_t* getMutex() = 0;

  virtual bool canTrackChanges() { return false; }

  virtual UIntBounds getChangeBounds(const std::string& ns)
  {
    if (!canTrackChanges())
    {
      throw std::runtime_error("You called 'getChangeBounds()' on a derived Costmap type that is not capable of "
                               "tracking changes (i.e. canTrackChanges() returns false). You shouldn't do that.");
    }
    else
    {
      throw std::runtime_error("You called 'getChangeBounds()' on a derived Costmap type that is capable of tracking "
                               "changes but has not properly implemented this function. You should yell at the author "
                               "of the derived Costmap.");
    }
    return UIntBounds();
  }
};
}  // namespace nav_core2

#endif  // NAV_CORE2_COSTMAP_H