distance_field.h

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/* Author: Mrinal Kalakrishnan, Ken Anderson, E. Gil Jones */

#ifndef MOVEIT_DISTANCE_FIELD_DISTANCE_FIELD_H
#define MOVEIT_DISTANCE_FIELD_DISTANCE_FIELD_H

#include <moveit/macros/class_forward.h>
#include <moveit/distance_field/voxel_grid.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <eigen_stl_containers/eigen_stl_containers.h>
#include <moveit/macros/class_forward.h>

namespace shapes
{
MOVEIT_CLASS_FORWARD(Shape);  // Defines ShapePtr, ConstPtr, WeakPtr... etc
}
namespace octomap
{
class OcTree;
}

namespace distance_field
{
enum PlaneVisualizationType
{
  XYPlane,
  XZPlane,
  YZPlane
};

MOVEIT_CLASS_FORWARD(DistanceField);  // Defines DistanceFieldPtr, ConstPtr, WeakPtr... etc

class DistanceField
{
public:
  DistanceField(double size_x, double size_y, double size_z, double resolution, double origin_x, double origin_y,
                double origin_z);

  virtual ~DistanceField();

  virtual void addPointsToField(const EigenSTL::vector_Vector3d& points) = 0;

  virtual void removePointsFromField(const EigenSTL::vector_Vector3d& points) = 0;

  virtual void updatePointsInField(const EigenSTL::vector_Vector3d& old_points,
                                   const EigenSTL::vector_Vector3d& new_points) = 0;

  bool getShapePoints(const shapes::Shape* shape, const Eigen::Isometry3d& pose, EigenSTL::vector_Vector3d* points);

  void addShapeToField(const shapes::Shape* shape, const Eigen::Isometry3d& pose);

  // DEPRECATED form
  [[deprecated]] void addShapeToField(const shapes::Shape* shape, const geometry_msgs::Pose& pose);

  void addOcTreeToField(const octomap::OcTree* octree);

  void moveShapeInField(const shapes::Shape* shape, const Eigen::Isometry3d& old_pose,
                        const Eigen::Isometry3d& new_pose);

  // DEPRECATED form
  [[deprecated]] void moveShapeInField(const shapes::Shape* shape, const geometry_msgs::Pose& old_pose,
                                       const geometry_msgs::Pose& new_pose);

  void removeShapeFromField(const shapes::Shape* shape, const Eigen::Isometry3d& pose);

  // DEPRECATED form
  [[deprecated]] void removeShapeFromField(const shapes::Shape* shape, const geometry_msgs::Pose& pose);

  virtual void reset() = 0;

  virtual double getDistance(double x, double y, double z) const = 0;

  double getDistanceGradient(double x, double y, double z, double& gradient_x, double& gradient_y, double& gradient_z,
                             bool& in_bounds) const;
  virtual double getDistance(int x, int y, int z) const = 0;

  virtual bool isCellValid(int x, int y, int z) const = 0;

  virtual int getXNumCells() const = 0;

  virtual int getYNumCells() const = 0;

  virtual int getZNumCells() const = 0;

  virtual bool gridToWorld(int x, int y, int z, double& world_x, double& world_y, double& world_z) const = 0;

  virtual bool worldToGrid(double world_x, double world_y, double world_z, int& x, int& y, int& z) const = 0;

  virtual bool writeToStream(std::ostream& stream) const = 0;

  virtual bool readFromStream(std::istream& stream) = 0;

  void getIsoSurfaceMarkers(double min_distance, double max_distance, const std::string& frame_id,
                            const ros::Time stamp, visualization_msgs::Marker& marker) const;

  void getGradientMarkers(double min_radius, double max_radius, const std::string& frame_id, const ros::Time& stamp,
                          visualization_msgs::MarkerArray& marker_array) const;

  void getPlaneMarkers(PlaneVisualizationType type, double length, double width, double height,
                       const Eigen::Vector3d& origin, const std::string& frame_id, const ros::Time stamp,
                       visualization_msgs::Marker& marker) const;
  void getProjectionPlanes(const std::string& frame_id, const ros::Time& stamp, double max_distance,
                           visualization_msgs::Marker& marker) const;

  double getSizeX() const
  {
    return size_x_;
  }

  double getSizeY() const
  {
    return size_y_;
  }

  double getSizeZ() const
  {
    return size_z_;
  }

  double getOriginX() const
  {
    return origin_x_;
  }

  double getOriginY() const
  {
    return origin_y_;
  }

  double getOriginZ() const
  {
    return origin_z_;
  }

  double getResolution() const
  {
    return resolution_;
  }

  virtual double getUninitializedDistance() const = 0;

protected:
  void getOcTreePoints(const octomap::OcTree* octree, EigenSTL::vector_Vector3d* points);

  void setPoint(int xCell, int yCell, int zCell, double dist, geometry_msgs::Point& point, std_msgs::ColorRGBA& color,
                double max_distance) const;

  double size_x_;            
  double size_y_;            
  double size_z_;            
  double origin_x_;          
  double origin_y_;          
  double origin_z_;          
  double resolution_;        
  int inv_twice_resolution_; 
};

}  // namespace distance_field

#endif  // MOVEIT_DISTANCE_FIELD_DISTANCE_FIELD_H