map_grid.h

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#ifndef TRAJECTORY_ROLLOUT_MAP_GRID_H_
#define TRAJECTORY_ROLLOUT_MAP_GRID_H_
 
#include <vector>
#include <iostream>
#include <base_local_planner/trajectory_inc.h>
#include <ros/console.h>
#include <ros/ros.h>
 
#include <base_local_planner/map_cell.h>
#include <costmap_2d/costmap_2d.h>
#include <geometry_msgs/PoseStamped.h>
 
namespace base_local_planner{
  class MapGrid{
    public:
      MapGrid();
 
      MapGrid(unsigned int size_x, unsigned int size_y);
 
 
      inline MapCell& operator() (unsigned int x, unsigned int y){
        return map_[size_x_ * y + x];
      }
 
      inline MapCell operator() (unsigned int x, unsigned int y) const {
        return map_[size_x_ * y + x];
      }
 
      inline MapCell& getCell(unsigned int x, unsigned int y){
        return map_[size_x_ * y + x];
      }
 
      ~MapGrid(){}
 
      MapGrid(const MapGrid& mg);
 
      MapGrid& operator= (const MapGrid& mg);
 
      void resetPathDist();
 
      void sizeCheck(unsigned int size_x, unsigned int size_y);
 
      void commonInit();
 
      size_t getIndex(int x, int y);
 
      inline double obstacleCosts() {
        return map_.size();
      }
 
      inline double unreachableCellCosts() {
        return map_.size() + 1;
      }
 
      inline bool updatePathCell(MapCell* current_cell, MapCell* check_cell,
          const costmap_2d::Costmap2D& costmap);
 
      static void adjustPlanResolution(const std::vector<geometry_msgs::PoseStamped>& global_plan_in,
            std::vector<geometry_msgs::PoseStamped>& global_plan_out, double resolution);
 
      void computeTargetDistance(std::queue<MapCell*>& dist_queue, const costmap_2d::Costmap2D& costmap);
 
      void computeGoalDistance(std::queue<MapCell*>& dist_queue, const costmap_2d::Costmap2D& costmap);
 
      void setTargetCells(const costmap_2d::Costmap2D& costmap, const std::vector<geometry_msgs::PoseStamped>& global_plan);
 
      void setLocalGoal(const costmap_2d::Costmap2D& costmap,
            const std::vector<geometry_msgs::PoseStamped>& global_plan);
 
      double goal_x_, goal_y_; 
      unsigned int size_x_, size_y_; 
 
    private:
 
      std::vector<MapCell> map_; 
 
  };
};
 
#endif