base.h

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/*
 * Copyright (c) 2014-2018, the neonavigation authors
 * All rights reserved.
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#ifndef COSTMAP_CSPACE_COSTMAP_3D_LAYER_BASE_H
#define COSTMAP_CSPACE_COSTMAP_3D_LAYER_BASE_H
 
#include <algorithm>
#include <cmath>
#include <map>
#include <memory>
#include <string>
 
#include <ros/ros.h>
 
#include <geometry_msgs/PolygonStamped.h>
#include <nav_msgs/OccupancyGrid.h>
 
#include <costmap_cspace_msgs/CSpace3D.h>
#include <costmap_cspace_msgs/CSpace3DUpdate.h>
 
namespace costmap_cspace
{
class CSpace3DMsg : public costmap_cspace_msgs::CSpace3D
{
public:
  using Ptr = std::shared_ptr<CSpace3DMsg>;
  using ConstPtr = std::shared_ptr<const CSpace3DMsg>;
  size_t address(const int& x, const int& y, const int& yaw) const
  {
    return (yaw * info.height + y) * info.width + x;
  }
  const int8_t& getCost(const int& x, const int& y, const int& yaw) const
  {
    ROS_ASSERT(static_cast<size_t>(yaw) < info.angle);
    ROS_ASSERT(static_cast<size_t>(x) < info.width);
    ROS_ASSERT(static_cast<size_t>(y) < info.height);
 
    const size_t addr = address(x, y, yaw);
    ROS_ASSERT(addr < data.size());
 
    return data[addr];
  }
  int8_t& getCost(const int& x, const int& y, const int& yaw)
  {
    ROS_ASSERT(static_cast<size_t>(yaw) < info.angle);
    ROS_ASSERT(static_cast<size_t>(x) < info.width);
    ROS_ASSERT(static_cast<size_t>(y) < info.height);
 
    const size_t addr = address(x, y, yaw);
    ROS_ASSERT(addr < data.size());
 
    return data[addr];
  }
  static void copyCells(CSpace3DMsg& to, const int& to_x, const int& to_y, const int& to_yaw,
                        const CSpace3DMsg& from, const int& from_x, const int& from_y, const int& from_yaw,
                        const int& copy_cell_num)
  {
    std::memcpy(to.data.data() + to.address(to_x, to_y, to_yaw),
                from.data.data() + from.address(from_x, from_y, from_yaw), copy_cell_num * sizeof(int8_t));
  }
  static void copyCells(costmap_cspace_msgs::CSpace3DUpdate& to, const int& to_x, const int& to_y, const int& to_yaw,
                        const CSpace3DMsg& from, const int& from_x, const int& from_y, const int& from_yaw,
                        const int& copy_cell_num)
  {
    std::memcpy(to.data.data() + (to_yaw * to.height + to_y) * to.width + to_x,
                from.data.data() + from.address(from_x, from_y, from_yaw), copy_cell_num * sizeof(int8_t));
  }
};
 
enum MapOverlayMode
{
  OVERWRITE,
  MAX
};
 
class UpdatedRegion
{
public:
  int x_, y_, yaw_;
  int width_, height_, angle_;
  ros::Time stamp_;
 
  UpdatedRegion()
    : x_(0)
    , y_(0)
    , yaw_(0)
    , width_(0)
    , height_(0)
    , angle_(0)
    , stamp_(0)
  {
  }
  UpdatedRegion(
      const int& x, const int& y, const int& yaw,
      const int& width, const int& height, const int& angle,
      const ros::Time& stamp = ros::Time())
    : x_(x)
    , y_(y)
    , yaw_(yaw)
    , width_(width)
    , height_(height)
    , angle_(angle)
    , stamp_(stamp)
  {
  }
  void merge(const UpdatedRegion& region)
  {
    if (region.width_ == 0 || region.height_ == 0 || region.angle_ == 0)
      return;
    if (region.stamp_ > stamp_)
      stamp_ = region.stamp_;
 
    if (width_ == 0 || height_ == 0 || angle_ == 0)
    {
      *this = region;
      return;
    }
    int x2 = x_ + width_;
    int y2 = y_ + height_;
    int yaw2 = yaw_ + angle_;
 
    const int mx2 = region.x_ + region.width_;
    const int my2 = region.y_ + region.height_;
    const int myaw2 = region.yaw_ + region.angle_;
 
    if (region.x_ < x_)
      x_ = region.x_;
    if (region.y_ < y_)
      y_ = region.y_;
    if (region.yaw_ < yaw_)
      yaw_ = region.yaw_;
 
    if (x2 < mx2)
      x2 = mx2;
    if (y2 < my2)
      y2 = my2;
    if (yaw2 < myaw2)
      yaw2 = myaw2;
 
    width_ = x2 - x_;
    height_ = y2 - y_;
    angle_ = yaw2 - yaw_;
  }
  void expand(const int& ex)
  {
    ROS_ASSERT(ex >= 0);
    x_ -= ex;
    y_ -= ex;
    width_ += 2 * ex;
    height_ += 2 * ex;
  }
  void normalize(const int full_width, const int full_height)
  {
    int update_x = x_;
    int update_y = y_;
    int update_width = width_;
    int update_height = height_;
    if (update_x < 0)
    {
      update_width += update_x;
      update_x = 0;
    }
    if (update_y < 0)
    {
      update_height += update_y;
      update_y = 0;
    }
    if (update_x + update_width > full_width)
    {
      update_width = full_width - update_x;
    }
    if (update_y + update_height > full_height)
    {
      update_height = full_height - update_y;
    }
    if (update_width < 0)
    {
      update_width = 0;
    }
    if (update_height < 0)
    {
      update_height = 0;
    }
 
    x_ = update_x;
    y_ = update_y;
    width_ = update_width;
    height_ = update_height;
  }
  void bitblt(const CSpace3DMsg::Ptr& dest, const CSpace3DMsg::ConstPtr& src)
  {
    ROS_ASSERT(dest->info.angle == src->info.angle);
    ROS_ASSERT(dest->info.width == src->info.width);
    ROS_ASSERT(dest->info.height == src->info.height);
 
    normalize(src->info.width, src->info.height);
    if (width_ == 0 || height_ == 0)
      return;
 
    const size_t copy_length =
        std::min<size_t>(width_, src->info.width - x_) *
        sizeof(src->data[0]);
    for (
        size_t a = yaw_;
        static_cast<int>(a) < yaw_ + angle_ && a < src->info.angle;
        ++a)
    {
      auto dest_pos = &dest->data[dest->address(x_, y_, a)];
      auto src_pos = &src->data[src->address(x_, y_, a)];
      const auto dest_stride = dest->info.width * sizeof(dest->data[0]);
      const auto src_stride = src->info.width * sizeof(src->data[0]);
      for (
          size_t y = y_;
          static_cast<int>(y) < y_ + height_ && y < src->info.height;
          ++y)
      {
        memcpy(
            dest_pos, src_pos, copy_length);
        src_pos += src_stride;
        dest_pos += dest_stride;
      }
    }
  }
};
 
class Costmap3dLayerBase
{
public:
  using Ptr = std::shared_ptr<Costmap3dLayerBase>;
 
protected:
  int ang_grid_;
  MapOverlayMode overlay_mode_;
  bool root_;
 
  CSpace3DMsg::Ptr map_;
  CSpace3DMsg::Ptr map_overlay_;
 
  Costmap3dLayerBase::Ptr child_;
  UpdatedRegion region_;
  UpdatedRegion region_prev_;
  nav_msgs::OccupancyGrid::ConstPtr map_updated_;
 
public:
  Costmap3dLayerBase()
    : ang_grid_(-1)
    , overlay_mode_(MapOverlayMode::MAX)
    , root_(true)
    , map_(new CSpace3DMsg)
    , map_overlay_(new CSpace3DMsg)
  {
  }
 
  virtual void loadConfig(XmlRpc::XmlRpcValue config) = 0;
  virtual void setMapMetaData(const costmap_cspace_msgs::MapMetaData3D& info) = 0;
 
  void setAngleResolution(
      const int ang_resolution)
  {
    ang_grid_ = ang_resolution;
  }
  void setOverlayMode(
      const MapOverlayMode overlay_mode)
  {
    overlay_mode_ = overlay_mode;
  }
  void setChild(Costmap3dLayerBase::Ptr child)
  {
    child_ = child;
    child_->setMap(getMapOverlay());
    child_->root_ = false;
  }
  void setBaseMap(const nav_msgs::OccupancyGrid::ConstPtr& base_map)
  {
    ROS_ASSERT(root_);
    ROS_ASSERT(ang_grid_ > 0);
    ROS_ASSERT(base_map->data.size() >= base_map->info.width * base_map->info.height);
 
    const size_t xy_size = base_map->info.width * base_map->info.height;
    map_->header = base_map->header;
    map_->info.width = base_map->info.width;
    map_->info.height = base_map->info.height;
    map_->info.angle = ang_grid_;
    map_->info.linear_resolution = base_map->info.resolution;
    map_->info.angular_resolution = 2.0 * M_PI / ang_grid_;
    map_->info.origin = base_map->info.origin;
    map_->data.resize(xy_size * map_->info.angle);
 
    setMapMetaData(map_->info);
 
    for (size_t yaw = 0; yaw < map_->info.angle; yaw++)
    {
      for (unsigned int i = 0; i < xy_size; i++)
      {
        map_->data[i + yaw * xy_size] = -1;
      }
    }
    updateCSpace(
        base_map,
        UpdatedRegion(
            0, 0, 0,
            map_->info.width, map_->info.height, map_->info.angle,
            map_->header.stamp));
    for (size_t yaw = 0; yaw < map_->info.angle; yaw++)
    {
      for (unsigned int i = 0; i < xy_size; i++)
      {
        if (base_map->data[i] < 0)
        {
          map_->data[i + yaw * xy_size] = -1;
        }
      }
    }
    *map_overlay_ = *map_;
    if (child_)
      child_->setBaseMapChain();
 
    updateChainEntry(
        UpdatedRegion(
            0, 0, 0, map_->info.width, map_->info.height, map_->info.angle,
            base_map->header.stamp));
  }
  void processMapOverlay(const nav_msgs::OccupancyGrid::ConstPtr& msg, const bool update_chain_entry)
  {
    ROS_ASSERT(!root_);
    ROS_ASSERT(ang_grid_ > 0);
    const int ox =
        std::lround((msg->info.origin.position.x - map_->info.origin.position.x) /
                    map_->info.linear_resolution);
    const int oy =
        std::lround((msg->info.origin.position.y - map_->info.origin.position.y) /
                    map_->info.linear_resolution);
 
    const int w =
        std::lround(msg->info.width * msg->info.resolution / map_->info.linear_resolution);
    const int h =
        std::lround(msg->info.height * msg->info.resolution / map_->info.linear_resolution);
 
    map_updated_ = msg;
 
    region_ = UpdatedRegion(ox, oy, 0, w, h, map_->info.angle, msg->header.stamp);
 
    if (update_chain_entry)
    {
      updateChainEntry(UpdatedRegion(ox, oy, 0, w, h, map_->info.angle, msg->header.stamp));
    }
    else
    {
      ROS_DEBUG("update_chain_entry execution has been avoided.");
    }
  }
  CSpace3DMsg::Ptr getMap()
  {
    return map_;
  }
  void setMap(CSpace3DMsg::Ptr map)
  {
    map_ = map;
  }
  CSpace3DMsg::Ptr getMapOverlay()
  {
    return map_overlay_;
  }
  int getAngularGrid() const
  {
    return ang_grid_;
  }
 
protected:
  virtual bool updateChain(const bool output) = 0;
  virtual void updateCSpace(
      const nav_msgs::OccupancyGrid::ConstPtr& map,
      const UpdatedRegion& region) = 0;
  virtual int getRangeMax() const = 0;
 
  bool updateChainEntry(const UpdatedRegion& region, bool output = true)
  {
    region_.merge(region);
    region_.normalize(map_->info.width, map_->info.height);
 
    auto region_prev_now = region_;
    region_prev_now.merge(region_prev_);
    region_prev_ = region_;
 
    region_prev_now.bitblt(map_overlay_, map_);
    if (map_updated_)
    {
      if (map_->header.frame_id == map_updated_->header.frame_id)
      {
        updateCSpace(map_updated_, region_);
      }
      else
      {
        ROS_ERROR("map and map_overlay must have same frame_id. skipping");
      }
    }
 
    if (updateChain(output))
      output = false;
 
    if (child_)
    {
      return child_->updateChainEntry(region_, output);
    }
    return false;
  }
  void setBaseMapChain()
  {
    setMapMetaData(map_->info);
    *map_overlay_ = *map_;
    if (child_)
      child_->setBaseMapChain();
  }
};
}  // namespace costmap_cspace
 
#endif  // COSTMAP_CSPACE_COSTMAP_3D_LAYER_BASE_H