cost_interpreter.h

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#ifndef DLUX_GLOBAL_PLANNER_COST_INTERPRETER_H
#define DLUX_GLOBAL_PLANNER_COST_INTERPRETER_H
#include <nav_core2/costmap.h>
#include <ros/node_handle.h>
#include <array>
#include <memory>
 
namespace dlux_global_planner
{
enum struct UnknownInterpretation { LETHAL, EXPENSIVE, FREE };
const unsigned char LETHAL_COST = nav_core2::Costmap::INSCRIBED_INFLATED_OBSTACLE;
const float LETHAL_COST_F = static_cast<float>(LETHAL_COST);
 
class CostInterpreter
{
public:
  void initialize(ros::NodeHandle& nh, nav_core2::Costmap::Ptr costmap);
  void setConfiguration(const unsigned char neutral_cost, const float scale, const UnknownInterpretation mode);
 
  inline unsigned char getNeutralCost() const { return neutral_cost_; }
 
  inline float interpretCost(const unsigned char cost) const
  {
    return cached_costs_[cost];
  }
 
  inline float getCost(const unsigned int x, const unsigned int y) const
  {
    return interpretCost(costmap_->operator()(x, y));
  }
 
  inline bool isLethal(const float cost) const
  {
    return cost >= LETHAL_COST_F;
  }
 
  typedef std::shared_ptr<CostInterpreter> Ptr;
 
protected:
  std::array<float, 256> cached_costs_;
  unsigned char neutral_cost_;
 
  nav_core2::Costmap::Ptr costmap_;
};
}  // namespace dlux_global_planner
 
#endif  // DLUX_GLOBAL_PLANNER_COST_INTERPRETER_H