costmap_bbf.h

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/*
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#ifndef PLANNER_CSPACE_PLANNER_3D_COSTMAP_BBF_H
#define PLANNER_CSPACE_PLANNER_3D_COSTMAP_BBF_H
 
#include <functional>
#include <memory>
 
#include <planner_cspace/bbf.h>
#include <planner_cspace/blockmem_gridmap.h>
 
namespace planner_cspace
{
namespace planner_3d
{
class CostmapBBF
{
public:
  using Vec = CyclicVecInt<3, 2>;
  using Ptr = std::shared_ptr<CostmapBBF>;
  using ConstPtr = std::shared_ptr<const CostmapBBF>;
 
  virtual void reset(const Vec& size) = 0;
  virtual void clear() = 0;
  virtual char getCost(const Vec& p) const = 0;
  virtual void remember(
      const BlockMemGridmapBase<char, 3, 2>* const costmap,
      const Vec& center,
      const float remember_hit_odds, const float remember_miss_odds,
      const int range_min, const int range_max) = 0;
  virtual void updateCostmap() = 0;
  virtual void forEach(const std::function<void(const Vec&, bbf::BinaryBayesFilter&)> cb) = 0;
};
 
class CostmapBBFImpl : public CostmapBBF
{
private:
  using VecInternal = CyclicVecInt<2, 2>;
  BlockMemGridmap<bbf::BinaryBayesFilter, 2, 2, 0x20> cm_hist_bbf_;
  BlockMemGridmap<char, 2, 2, 0x80> cm_hist_;
  Vec size_;
  VecInternal updated_min_;
  VecInternal updated_max_;
 
public:
  inline CostmapBBFImpl()
    : size_(0, 0, 0)
  {
  }
  inline void reset(const Vec& size)
  {
    size_ = size;
    cm_hist_bbf_.reset(VecInternal(size[0], size[1]));
    cm_hist_.reset(VecInternal(size[0], size[1]));
    clear();
  }
  inline void clear()
  {
    cm_hist_bbf_.clear(bbf::BinaryBayesFilter(bbf::MIN_ODDS));
    cm_hist_.clear(0);
    updated_min_ = VecInternal(0, 0);
    updated_max_ = VecInternal(size_[0] - 1, size_[1] - 1);
  }
  inline char getCost(const Vec& p) const
  {
    return cm_hist_[VecInternal(p[0], p[1])];
  }
 
  void remember(
      const BlockMemGridmapBase<char, 3, 2>* const costmap,
      const Vec& center,
      const float remember_hit_odds, const float remember_miss_odds,
      const int range_min, const int range_max);
  void updateCostmap();
  void forEach(const std::function<void(const Vec&, bbf::BinaryBayesFilter&)> cb);
};
 
class CostmapBBFNoOp : public CostmapBBF
{
public:
  inline void reset(const Vec& size)
  {
  }
  inline void clear()
  {
  }
  inline char getCost(const Vec& p) const
  {
    return 0;
  }
  inline void remember(
      const BlockMemGridmapBase<char, 3, 2>* const costmap,
      const Vec& center,
      const float remember_hit_odds, const float remember_miss_odds,
      const int range_min, const int range_max)
  {
  }
  inline void updateCostmap()
  {
  }
  inline void forEach(const std::function<void(const Vec&, bbf::BinaryBayesFilter&)> cb)
  {
  }
};
 
}  // namespace planner_3d
}  // namespace planner_cspace
 
#endif  // PLANNER_CSPACE_PLANNER_3D_COSTMAP_BBF_H