distance_map_utils.h

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/*
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#ifndef PLANNER_CSPACE_DISTANCE_MAP_UTILS_H
#define PLANNER_CSPACE_DISTANCE_MAP_UTILS_H
 
#include <limits>
#include <string>
 
#include <planner_cspace/grid_astar.h>
#include <planner_cspace/planner_3d/distance_map.h>
#include <planner_cspace/planner_3d/grid_astar_model.h>
 
namespace planner_cspace
{
namespace planner_3d
{
using Astar = GridAstar<3, 2>;
 
namespace
{
inline std::string xyStr(const float x, const float y)
{
  return "(" + std::to_string(x) + ", " + std::to_string(y) + ")";
}
 
inline void debugOutput(
    const DistanceMap& dm,
    const Astar::Gridmap<char, 0x80>& cm_rough,
    const Astar::Vec& s, const Astar::Vec& e)
{
  for (int y = 0; y < cm_rough.size()[1]; y++)
  {
    for (int x = 0; x < cm_rough.size()[0]; x++)
    {
      const Astar::Vec pos(x, y, 0);
      const float d = dm[pos];
 
      const char type = (pos == s ? 's' : (pos == e ? 'e' : ' '));
      if (d == std::numeric_limits<float>::max())
      {
        fprintf(stderr, "xxx%c ", type);
        continue;
      }
      else if (cm_rough[pos] == 100)
      {
        fprintf(stderr, "***%c ", type);
        continue;
      }
      fprintf(stderr, "%3.1f%c ", d, type);
    }
    fprintf(stderr, "\n");
  }
  for (int x = 0; x < cm_rough.size()[0]; x++)
  {
    fprintf(stderr, "---- ");
  }
  fprintf(stderr, "\n");
}
}  // namespace
}  // namespace planner_3d
}  // namespace planner_cspace
 
#endif  // PLANNER_CSPACE_DISTANCE_MAP_UTILS_H