pong.cpp

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/*
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 *  Copyright (c) 2020, Locus Robotics
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#include <nav_grid/vector_nav_grid.h>
#include <nav_grid_iterators/circle_fill.h>
#include <nav_grid_pub_sub/nav_grid_publisher.h>
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "pong");
  ros::NodeHandle nh("~");
  nav_grid::VectorNavGrid<double> grid;
  nav_grid::NavGridInfo info;
 
  int size = 100;
  nh.param("size", size, size);
  info.width = size * 2;
  info.height = size;
  info.resolution = 0.1;
  grid.setInfo(info);
 
  double radius = 4.0;
  nh.param("radius", radius, radius);
  radius *= info.resolution;
 
  double x = 0.0, y = size * info.resolution / 3;
  double dx = info.resolution, dy = info.resolution;
  double counter = 1.0;
 
  double max_x = info.resolution * info.width;
  double max_y = info.resolution * info.height;
 
  bool publish_updates = true;
  nh.param("updates", publish_updates, publish_updates);
 
  nav_grid_pub_sub::ScaleGridPublisher<double> pub(grid);
  pub.init(nh);
 
  ros::Rate r(33);
 
  while (ros::ok())
  {
    nav_core2::UIntBounds bounds;
    for (const nav_grid::Index& i : nav_grid_iterators::CircleFill(&info, x, y, radius))
    {
      grid.setValue(i, counter);
      bounds.touch(i.x, i.y);
    }
    counter += 1.0;
    x += dx;
    y += dy;
    if (x > max_x || x < 0.0) dx *= -1;
    if (y > max_y || y < 0.0) dy *= -1;
    if (publish_updates)
        pub.publish(bounds);
    else
        pub.publish();
    r.sleep();
    ros::spinOnce();
  }
 
  return 0;
}