Program Listing for File dynamicEDTOctomap.h

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/*
 * Copyright (c) 2011-2012, C. Sprunk, B. Lau, W. Burgard, University of Freiburg
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Freiburg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef DYNAMICEDTOCTOMAP_H_
#define DYNAMICEDTOCTOMAP_H_

#include "dynamicEDT3D.h"
#include <octomap/OcTree.h>
#include <octomap/OcTreeStamped.h>

template <class TREE>
class DynamicEDTOctomapBase: private DynamicEDT3D {
public:
    DynamicEDTOctomapBase(float maxdist, TREE* _octree, octomap::point3d bbxMin, octomap::point3d bbxMax, bool treatUnknownAsOccupied);

    virtual ~DynamicEDTOctomapBase();

    virtual void update(bool updateRealDist=true);

    void getDistanceAndClosestObstacle(const octomap::point3d& p, float &distance, octomap::point3d& closestObstacle) const;

    float getDistance(const octomap::point3d& p) const;

    float getDistance(const octomap::OcTreeKey& k) const;

    int getSquaredDistanceInCells(const octomap::point3d& p) const;

    //variant of getDistanceAndClosestObstacle that ommits the check whether p is inside the area of the distance map. Use only if you are certain that p is covered by the distance map and if you need to save the time of the check.
    void getDistanceAndClosestObstacle_unsafe(const octomap::point3d& p, float &distance, octomap::point3d& closestObstacle) const;

    //variant of getDistance that ommits the check whether p is inside the area of the distance map. Use only if you are certain that p is covered by the distance map and if you need to save the time of the check.
    float getDistance_unsafe(const octomap::point3d& p) const;

    //variant of getDistance that ommits the check whether p is inside the area of the distance map. Use only if you are certain that p is covered by the distance map and if you need to save the time of the check.
    float getDistance_unsafe(const octomap::OcTreeKey& k) const;

    //variant of getSquaredDistanceInCells that ommits the check whether p is inside the area of the distance map. Use only if you are certain that p is covered by the distance map and if you need to save the time of the check.
    int getSquaredDistanceInCells_unsafe(const octomap::point3d& p) const;

    float getMaxDist() const {
      return maxDist*octree->getResolution();
    }

    int getSquaredMaxDistCells() const {
      return maxDist_squared;
    }

    bool checkConsistency() const;

    static float distanceValue_Error;
    static int distanceInCellsValue_Error;

private:
    void initializeOcTree(octomap::point3d bbxMin, octomap::point3d bbxMax);
    void insertMaxDepthLeafAtInitialize(octomap::OcTreeKey key);
    void updateMaxDepthLeaf(octomap::OcTreeKey& key, bool occupied);

    void worldToMap(const octomap::point3d &p, int &x, int &y, int &z) const;
    void mapToWorld(int x, int y, int z, octomap::point3d &p) const;
    void mapToWorld(int x, int y, int z, octomap::OcTreeKey &key) const;

    TREE* octree;
    bool unknownOccupied;
    int treeDepth;
    double treeResolution;
    octomap::OcTreeKey boundingBoxMinKey;
    octomap::OcTreeKey boundingBoxMaxKey;
    int offsetX, offsetY, offsetZ;
};

typedef DynamicEDTOctomapBase<octomap::OcTree> DynamicEDTOctomap;
typedef DynamicEDTOctomapBase<octomap::OcTreeStamped> DynamicEDTOctomapStamped;

#include "dynamicEDTOctomap.hxx"

#endif /* DYNAMICEDTOCTOMAP_H_ */