voxel_grid_model.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2008, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of the Willow Garage nor the names of its
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00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef TRAJECTORY_ROLLOUT_VOXEL_WORLD_MODEL_H_
00038 #define TRAJECTORY_ROLLOUT_VOXEL_WORLD_MODEL_H_
00039 #include <vector>
00040 #include <list>
00041 #include <cfloat>
00042 #include <geometry_msgs/Point32.h>
00043 #include <costmap_2d/observation.h>
00044 #include <base_local_planner/world_model.h>
00045 
00046 #include <pcl/point_types.h>
00047 #include <pcl/point_cloud.h>
00048 
00049 //voxel grid stuff
00050 #include <voxel_grid/voxel_grid.h>
00051 
00052 namespace base_local_planner {
00058   class VoxelGridModel : public WorldModel {
00059     public:
00073       VoxelGridModel(double size_x, double size_y, double size_z, double xy_resolution, double z_resolution,
00074           double origin_x, double origin_y, double origin_z, double max_z, double obstacle_range);
00075 
00079       virtual ~VoxelGridModel(){}
00080 
00089       virtual double footprintCost(const geometry_msgs::Point& position, const std::vector<geometry_msgs::Point>& footprint,
00090           double inscribed_radius, double circumscribed_radius);
00091 
00098       void updateWorld(const std::vector<geometry_msgs::Point>& footprint,
00099           const std::vector<costmap_2d::Observation>& observations, const std::vector<PlanarLaserScan>& laser_scans);
00100 
00101       void getPoints(pcl::PointCloud<pcl::PointXYZ>& cloud);
00102 
00103     private:
00112       double lineCost(int x0, int x1, int y0, int y1);
00113 
00120       double pointCost(int x, int y);
00121 
00122       void removePointsInScanBoundry(const PlanarLaserScan& laser_scan, double raytrace_range);
00123 
00124       inline bool worldToMap3D(double wx, double wy, double wz, unsigned int& mx, unsigned int& my, unsigned int& mz){
00125         if(wx < origin_x_ || wy < origin_y_ || wz < origin_z_)
00126           return false;
00127         mx = (int) ((wx - origin_x_) / xy_resolution_);
00128         my = (int) ((wy - origin_y_) / xy_resolution_);
00129         mz = (int) ((wz - origin_z_) / z_resolution_);
00130         return true;
00131       }
00132 
00133       inline bool worldToMap2D(double wx, double wy, unsigned int& mx, unsigned int& my){
00134         if(wx < origin_x_ || wy < origin_y_)
00135           return false;
00136         mx = (int) ((wx - origin_x_) / xy_resolution_);
00137         my = (int) ((wy - origin_y_) / xy_resolution_);
00138         return true;
00139       }
00140 
00141       inline void mapToWorld3D(unsigned int mx, unsigned int my, unsigned int mz, double& wx, double& wy, double& wz){
00142         //returns the center point of the cell
00143         wx = origin_x_ + (mx + 0.5) * xy_resolution_;
00144         wy = origin_y_ + (my + 0.5) * xy_resolution_;
00145         wz = origin_z_ + (mz + 0.5) * z_resolution_;
00146       }
00147 
00148       inline void mapToWorld2D(unsigned int mx, unsigned int my, double& wx, double& wy){
00149         //returns the center point of the cell
00150         wx = origin_x_ + (mx + 0.5) * xy_resolution_;
00151         wy = origin_y_ + (my + 0.5) * xy_resolution_;
00152       }
00153 
00154       inline double dist(double x0, double y0, double z0, double x1, double y1, double z1){
00155         return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0));
00156       }
00157 
00158       inline void insert(pcl::PointXYZ pt){
00159         unsigned int cell_x, cell_y, cell_z;
00160         if(!worldToMap3D(pt.x, pt.y, pt.z, cell_x, cell_y, cell_z))
00161           return;
00162         obstacle_grid_.markVoxel(cell_x, cell_y, cell_z);
00163       }
00164 
00165       voxel_grid::VoxelGrid obstacle_grid_;
00166       double xy_resolution_;
00167       double z_resolution_;
00168       double origin_x_;
00169       double origin_y_;
00170       double origin_z_;
00171       double max_z_;  
00172       double sq_obstacle_range_;  
00173 
00174   };
00175 };
00176 #endif
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bipedRobinBase_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko
autogenerated on Wed Oct 9 2013 10:07:14