map_grid_visualizer.cpp

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#include <map_grid_visualizer.h>
#include <map_cell.h>
#include <vector>

namespace iri_ackermann_local_planner {
  MapGridVisualizer::MapGridVisualizer() {}


  void MapGridVisualizer::initialize(const std::string& name,const costmap_2d::Costmap2D * costmap, boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function) {
    name_ = name;
    costmap_p_ = costmap;
    cost_function_ = cost_function;

    ns_nh_ = ros::NodeHandle("~/" + name_);
    ns_nh_.param("publish_cost_grid_pc", publish_cost_grid_pc_, true);
    ns_nh_.param("global_frame_id", frame_id_, std::string("odom"));

    cost_cloud_.header.frame_id = frame_id_;
    pub_.advertise(ns_nh_, "cost_cloud", 1);
  }

  void MapGridVisualizer::publishCostCloud() {
    if(publish_cost_grid_pc_) {
      unsigned int x_size = costmap_p_->getSizeInCellsX();
      unsigned int y_size = costmap_p_->getSizeInCellsY();
      double z_coord = 0.0;
      double x_coord, y_coord;
      MapGridCostPoint pt;
      cost_cloud_.points.clear();
      cost_cloud_.header.stamp = ros::Time::now();
      float path_cost, goal_cost, occ_cost, total_cost;
      for (unsigned int cx = 0; cx < x_size; cx++) {
        for(unsigned int cy = 0; cy < y_size; cy++) {
          costmap_p_->mapToWorld(cx, cy, x_coord, y_coord);
          if(cost_function_(cx, cy, path_cost, goal_cost, occ_cost, total_cost)) {
            pt.x = x_coord;
            pt.y = y_coord;
            pt.z = z_coord;
            pt.path_cost = path_cost;
            pt.goal_cost = goal_cost;
            pt.occ_cost = occ_cost;
            pt.total_cost = total_cost;
            cost_cloud_.push_back(pt);
          }
        }
      }
      pub_.publish(cost_cloud_);
      ROS_DEBUG("Cost PointCloud published");
    }
  }
};