costmap_2d_ros.h

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#ifndef COSTMAP_COSTMAP_2D_ROS_H_
#define COSTMAP_COSTMAP_2D_ROS_H_

#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/layer.h>
#include <costmap_2d/costmap_2d_publisher.h>
#include <costmap_2d/Costmap2DConfig.h>
#include <costmap_2d/footprint.h>
#include <geometry_msgs/Polygon.h>
#include <dynamic_reconfigure/server.h>
#include <pluginlib/class_loader.h>

class SuperValue : public XmlRpc::XmlRpcValue
{
public:
  void setStruct(XmlRpc::XmlRpcValue::ValueStruct* a)
  {
    _type = TypeStruct;
    _value.asStruct = new XmlRpc::XmlRpcValue::ValueStruct(*a);
  }
  void setArray(XmlRpc::XmlRpcValue::ValueArray* a)
  {
    _type = TypeArray;
    _value.asArray = new std::vector<XmlRpc::XmlRpcValue>(*a);
  }
};

namespace costmap_2d
{

class Costmap2DROS
{
public:
  Costmap2DROS(std::string name, tf::TransformListener& tf);
  ~Costmap2DROS();

  void start();

  void stop();

  void pause();

  void resume();

  void updateMap();

  void resetLayers();

  bool isCurrent()
    {
      return layered_costmap_->isCurrent();
    }

  bool getRobotPose(tf::Stamped<tf::Pose>& global_pose) const;

  Costmap2D* getCostmap()
    {
      return layered_costmap_->getCostmap();
    }

  std::string getGlobalFrameID()
    {
      return global_frame_;
    }

  std::string getBaseFrameID()
    {
      return robot_base_frame_;
    }
  LayeredCostmap* getLayeredCostmap()
    {
      return layered_costmap_;
    }

  geometry_msgs::Polygon getRobotFootprintPolygon()
  {
    return costmap_2d::toPolygon( padded_footprint_ );
  }

  std::vector<geometry_msgs::Point> getRobotFootprint()
  {
    return padded_footprint_;
  }

  std::vector<geometry_msgs::Point> getUnpaddedRobotFootprint()
  {
    return unpadded_footprint_;
  }

  void getOrientedFootprint(double x, double y, double theta, std::vector<geometry_msgs::Point>& oriented_footprint) const;

  void getOrientedFootprint(std::vector<geometry_msgs::Point>& oriented_footprint) const;

  void setUnpaddedRobotFootprint( const std::vector<geometry_msgs::Point>& points );

  void setUnpaddedRobotFootprintPolygon( const geometry_msgs::Polygon& footprint );

protected:
  LayeredCostmap* layered_costmap_;
  std::string name_;
  tf::TransformListener& tf_;  
  std::string global_frame_;  
  std::string robot_base_frame_;  
  double transform_tolerance_; 

private:
  bool readFootprintFromString( const std::string& footprint_string );

  void readFootprintFromConfig( const costmap_2d::Costmap2DConfig &new_config,
                                const costmap_2d::Costmap2DConfig &old_config );

  void setFootprintFromRadius( double radius );
  
  void readFootprintFromParams( ros::NodeHandle& nh );

  void readFootprintFromXMLRPC( XmlRpc::XmlRpcValue& footprint_xmlrpc,
                                const std::string& full_param_name );

  void writeFootprintToParam( ros::NodeHandle& nh );

  void resetOldParameters(ros::NodeHandle& nh);
  void reconfigureCB(costmap_2d::Costmap2DConfig &config, uint32_t level);
  void movementCB(const ros::TimerEvent &event);
  void mapUpdateLoop(double frequency);
  bool map_update_thread_shutdown_;
  bool stop_updates_, initialized_, stopped_, robot_stopped_;
  boost::thread* map_update_thread_;  
  ros::Timer timer_;
  ros::Time last_publish_;
  ros::Duration publish_cycle;
  pluginlib::ClassLoader<Layer> plugin_loader_;
  tf::Stamped<tf::Pose> old_pose_;
  Costmap2DPublisher* publisher_;
  dynamic_reconfigure::Server<costmap_2d::Costmap2DConfig> *dsrv_;

  boost::recursive_mutex configuration_mutex_;

  ros::Subscriber footprint_sub_;
  bool got_footprint_;
  std::vector<geometry_msgs::Point> unpadded_footprint_;
  std::vector<geometry_msgs::Point> padded_footprint_;
  float footprint_padding_;
  costmap_2d::Costmap2DConfig old_config_;
};
// class Costmap2DROS
}// namespace costmap_2d

#endif