costmap_prohibition_layer.h

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#ifndef COSTMAP_PROHIBITION_LAYER_H_
#define COSTMAP_PROHIBITION_LAYER_H_

#include <XmlRpcValue.h>
#include <XmlRpcException.h>
#include <tf/transform_datatypes.h>
#include <mutex>
#include <geometry_msgs/PoseArray.h>
#include <stdlib.h>
#include <ros/ros.h>
#include <costmap_2d/layer.h>
#include <costmap_2d/layered_costmap.h>
#include <costmap_prohibition_layer/CostmapProhibitionLayerConfig.h>
#include <dynamic_reconfigure/server.h>

#include <unordered_map>

namespace costmap_prohibition_layer_namespace
{
    
// point with integer coordinates  
struct PointInt
{
    int x;
    int y;
};
    
class CostmapProhibitionLayer : public costmap_2d::Layer
{
public:
    
  CostmapProhibitionLayer();

  virtual ~CostmapProhibitionLayer();
  virtual void onInitialize();

  virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, 
                            double *min_x, double *min_y, double *max_x, double *max_y);
  
  virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j,
                           int max_i, int max_j);

private:
    
  void reconfigureCB(CostmapProhibitionLayerConfig& config, uint32_t level);

  void computeMapBounds();
  
  void setPolygonCost(costmap_2d::Costmap2D &master_grid, const std::vector<geometry_msgs::Point>& polygon,
                      unsigned char cost, int min_i, int min_j, int max_i, int max_j, bool fill_polygon);
  
  void rasterizePolygon(const std::vector<PointInt>& polygon, std::vector<PointInt>& polygon_cells, bool fill);
  
  void polygonOutlineCells(const std::vector<PointInt>& polygon, std::vector<PointInt>& polygon_cells);
  
  void raytrace(int x0, int y0, int x1, int y1, std::vector<PointInt>& cells);

  
  bool parseProhibitionListFromYaml(ros::NodeHandle* nhandle, const std::string& param);

  bool getPoint(XmlRpc::XmlRpcValue& val, geometry_msgs::Point& point);

  dynamic_reconfigure::Server<CostmapProhibitionLayerConfig>* _dsrv;            
  std::mutex _data_mutex;                                                       
  double _costmap_resolution;                                                   
  bool _fill_polygons;                                                          
  std::vector<geometry_msgs::Point> _prohibition_points;                        
  std::vector<std::vector<geometry_msgs::Point>> _prohibition_polygons;         
  double _min_x, _min_y, _max_x, _max_y;                                        
};
}
#endif