footprint_helper.h

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#ifndef FOOTPRINT_HELPER_H_
#define FOOTPRINT_HELPER_H_

#include <vector>

#include <costmap_2d/costmap_2d.h>
#include <geometry_msgs/Point.h>
#include <Eigen/Core>
#include <base_local_planner/Position2DInt.h>

namespace base_local_planner {

class FootprintHelper {
public:
  FootprintHelper();
  virtual ~FootprintHelper();

  std::vector<base_local_planner::Position2DInt> getFootprintCells(
      Eigen::Vector3f pos,
      std::vector<geometry_msgs::Point> footprint_spec,
      const costmap_2d::Costmap2D&,
      bool fill);

  void getLineCells(int x0, int x1, int y0, int y1, std::vector<base_local_planner::Position2DInt>& pts);

  void getFillCells(std::vector<base_local_planner::Position2DInt>& footprint);
};

} /* namespace base_local_planner */
#endif /* FOOTPRINT_HELPER_H_ */