costmap_adapter.cpp

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#include <nav_core_adapter/costmap_adapter.h>
#include <nav_core2/exceptions.h>
#include <pluginlib/class_list_macros.h>
#include <string>

PLUGINLIB_EXPORT_CLASS(nav_core_adapter::CostmapAdapter, nav_core2::Costmap)

namespace nav_core_adapter
{

nav_grid::NavGridInfo infoFromCostmap(costmap_2d::Costmap2DROS* costmap_ros)
{
  nav_grid::NavGridInfo info;
  costmap_2d::Costmap2D* costmap = costmap_ros->getCostmap();
  info.width = costmap->getSizeInCellsX();
  info.height = costmap->getSizeInCellsY();
  info.resolution = costmap->getResolution();
  info.frame_id = costmap_ros->getGlobalFrameID();
  info.origin_x = costmap->getOriginX();
  info.origin_y = costmap->getOriginY();
  return info;
}

CostmapAdapter::~CostmapAdapter()
{
  if (needs_destruction_)
  {
    delete costmap_ros_;
  }
}

void CostmapAdapter::initialize(costmap_2d::Costmap2DROS* costmap_ros, bool needs_destruction)
{
  costmap_ros_ = costmap_ros;
  needs_destruction_ = needs_destruction;
  info_ = infoFromCostmap(costmap_ros_);
  costmap_ = costmap_ros_->getCostmap();
}

void CostmapAdapter::initialize(const ros::NodeHandle& parent, const std::string& name, TFListenerPtr tf)
{
  initialize(new costmap_2d::Costmap2DROS(name, *tf), true);
}

nav_core2::Costmap::mutex_t* CostmapAdapter::getMutex()
{
  return costmap_->getMutex();
}

void CostmapAdapter::reset()
{
  costmap_->resetMap(0, 0, costmap_->getSizeInCellsX(), costmap_->getSizeInCellsY());
}

void CostmapAdapter::update()
{
  info_ = infoFromCostmap(costmap_ros_);
  if (!costmap_ros_->isCurrent())
    throw nav_core2::CostmapDataLagException("Costmap2DROS is out of date somehow.");
}

void CostmapAdapter::setValue(const unsigned int x, const unsigned int y, const unsigned char& value)
{
  costmap_->setCost(x, y, value);
}

unsigned char CostmapAdapter::getValue(const unsigned int x, const unsigned int y) const
{
  unsigned int index = costmap_->getIndex(x, y);
  return costmap_->getCharMap()[index];
}

void CostmapAdapter::setInfo(const nav_grid::NavGridInfo& new_info)
{
  throw nav_core2::CostmapException("setInfo not implemented on CostmapAdapter");
}

void CostmapAdapter::updateInfo(const nav_grid::NavGridInfo& new_info)
{
  costmap_->updateOrigin(new_info.origin_x, new_info.origin_y);
}

}  // namespace nav_core_adapter