map_grid.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
#ifndef TRAJECTORY_ROLLOUT_MAP_GRID_H_
#define TRAJECTORY_ROLLOUT_MAP_GRID_H_

#include <vector>
#include <iostream>
#include <base_local_planner/trajectory_inc.h>
#include <ros/console.h>
#include <ros/ros.h>

#include <base_local_planner/map_cell.h>
#include <costmap_2d/costmap_2d.h>
#include <geometry_msgs/PoseStamped.h>

namespace base_local_planner{
  class MapGrid{
    public:
      MapGrid();

      MapGrid(unsigned int size_x, unsigned int size_y);

      MapGrid(unsigned int size_x, unsigned int size_y, double scale, double x, double y);

      inline MapCell& operator() (unsigned int x, unsigned int y){
        return map_[size_x_ * y + x];
      }

      inline MapCell operator() (unsigned int x, unsigned int y) const {
        return map_[size_x_ * y + x];
      }

      inline MapCell& getCell(unsigned int x, unsigned int y){
        return map_[size_x_ * y + x];
      }

      ~MapGrid(){}

      MapGrid(const MapGrid& mg);

      MapGrid& operator= (const MapGrid& mg);

      void resetPathDist();

      void sizeCheck(unsigned int size_x, unsigned int size_y, double o_x, double o_y);

      void commonInit();

      size_t getIndex(int x, int y);

      inline void updatePathCell(MapCell* current_cell, MapCell* check_cell, 
          std::queue<MapCell*>& dist_queue, const costmap_2d::Costmap2D& costmap){
        //mark the cell as visisted
        check_cell->path_mark = true;

        //if the cell is an obstacle set the max path distance
        unsigned char cost = costmap.getCost(check_cell->cx, check_cell->cy);
        if(!getCell(check_cell->cx, check_cell->cy).within_robot && (cost == costmap_2d::LETHAL_OBSTACLE || cost == costmap_2d::INSCRIBED_INFLATED_OBSTACLE || cost == costmap_2d::NO_INFORMATION)){
          check_cell->path_dist = map_.size();
          return;
        }

        double new_path_dist = current_cell->path_dist + 1;
        if(new_path_dist < check_cell->path_dist)
          check_cell->path_dist = new_path_dist;

        dist_queue.push(check_cell);
      }

      inline void updateGoalCell(MapCell* current_cell, MapCell* check_cell, 
          std::queue<MapCell*>& dist_queue, const costmap_2d::Costmap2D& costmap ){
        check_cell->goal_mark = true;

        //if the cell is an obstacle set the max goal distance
        unsigned char cost = costmap.getCost(check_cell->cx, check_cell->cy);
        if(!getCell(check_cell->cx, check_cell->cy).within_robot && (cost == costmap_2d::LETHAL_OBSTACLE || cost == costmap_2d::INSCRIBED_INFLATED_OBSTACLE || cost == costmap_2d::NO_INFORMATION)){
          check_cell->goal_dist = map_.size();
          return;
        }

        double new_goal_dist = current_cell->goal_dist + 1;
        if(new_goal_dist < check_cell->goal_dist)
          check_cell->goal_dist = new_goal_dist;

        dist_queue.push(check_cell);
      }

      void computePathDistance(std::queue<MapCell*>& dist_queue, const costmap_2d::Costmap2D& costmap);

      void computeGoalDistance(std::queue<MapCell*>& dist_queue, const costmap_2d::Costmap2D& costmap);

      void setPathCells(const costmap_2d::Costmap2D& costmap, const std::vector<geometry_msgs::PoseStamped>& global_plan);

      unsigned int size_x_, size_y_; 
      std::vector<MapCell> map_; 

      double scale; 

      double goal_x_, goal_y_; 
      double origin_x, origin_y; 
  };
};

#endif