geometry.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef OCCUPANCY_GRID_UTILS_GEOMETRY_H
#define OCCUPANCY_GRID_UTILS_GEOMETRY_H

#include "coordinate_conversions.h"
#include <set>
#include <boost/multi_array.hpp>

namespace occupancy_grid_utils
{


std::set<Cell> cellsInConvexPolygon (const nav_msgs::MapMetaData& info,
                                     const geometry_msgs::Polygon& p);


template <typename Pred>
std::set<Cell> tileCells (const nav_msgs::MapMetaData& info, float d,
                          const Pred& p);


class DistanceField
{
public:

  typedef boost::multi_array<float, 2> Array;
  typedef boost::shared_ptr<Array> ArrayPtr;

  DistanceField (ArrayPtr distances) : distances_(distances) {}
  
  inline
  float operator[] (const Cell& c) const
  {
    return (*distances_)[c.x][c.y];
  };
  
private:

  ArrayPtr distances_;
};

  

DistanceField distanceField (const nav_msgs::OccupancyGrid& m,
                             float max_dist=-42);

} // namespace

#include "impl/geometry.hpp"

#endif // include guard