ray_tracer.h

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#ifndef OCCUPANCY_GRID_UTILS_RAY_TRACER_H
#define OCCUPANCY_GRID_UTILS_RAY_TRACER_H

#include <occupancy_grid_utils/impl/ray_trace_iterator.h>
#include <occupancy_grid_utils/LocalizedCloud.h>
#include <occupancy_grid_utils/OverlayClouds.h>
#include <nav_msgs/OccupancyGrid.h>
#include <geometry_msgs/Pose.h>
#include <sensor_msgs/LaserScan.h>
#include <boost/optional.hpp>
#include <string>

namespace occupancy_grid_utils
{

/************************************************************
 * Basic ray tracing
 ************************************************************/

typedef std::pair<RayTraceIterator, RayTraceIterator> RayTraceIterRange;

RayTraceIterRange rayTrace (const nav_msgs::MapMetaData& info, const geometry_msgs::Point& p1, 
                            const geometry_msgs::Point& p2, bool project_target_onto_grid=false,
                            bool project_source_onto_grid=false);


/************************************************************
 * Simulating scans
 ***********************************************************/

sensor_msgs::LaserScan::Ptr
simulateRangeScan (const nav_msgs::OccupancyGrid& grid, const geometry_msgs::Pose& sensor_pose,
                   const sensor_msgs::LaserScan& scanner_info,
                   bool unknown_cells_are_obstacles=false);

/************************************************************
 * Overlaying point clouds
 ************************************************************/


const double DEFAULT_OCCUPANCY_THRESHOLD=0.1;

const double DEFAULT_MAX_DISTANCE=10.0;

const double DEFAULT_MIN_PASS_THROUGH=2;

OverlayClouds createCloudOverlay (const nav_msgs::OccupancyGrid& grid, const std::string& frame_id,
                                  double occupancy_threshold=DEFAULT_OCCUPANCY_THRESHOLD,
                                  double max_distance=DEFAULT_MAX_DISTANCE,
                                  double min_pass_through=DEFAULT_MIN_PASS_THROUGH);


void addCloud (OverlayClouds* overlay, LocalizedCloud::ConstPtr cloud);

void removeCloud (OverlayClouds* overlay, LocalizedCloud::ConstPtr cloud);

void addKnownFreePoint (OverlayClouds* overlay, const geometry_msgs::Point& p,
                        double r);


nav_msgs::OccupancyGrid::Ptr getGrid (const OverlayClouds& overlay);

// \brief Reset all counts to initial state in \a overlay
void resetCounts (OverlayClouds* overlay);

// \brief Get the occupancy grid dimensions.
nav_msgs::MapMetaData gridInfo (const OverlayClouds& overlay);
  

} // namespace occupancy_grid_utils

#endif // include guard