voxel_grid_model.h
Go to the documentation of this file.
00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2008, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of the Willow Garage nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 *  POSSIBILITY OF SUCH DAMAGE.
00034 *
00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef TRAJECTORY_ROLLOUT_VOXEL_WORLD_MODEL_H_
00038 #define TRAJECTORY_ROLLOUT_VOXEL_WORLD_MODEL_H_
00039 #include <vector>
00040 #include <list>
00041 #include <cfloat>
00042 #include <geometry_msgs/Point.h>
00043 #include <costmap_2d/observation.h>
00044 #include <base_local_planner/world_model.h>
00045 
00046 #include <pcl/point_types.h>
00047 #include <pcl/point_cloud.h>
00048 
00049 //voxel grid stuff
00050 #include <voxel_grid/voxel_grid.h>
00051 
00052 namespace base_local_planner {
00058   class VoxelGridModel : public WorldModel {
00059     public:
00073       VoxelGridModel(double size_x, double size_y, double size_z, double xy_resolution, double z_resolution,
00074           double origin_x, double origin_y, double origin_z, double max_z, double obstacle_range);
00075 
00079       virtual ~VoxelGridModel(){}
00080 
00089       virtual double footprintCost(const geometry_msgs::Point& position, const std::vector<geometry_msgs::Point>& footprint,
00090           double inscribed_radius, double circumscribed_radius);
00091 
00092       using WorldModel::footprintCost;
00093 
00100       void updateWorld(const std::vector<geometry_msgs::Point>& footprint,
00101           const std::vector<costmap_2d::Observation>& observations, const std::vector<PlanarLaserScan>& laser_scans);
00102 
00103       void getPoints(pcl::PointCloud<pcl::PointXYZ>& cloud);
00104 
00105     private:
00114       double lineCost(int x0, int x1, int y0, int y1);
00115 
00122       double pointCost(int x, int y);
00123 
00124       void removePointsInScanBoundry(const PlanarLaserScan& laser_scan, double raytrace_range);
00125 
00126       inline bool worldToMap3D(double wx, double wy, double wz, unsigned int& mx, unsigned int& my, unsigned int& mz){
00127         if(wx < origin_x_ || wy < origin_y_ || wz < origin_z_)
00128           return false;
00129         mx = (int) ((wx - origin_x_) / xy_resolution_);
00130         my = (int) ((wy - origin_y_) / xy_resolution_);
00131         mz = (int) ((wz - origin_z_) / z_resolution_);
00132         return true;
00133       }
00134 
00135       inline bool worldToMap2D(double wx, double wy, unsigned int& mx, unsigned int& my){
00136         if(wx < origin_x_ || wy < origin_y_)
00137           return false;
00138         mx = (int) ((wx - origin_x_) / xy_resolution_);
00139         my = (int) ((wy - origin_y_) / xy_resolution_);
00140         return true;
00141       }
00142 
00143       inline void mapToWorld3D(unsigned int mx, unsigned int my, unsigned int mz, double& wx, double& wy, double& wz){
00144         //returns the center point of the cell
00145         wx = origin_x_ + (mx + 0.5) * xy_resolution_;
00146         wy = origin_y_ + (my + 0.5) * xy_resolution_;
00147         wz = origin_z_ + (mz + 0.5) * z_resolution_;
00148       }
00149 
00150       inline void mapToWorld2D(unsigned int mx, unsigned int my, double& wx, double& wy){
00151         //returns the center point of the cell
00152         wx = origin_x_ + (mx + 0.5) * xy_resolution_;
00153         wy = origin_y_ + (my + 0.5) * xy_resolution_;
00154       }
00155 
00156       inline double dist(double x0, double y0, double z0, double x1, double y1, double z1){
00157         return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0));
00158       }
00159 
00160       inline void insert(pcl::PointXYZ pt){
00161         unsigned int cell_x, cell_y, cell_z;
00162         if(!worldToMap3D(pt.x, pt.y, pt.z, cell_x, cell_y, cell_z))
00163           return;
00164         obstacle_grid_.markVoxel(cell_x, cell_y, cell_z);
00165       }
00166 
00167       voxel_grid::VoxelGrid obstacle_grid_;
00168       double xy_resolution_;
00169       double z_resolution_;
00170       double origin_x_;
00171       double origin_y_;
00172       double origin_z_;
00173       double max_z_;  
00174       double sq_obstacle_range_;  
00175 
00176   };
00177 };
00178 #endif


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:30