map_ray_caster.h

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#ifndef MAP_RAY_CASTER_MAP_RAY_CASTER_H
#define MAP_RAY_CASTER_MAP_RAY_CASTER_H

#include <math.h> /* for lround, std::lround not in C++99. */
#include <cmath>
#include <map>
#include <vector>

#include <angles/angles.h>
#include <nav_msgs/OccupancyGrid.h>
#include <sensor_msgs/LaserScan.h>

#include <lama_msgs/PlaceProfile.h>

#include <map_ray_caster/ray_caster_utils.h>

namespace map_ray_caster
{

typedef std::map<double, std::vector<size_t> > RayLookup;

class MapRayCaster
{
  public :

    MapRayCaster(const int occupied_threshold = 60);

    void laserScanCast(const nav_msgs::OccupancyGrid& map, sensor_msgs::LaserScan& scan);

    const std::vector<size_t>& getRayCastToMapBorder(const double angle, const size_t nrow, const size_t ncol, const double tolerance = 0);

    size_t lookupSize() const {return raycast_lookup_.size();}

  private :

    RayLookup::const_iterator angleLookup(const double angle, const double tolerance);

    int occupied_threshold_;
    size_t ncol_; 
    size_t nrow_; 
    RayLookup raycast_lookup_;
};

} // namespace map_ray_caster

#endif // MAP_RAY_CASTER_MAP_RAY_CASTER_H