basic_costmap.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2018, Locus Robotics
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of the copyright holder nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  */
00034 
00035 #ifndef NAV_CORE2_BASIC_COSTMAP_H
00036 #define NAV_CORE2_BASIC_COSTMAP_H
00037 
00038 #include <nav_core2/costmap.h>
00039 #include <string>
00040 #include <vector>
00041 
00042 namespace nav_core2
00043 {
00044 class BasicCostmap : public nav_core2::Costmap
00045 {
00046 public:
00047   // Standard Costmap Interface
00048   mutex_t* getMutex() override { return &my_mutex_; }
00049 
00050   // NavGrid Interface
00051   void reset() override;
00052   void setValue(const unsigned int x, const unsigned int y, const unsigned char& value) override;
00053   unsigned char getValue(const unsigned int x, const unsigned int y) const override;
00054   void setInfo(const nav_grid::NavGridInfo& new_info) override
00055   {
00056     info_ = new_info;
00057     reset();
00058   }
00059 
00060   // Index Conversion
00061   unsigned int getIndex(const unsigned int x, const unsigned int y) const;
00062 protected:
00063   mutex_t my_mutex_;
00064   std::vector<unsigned char> data_;
00065 };
00066 }  // namespace nav_core2
00067 
00068 #endif  // NAV_CORE2_BASIC_COSTMAP_H


nav_core2
Author(s):
autogenerated on Wed Jun 26 2019 20:09:31