Program Listing for File costmap_queue.hpp
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#ifndef COSTMAP_QUEUE__COSTMAP_QUEUE_HPP_
#define COSTMAP_QUEUE__COSTMAP_QUEUE_HPP_
#include <cmath>
#include <vector>
#include <limits>
#include <memory>
#include "nav2_costmap_2d/costmap_2d.hpp"
#include "costmap_queue/map_based_queue.hpp"
namespace costmap_queue
{
class CellData
{
public:
CellData(
const double d, const unsigned int i, const unsigned int x, const unsigned int y,
const unsigned int sx, const unsigned int sy)
: distance_(d), index_(i), x_(x), y_(y), src_x_(sx), src_y_(sy)
{
}
CellData()
: distance_(std::numeric_limits<double>::max()), index_(0), x_(0), y_(0), src_x_(0), src_y_(0)
{
}
static unsigned absolute_difference(const unsigned x, const unsigned y)
{
return (x > y) ? (x - y) : (y - x);
}
double distance_;
unsigned int index_;
unsigned int x_, y_;
unsigned int src_x_, src_y_;
};
class CostmapQueue : public MapBasedQueue<CellData>
{
public:
explicit CostmapQueue(nav2_costmap_2d::Costmap2D & costmap, bool manhattan = false);
void reset() override;
void enqueueCell(unsigned int x, unsigned int y);
CellData getNextCell();
virtual bool validCellToQueue(const CellData & /*cell*/) {return true;}
typedef std::shared_ptr<CostmapQueue> Ptr;
protected:
void enqueueCell(
unsigned int index, unsigned int cur_x, unsigned int cur_y, unsigned int src_x,
unsigned int src_y);
void computeCache();
nav2_costmap_2d::Costmap2D & costmap_;
std::vector<bool> seen_;
int max_distance_;
bool manhattan_;
protected:
inline double distanceLookup(
const unsigned int cur_x, const unsigned int cur_y,
const unsigned int src_x, const unsigned int src_y)
{
unsigned int dx = CellData::absolute_difference(cur_x, src_x);
unsigned int dy = CellData::absolute_difference(cur_y, src_y);
return cached_distances_[dx][dy];
}
std::vector<std::vector<double>> cached_distances_;
int cached_max_distance_;
};
} // namespace costmap_queue
#endif // COSTMAP_QUEUE__COSTMAP_QUEUE_HPP_