occupancy_grid_map_heuristic.h

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//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
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#ifndef VIGIR_FOOTSTEP_PLANNING_OCCUPANCY_GRID_MAP_HEURISTIC_H__
#define VIGIR_FOOTSTEP_PLANNING_OCCUPANCY_GRID_MAP_HEURISTIC_H__

#include <boost/thread/mutex.hpp>

#include <nav_msgs/OccupancyGrid.h>

#include <vigir_footstep_planning_plugins/plugins/heuristic_plugin.h>
#include <vigir_footstep_planning_default_plugins/world_model/grid_map_2d.h>



namespace vigir_footstep_planning
{
class OccupancyGridMapHeuristic
  : public HeuristicPlugin
{
public:
  OccupancyGridMapHeuristic();

  bool loadParams(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;

  bool initialize(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;

  double getHeuristicValue(const State& from, const State& to, const State& start, const State& goal) const override;

protected:
  void mapCallback(const nav_msgs::OccupancyGridConstPtr& occupancy_grid_map);

  // subscribers
  ros::Subscriber occupancy_grid_map_sub_;

  // mutex
  mutable boost::shared_mutex grid_map_shared_mutex_;

  // grid map data
  std::string grid_map_topic_;
  vigir_gridmap_2d::GridMap2D distance_map_;
};
}

#endif