collision_check_grid_map_plugin.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
// Based on http://wiki.ros.org/footstep_planner by Johannes Garimort and Armin Hornung
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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//=================================================================================================

#ifndef VIGIR_FOOTSTEP_PLANNING_PLUGINS_COLLISION_CHECK_GRID_MAP_PLUGIN_H__
#define VIGIR_FOOTSTEP_PLANNING_PLUGINS_COLLISION_CHECK_GRID_MAP_PLUGIN_H__

#include <ros/ros.h>

#include <boost/thread/shared_mutex.hpp>

#include <nav_msgs/OccupancyGrid.h>

#include <vigir_footstep_planning_lib/helper.h>

#include <vigir_footstep_planning_plugins/plugins/collision_check_plugin.h>



namespace vigir_footstep_planning
{
class CollisionCheckGridMapPlugin
  : public CollisionCheckPlugin
{
public:
  CollisionCheckGridMapPlugin(const std::string& name = "collision_check_grid_map_plugin");

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

  void reset() override;

  bool isCollisionCheckAvailable() const override;

  bool isAccessible(const State& s) const override;
  bool isAccessible(const State& next, const State& current) const override;

  void setOccupancyThreshold(unsigned char thresh);

protected:
  virtual 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_;

  // pointer to last received grid map
  nav_msgs::OccupancyGridConstPtr occupancy_grid_map_;

  // occupancy threshold
  int8_t occ_thresh_;
};
}

#endif