height_diff_layer.h

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/*
 *  Copyright 2020, Sebastian Pütz
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. 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.
 *
 *  3. Neither the name of the copyright holder 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 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *
 */
 
#ifndef MESH_MAP__HEIGHTDIFF_LAYER_H
#define MESH_MAP__HEIGHTDIFF_LAYER_H
 
#include <dynamic_reconfigure/server.h>
#include <mesh_layers/HeightDiffLayerConfig.h>
#include <mesh_map/abstract_layer.h>
 
namespace mesh_layers
{
class HeightDiffLayer : public mesh_map::AbstractLayer
{
  virtual bool readLayer();
 
  virtual bool writeLayer();
 
  virtual float defaultValue()
  {
    return std::numeric_limits<float>::infinity();
  }
 
  virtual float threshold();
 
  virtual bool computeLayer();
 
  bool computeLethals();
 
  virtual lvr2::VertexMap<float>& costs();
 
  virtual std::set<lvr2::VertexHandle>& lethals()
  {
    return lethal_vertices;
  }
 
  virtual void updateLethal(std::set<lvr2::VertexHandle>& added_lethal, std::set<lvr2::VertexHandle>& removed_lethal)
  {
  }
 
  virtual bool initialize(const std::string& name);
 
private:
  // Server for Reconfiguration
  boost::shared_ptr<dynamic_reconfigure::Server<mesh_layers::HeightDiffLayerConfig>> reconfigure_server_ptr;
  dynamic_reconfigure::Server<mesh_layers::HeightDiffLayerConfig>::CallbackType config_callback;
  // true if the first reconfigure config has been received; else false
  bool first_config;
  // current reconfigure config
  HeightDiffLayerConfig config;
 
  // latest costmap
  lvr2::DenseVertexMap<float> height_diff;
  // set of all current lethal vertices
  std::set<lvr2::VertexHandle> lethal_vertices;
 
  void reconfigureCallback(mesh_layers::HeightDiffLayerConfig& cfg, uint32_t level);
};
 
} /* namespace mesh_layers */
 
#endif  // MESH_MAP__HEIGHTDIFF_LAYER_H