GridMap.h

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#ifndef GRID_MAP_H
#define GRID_MAP_H
 
#include "ros/ros.h"
#include "nav_msgs/OccupancyGrid.h"
 
class GridMap
{
public:
        void update(nav_msgs::OccupancyGrid grid)
        {
                mOccupancyGrid = grid;
                mMapWidth = mOccupancyGrid.info.width;
                mMapHeight = mOccupancyGrid.info.height;
                ROS_DEBUG("Got new map of size %d x %d", mMapWidth, mMapHeight);
        }
 
        unsigned int getWidth() {return mMapWidth;}
        unsigned int getHeight() {return mMapHeight;}
        unsigned int getSize() {return mMapWidth * mMapHeight;}
        double getResolution() {return mOccupancyGrid.info.resolution;}
        double getOriginX() {return mOccupancyGrid.info.origin.position.x;}
        double getOriginY() {return mOccupancyGrid.info.origin.position.y;}
        
        signed char getLethalCost(){return mLethalCost;}
        void setLethalCost(signed char c){mLethalCost = c;}
        
        const nav_msgs::OccupancyGrid& getMap() const {return mOccupancyGrid;}
        
        // Get the array index from the given x,y coordinates
        bool getIndex(unsigned int x, unsigned int y, unsigned int &i)
        {
                if(x >= mMapWidth || y >= mMapHeight)
                {
                        return false;
                }
                i = y * mMapWidth + x;
                return true;
        }
        
        // Get the x,y coordinates from the given array index
        bool getCoordinates(unsigned int &x, unsigned int &y, unsigned int i)
        {
                if(i >= mMapWidth * mMapHeight)
                {
                        ROS_ERROR("getCoords() failed!");
                        return false;
                }
                y = i / mMapWidth;
                x = i % mMapWidth;
                return true;
        }
        
        // Index based methods
        signed char getData(unsigned int index)
        {
                if(index < mMapWidth * mMapHeight)
                        return mOccupancyGrid.data[index];
                else
                        return -1;
        }
        
        bool setData(unsigned int index, signed char value)
        {
                if(index >= mMapWidth * mMapHeight)
                {
                        return false;
                }
                mOccupancyGrid.data[index] = value;
                return true;
        }
 
        bool isFree(unsigned int index)
        {
                signed char value = getData(index);
                if(value >= 0 && value < mLethalCost) return true;
                return false;
        }
 
        bool isFrontier(unsigned int index)
        {
                int y = index / mMapWidth;
                int x = index % mMapWidth;
                
                if(getData(x-1, y-1) == -1) return true;
                if(getData(x-1, y  ) == -1) return true;
                if(getData(x-1, y+1) == -1) return true;
                if(getData(x  , y-1) == -1) return true;
                if(getData(x  , y+1) == -1) return true;
                if(getData(x+1, y-1) == -1) return true;
                if(getData(x+1, y  ) == -1) return true;
                if(getData(x+1, y+1) == -1) return true;
                
                return false;
        }
        
        std::vector<unsigned int> getFreeNeighbors(unsigned int index, int offset = 1)
        {
                std::vector<unsigned int> neighbors;
                
                if(offset < 0) offset *= -1;
                int y = index / mMapWidth;
                int x = index % mMapWidth;
                
                for(int i = -offset; i <= offset; i++)
                        for(int j = -offset; j <= offset; j++)
                                if(getIndex(x+i, y+j, index) && isFree(index))
                                        neighbors.push_back(index);
                                        
                return neighbors;
        }
 
        std::vector<unsigned int> getNeighbors(unsigned int index, bool diagonal = false)
        {
                std::vector<unsigned int> neighbors;
        
                int y = index / mMapWidth;
                int x = index % mMapWidth;
                unsigned int i;
                if(getIndex(x-1,y,  i)) neighbors.push_back(i);
                if(getIndex(x+1,y,  i)) neighbors.push_back(i);
                if(getIndex(x,  y-1,i)) neighbors.push_back(i);
                if(getIndex(x,  y+1,i)) neighbors.push_back(i);
                
                if(diagonal)
                {
                        if(getIndex(x-1,y-1,i)) neighbors.push_back(i);
                        if(getIndex(x-1,y+1,i)) neighbors.push_back(i);
                        if(getIndex(x+1,y-1,i)) neighbors.push_back(i);
                        if(getIndex(x+1,y+1,i)) neighbors.push_back(i);
                }
                return neighbors;
        }
 
        // Coordinate based methods
        signed char getData(int x, int y)
        {
                if(x < 0 ||x >= (int)mMapWidth || y < 0 || y >= (int)mMapHeight)
                        return -1;
                else
                        return mOccupancyGrid.data[y*mMapWidth + x];
        }
        
        bool setData(int x, int y, signed char value)
        {
                if(x < 0 ||x >= (int)mMapWidth || y < 0 || y >= (int)mMapHeight)
                {
                        return false;
                }
                mOccupancyGrid.data[y*mMapWidth + x] = value;
                return true;
        }
        
        bool isFree(int x, int y)
        {
                signed char value = getData(x, y);
                if(value >= 0 && value < mLethalCost) return true;
                return false;
        }
private:
 
        nav_msgs::OccupancyGrid mOccupancyGrid;
        unsigned int mMapWidth;
        unsigned int mMapHeight;
        signed char mLethalCost;
};
 
#endif