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include/robot_base_local_planner/footprint_helper.h

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+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  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 Willow Garage, Inc. 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 OWNER 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.
+ *
+ * Author: TKruse
+ *********************************************************************/
+
+#ifndef ROBOT_FOOTPRINT_HELPER_H_
+#define ROBOT_FOOTPRINT_HELPER_H_
+
+#include <vector>
+
+#include <robot_costmap_2d/costmap_2d.h>
+#include <robot_geometry_msgs/Point.h>
+#include <Eigen/Core>
+#include <robot_base_local_planner/Position2DInt.h>
+
+namespace robot_base_local_planner {
+
+class FootprintHelper {
+public:
+  FootprintHelper();
+  virtual ~FootprintHelper();
+
+  /**
+   * @brief  Used to get the cells that make up the footprint of the robot
+   * @param x_i The x position of the robot
+   * @param y_i The y position of the robot
+   * @param theta_i The orientation of the robot
+   * @param  fill If true: returns all cells in the footprint of the robot. If false: returns only the cells that make up the outline of the footprint.
+   * @return The cells that make up either the outline or entire footprint of the robot depending on fill
+   */
+  std::vector<robot_base_local_planner::Position2DInt> getFootprintCells(
+      Eigen::Vector3f pos,
+      std::vector<robot_geometry_msgs::Point> footprint_spec,
+      const robot_costmap_2d::Costmap2D&,
+      bool fill);
+
+  /**
+   * @brief  Use Bresenham's algorithm to trace a line between two points in a grid
+   * @param  x0 The x coordinate of the first point
+   * @param  x1 The x coordinate of the second point
+   * @param  y0 The y coordinate of the first point
+   * @param  y1 The y coordinate of the second point
+   * @param  pts Will be filled with the cells that lie on the line in the grid
+   */
+  void getLineCells(int x0, int x1, int y0, int y1, std::vector<robot_base_local_planner::Position2DInt>& pts);
+
+  /**
+   * @brief Fill the outline of a polygon, in this case the robot footprint, in a grid
+   * @param footprint The list of cells making up the footprint in the grid, will be modified to include all cells inside the footprint
+   */
+  void getFillCells(std::vector<robot_base_local_planner::Position2DInt>& footprint);
+};
+
+} /* namespace robot_base_local_planner */
+#endif /* FOOTPRINT_HELPER_H_ */