them file test static_layer

include/costmap_2d/costmap_2d.h

@@ -25,7 +25,7 @@ struct MapLocation
  */
 class Costmap2D
 {
-  // friend class CostmapTester;         // Cho phép lớp test (gtest) truy cập vào các thành viên private
+  friend class CostmapTester;         // Cho phép lớp test (gtest) truy cập vào các thành viên private
 public:
   /**
    * Constructor khởi tạo bản đồ costmap

include/costmap_2d/costmap_layer.h

@@ -146,5 +146,7 @@ private:
   double extra_min_x_, extra_max_x_, extra_min_y_, extra_max_y_;
 };
 
+using PluginCostmapLayerPtr = std::shared_ptr<CostmapLayer>;
+
 }  // namespace costmap_2d
 #endif  // COSTMAP_2D_COSTMAP_LAYER_H_

include/costmap_2d/critical_layer copy.h

@@ -0,0 +1,19 @@
+#ifndef COSTMAP_2D_CRITICAL_LAYER_H_
+#define COSTMAP_2D_CRITICAL_LAYER_H_
+
+#include <costmap_2d/static_layer.h>
+
+namespace costmap_2d
+{
+class CriticalLayer : public StaticLayer
+{
+public:
+  CriticalLayer();
+  virtual ~CriticalLayer();
+private:
+  unsigned char interpretValue(unsigned char value);
+  void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
+};
+}
+
+#endif // COSTMAP_2D_CRITICAL_LAYER_H_

include/costmap_2d/data_convert.h

@@ -0,0 +1,100 @@
+#ifndef DATA_CONVERT_H
+#define DATA_CONVERT_H
+
+#include <geometry_msgs/TransformStamped.h>
+#include <tf2/utils.h>
+#include <tf2/compat.h>
+#include <robot/time.h>
+
+namespace costmap_2d
+{
+    robot::Time convertTime(tf2::Time time)
+    {
+        robot::Time time_tmp;
+        time_tmp.sec = time.sec;
+        time_tmp.nsec = time.nsec;
+        return time_tmp;
+    }
+
+    tf2::Time convertTime(robot::Time time)
+    {
+        tf2::Time time_tmp;
+        time_tmp.sec = time.sec;
+        time_tmp.nsec = time.nsec;
+        return time_tmp;
+    }
+
+    
+    tf2::Transform convertToTf2Transform(const geometry_msgs::Transform& msg)
+    {
+        tf2::Quaternion q(
+            msg.rotation.x,
+            msg.rotation.y,
+            msg.rotation.z,
+            msg.rotation.w
+        );
+
+        tf2::Vector3 t(
+            msg.translation.x,
+            msg.translation.y,
+            msg.translation.z
+        );
+
+        tf2::Transform tf(q, t);
+        return tf;
+    }
+
+    tf2::Transform convertToTf2Transform(const tf2::TransformMsg& msg)
+    {
+        tf2::Quaternion q(
+            msg.rotation.x,
+            msg.rotation.y,
+            msg.rotation.z,
+            msg.rotation.w
+        );
+
+        tf2::Vector3 t(
+            msg.translation.x,
+            msg.translation.y,
+            msg.translation.z
+        );
+
+        tf2::Transform tf(q, t);
+        return tf;
+    }
+
+    tf2::TransformStampedMsg convertToTransformStampedMsg(const geometry_msgs::TransformStamped& msg)
+    {
+        tf2::TransformStampedMsg out;
+        out.header.seq = msg.header.seq;
+        out.header.stamp = convertTime(msg.header.stamp);
+        out.header.frame_id = msg.header.frame_id;
+        out.child_frame_id = msg.child_frame_id;
+        out.transform.translation.x = msg.transform.translation.x;
+        out.transform.translation.y = msg.transform.translation.y;
+        out.transform.translation.z = msg.transform.translation.z;
+        out.transform.rotation.x = msg.transform.rotation.x; 
+        out.transform.rotation.y = msg.transform.rotation.y; 
+        out.transform.rotation.z = msg.transform.rotation.z; 
+        out.transform.rotation.w = msg.transform.rotation.w; 
+        return out;
+    }
+    geometry_msgs::TransformStamped convertToTransformStamped(const tf2::TransformStampedMsg& msg)
+    {
+        geometry_msgs::TransformStamped out;
+        out.header.seq = msg.header.seq;
+        out.header.stamp = convertTime(msg.header.stamp);
+        out.header.frame_id = msg.header.frame_id;
+        out.child_frame_id = msg.child_frame_id;
+        out.transform.translation.x = msg.transform.translation.x;
+        out.transform.translation.y = msg.transform.translation.y;
+        out.transform.translation.z = msg.transform.translation.z;
+        out.transform.rotation.x = msg.transform.rotation.x; 
+        out.transform.rotation.y = msg.transform.rotation.y; 
+        out.transform.rotation.z = msg.transform.rotation.z; 
+        out.transform.rotation.w = msg.transform.rotation.w; 
+        return out;
+    }
+}
+
+#endif // DATA_CONVERT_H

include/costmap_2d/directional_layer.h

@@ -0,0 +1,37 @@
+#ifndef COSTMAP_2D_DIRECTIONAL_LAYER_V1_H_
+#define COSTMAP_2D_DIRECTIONAL_LAYER_V1_H_
+
+#include <costmap_2d/static_layer.h>
+// #include <tf/transform_listener.h>
+// #include <nav_msgs/Path.h>
+
+namespace costmap_2d
+{
+  class DirectionalLayer : public StaticLayer
+  {
+  public:
+    DirectionalLayer();
+    virtual ~DirectionalLayer();
+    // bool laneFilter(const std::vector<geometry_msgs::PoseStamped> plan);
+    void resetMap();
+
+	private:
+    // void incomingMap(const nav_msgs::OccupancyGridConstPtr &new_map);
+		// bool laneFilter(std::vector<std::array<uint16_t, 2>> new_map, const nav_msgs::Path path);
+    unsigned char laneFilter(unsigned int x, unsigned int y, double yaw_robot);
+		// void laneFilter(std::vector<unsigned int> x, std::vector<unsigned int> y, std::vector<double> yaw_robot);
+    void laneFilter(std::vector<std::pair<unsigned int, double>> x, std::vector<std::pair<unsigned int, double>> y, std::vector<double> yaw_robot);
+    bool inSkipErea(double start_x, double start_y, double end_x, double end_y, double skip_distance);
+    void convertToMap(unsigned char *costmap, nav_msgs::OccupancyGrid &dir_map, double occ_th, double free_th);
+    bool getRobotPose(double &x, double &y, double &yaw);
+
+    std::vector<std::array<uint16_t, 2>> directional_areas_;
+    double pose_x_, pose_y_, pose_yaw_;
+    double distance_skip_ = 1.0;
+    // ros::Publisher lane_mask_pub_;
+    nav_msgs::OccupancyGrid new_map_;
+    // tf::TransformListener listener_;
+	};
+}
+
+#endif // COSTMAP_2D_DIRECTIONAL_LAYER_H_

include/costmap_2d/footprint.h

@@ -41,7 +41,6 @@
 #include <geometry_msgs/Polygon.h>
 #include <geometry_msgs/PolygonStamped.h>
 
-// #include<costmap_2d/msg.h>
 #include<string.h>
 #include<vector>
 

include/costmap_2d/inflation_layer.h

@@ -5,10 +5,9 @@
 #include <costmap_2d/layer.h>
 #include <costmap_2d/layered_costmap.h>
 #include <boost/thread.hpp>
-#include <boost/dll/alias.hpp>
 #include <stdexcept>
 #include <iostream>
-#include <yaml-cpp/yaml.h>
+
 
 namespace costmap_2d
 {

include/costmap_2d/layer.h

@@ -147,9 +147,6 @@ private:
 };
 
 
-using PluginPtr = std::shared_ptr<Layer>;
-
-
 }  // namespace costmap_2d
 
 #endif  // COSTMAP_2D_LAYER_H_

include/costmap_2d/msg.h

@@ -1,85 +0,0 @@
-#ifndef COSTMAP_2D_COST_VALUES_H_MSG
-#define COSTMAP_2D_COST_VALUES_H_MSG
-/** Provides a mapping for often used cost values */
-#include<vector>
-#include<string>
-#include<chrono>
-
-namespace costmap_2d
-{
- struct Header
- {
-   uint32_t seq;
-   std::chrono::system_clock::time_point stamp;
-   std::string frame_id;
- };
-
- struct Point
- {
-    double x;
-    double y;
-    double z;
- };
-
- struct Point32
- {
-    float x;
-    float y;
-    float z;
- };
-
- struct PointStamped
- {
-      Header header;
-      Point point;
- };
-
- struct Polygon
- {
-    std::vector<Point32> points;
- };
-
- struct PolygonStamped
- {
-    // std_msgs/Header header;  // Ignored for simplicity
-    Polygon polygon;
- };
-
- struct XmlRpcValue
- {
-    std::vector<Point32> points;
- };
-
- struct PointField
- {
-   uint8_t INT8=1;
-   uint8_t UINT8=2;
-   uint8_t INT16=3;
-   uint8_t UINT16=4;
-   uint8_t INT32=5;
-   uint8_t UINT32=6;
-   uint8_t FLOAT32=7;
-   uint8_t FLOAT64=8;
-   std::string name;
-   uint32_t offset;
-   uint8_t datatype;
-   uint32_t count;
- };
-
- struct PointCloud2
- {
-   Header header;
-   uint32_t height;
-   uint32_t width;
-   std::vector<PointField> fields;
-   bool is_bigendian;
-   uint32_t point_step;
-   uint32_t row_step;
-   std::vector<uint8_t> data;
-   bool is_dense;
- };
-
- 
-
-}
-#endif  // COSTMAP_2D_COST_VALUES_H_MSG

include/costmap_2d/observation_buffer.h

@@ -6,9 +6,8 @@
 #include <string>
 #include <chrono>
 // #include <ros/time.h>
-// #include <costmap_2d/observation.h>
-// #include <tf2/buffer_core.h>
-
+#include <robot/time.h>
+#include <robot/duration.h>
 #include <costmap_2d/observation.h>
 #include <tf2/buffer_core.h>
 #include <sensor_msgs/PointCloud2.h>
@@ -112,9 +111,9 @@ private:
   // const ros::Duration observation_keep_time_;
   // const ros::Duration expected_update_rate_;
   // ros::Time last_updated_;
-  const std::chrono::duration<double> observation_keep_time_;
-  const std::chrono::duration<double> expected_update_rate_;
-  std::chrono::time_point<std::chrono::system_clock> last_updated_;
+  const robot::Duration observation_keep_time_;
+  const robot::Duration expected_update_rate_;
+  robot::Time last_updated_;
   std::string global_frame_;
   std::string sensor_frame_;
   std::list<Observation> observation_list_;

include/costmap_2d/obstacle_layer.h

@@ -41,19 +41,19 @@
 #include <costmap_2d/costmap_layer.h>
 #include <costmap_2d/layered_costmap.h>
 #include <costmap_2d/observation_buffer.h>
+#include <costmap_2d/footprint.h>
+#include <costmap_2d/utils.h>
 
 #include <nav_msgs/OccupancyGrid.h>
 
 #include <sensor_msgs/LaserScan.h>
-// #include <laser_geometry/laser_geometry.h>
 #include <sensor_msgs/PointCloud.h>
 #include <sensor_msgs/PointCloud2.h>
 #include <sensor_msgs/point_cloud_conversion.h>
+
+// #include <laser_geometry/laser_geometry.h>
 // #include <tf2_ros/message_filter.h>
 // #include <message_filters/subscriber.h>
-// #include <dynamic_reconfigure/server.h>
-// #include <costmap_2d/ObstaclePluginConfig.h>
-#include <costmap_2d/footprint.h>
 
 namespace costmap_2d
 {

include/costmap_2d/preferred_layer.h

@@ -0,0 +1,18 @@
+#ifndef COSTMAP_2D_PREFERRED_LAYER_H_
+#define COSTMAP_2D_PREFERRED_LAYER_H_
+
+#include <costmap_2d/static_layer.h>
+
+namespace costmap_2d
+{
+class PreferredLayer : public StaticLayer
+{
+public:
+  PreferredLayer();
+  virtual ~PreferredLayer();
+private:
+  unsigned char interpretValue(unsigned char value);
+};
+}
+
+#endif // COSTMAP_2D_PREFERRED_LAYER_

include/costmap_2d/static_layer.h

@@ -3,8 +3,6 @@
 
 #include <costmap_2d/costmap_layer.h>
 #include <costmap_2d/layered_costmap.h>
-// #include <costmap_2d/GenericPluginConfig.h>
-// #include <dynamic_reconfigure/server.h>
 #include <nav_msgs/OccupancyGrid.h>
 #include <map_msgs/OccupancyGridUpdate.h>
 // #include <message_filters/subscriber.h>
@@ -46,6 +44,8 @@ protected:
   bool use_maximum_;
   bool first_map_only_;      ///< @brief Store the first static map and reuse it on reinitializing
   bool trinary_costmap_;
+  bool map_shutdown_ = false;
+  bool map_update_shutdown_ = false;
   // ros::Subscriber map_sub_, map_update_sub_;
   unsigned char lethal_threshold_, unknown_cost_value_;
   
@@ -58,6 +58,7 @@ private:
    */
   // void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level);
   // dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig> *dsrv_;
+  bool getParams();
 };
 
 }  // namespace costmap_2d

include/costmap_2d/testing_helper.h

@@ -0,0 +1,99 @@
+#ifndef COSTMAP_2D_TESTING_HELPER_H
+#define COSTMAP_2D_TESTING_HELPER_H
+
+#include<costmap_2d/cost_values.h>
+#include<costmap_2d/costmap_2d.h>
+#include <costmap_2d/static_layer.h>
+#include <costmap_2d/obstacle_layer.h>
+#include <costmap_2d/inflation_layer.h>
+
+#include <sensor_msgs/point_cloud2_iterator.h>
+
+const double MAX_Z(1.0);
+
+char printableCost(unsigned char cost)
+{
+  switch (cost)
+  {
+  case costmap_2d::NO_INFORMATION: return '?';
+  case costmap_2d::LETHAL_OBSTACLE: return 'L';
+  case costmap_2d::INSCRIBED_INFLATED_OBSTACLE: return 'I';
+  case costmap_2d::FREE_SPACE: return '.';
+  default: return '0' + (unsigned char) (10 * cost / 255);
+  }
+}
+
+void printMap(costmap_2d::Costmap2D& costmap)
+{
+  printf("map:\n");
+  for (int i = 0; i < costmap.getSizeInCellsY(); i++){
+    for (int j = 0; j < costmap.getSizeInCellsX(); j++){
+      printf("%4d", int(costmap.getCost(j, i)));
+    }
+    printf("\n\n");
+  }
+}
+
+unsigned int countValues(costmap_2d::Costmap2D& costmap, unsigned char value, bool equal = true)
+{
+  unsigned int count = 0;
+  for (int i = 0; i < costmap.getSizeInCellsY(); i++){
+    for (int j = 0; j < costmap.getSizeInCellsX(); j++){
+      unsigned char c = costmap.getCost(j, i);
+      if ((equal && c == value) || (!equal && c != value))
+      {
+        count+=1;
+      }
+    }
+  }
+  return count;
+}
+
+void addStaticLayer(costmap_2d::LayeredCostmap& layers, tf2_ros::Buffer& tf)
+{
+  costmap_2d::StaticLayer* slayer = new costmap_2d::StaticLayer();
+  layers.addPlugin(boost::shared_ptr<costmap_2d::Layer>(slayer));
+  slayer->initialize(&layers, "static", &tf);
+}
+
+costmap_2d::ObstacleLayer* addObstacleLayer(costmap_2d::LayeredCostmap& layers, tf2_ros::Buffer& tf)
+{
+  costmap_2d::ObstacleLayer* olayer = new costmap_2d::ObstacleLayer();
+  olayer->initialize(&layers, "obstacles", &tf);
+  layers.addPlugin(boost::shared_ptr<costmap_2d::Layer>(olayer));
+  return olayer;
+}
+
+void addObservation(costmap_2d::ObstacleLayer* olayer, double x, double y, double z = 0.0,
+                    double ox = 0.0, double oy = 0.0, double oz = MAX_Z){
+  sensor_msgs::PointCloud2 cloud;
+  sensor_msgs::PointCloud2Modifier modifier(cloud);
+  modifier.setPointCloud2FieldsByString(1, "xyz");
+  modifier.resize(1);
+  sensor_msgs::PointCloud2Iterator<float> iter_x(cloud, "x");
+  sensor_msgs::PointCloud2Iterator<float> iter_y(cloud, "y");
+  sensor_msgs::PointCloud2Iterator<float> iter_z(cloud, "z");
+  *iter_x = x;
+  *iter_y = y;
+  *iter_z = z;
+
+  geometry_msgs::Point p;
+  p.x = ox;
+  p.y = oy;
+  p.z = oz;
+
+  costmap_2d::Observation obs(p, cloud, 100.0, 100.0);  // obstacle range = raytrace range = 100.0
+  olayer->addStaticObservation(obs, true, true);
+}
+
+costmap_2d::InflationLayer* addInflationLayer(costmap_2d::LayeredCostmap& layers, tf2_ros::Buffer& tf)
+{
+  costmap_2d::InflationLayer* ilayer = new costmap_2d::InflationLayer();
+  ilayer->initialize(&layers, "inflation", &tf);
+  boost::shared_ptr<costmap_2d::Layer> ipointer(ilayer);
+  layers.addPlugin(ipointer);
+  return ilayer;
+}
+
+
+#endif  // COSTMAP_2D_TESTING_HELPER_H

include/costmap_2d/unpreferred_layer.h

@@ -0,0 +1,21 @@
+#ifndef COSTMAP_2D_UNPREFERRED_LAYER_H_
+#define COSTMAP_2D_UNPREFERRED_LAYER_H_
+
+#include <costmap_2d/static_layer.h>
+
+namespace costmap_2d
+{
+class UnPreferredLayer : public StaticLayer
+{
+public:
+  UnPreferredLayer();
+  virtual ~UnPreferredLayer();
+
+private:
+  unsigned char interpretValue(unsigned char value);
+
+};
+
+}
+
+#endif // COSTMAP_2D_UNPREFERRED_LAYER_

include/costmap_2d/utils.h

@@ -0,0 +1,17 @@
+#ifndef COSTMAP_2D_UTILS_H
+#define COSTMAP_2D_UTILS_H
+#include <yaml-cpp/yaml.h>
+
+namespace costmap_2d
+{
+    template<typename T>
+    T loadParam(const YAML::Node& node, const std::string& key, const T& default_value)
+    {
+        if (node[key] && node[key].IsDefined())
+            return node[key].as<T>();
+        return default_value;
+    }
+
+}
+
+#endif  // COSTMAP_2D_UTILS_H

include/costmap_2d/voxel_grid.h

@@ -0,0 +1,30 @@
+// Header header
+// uint32_t[] data
+// geometry_msgs/Point32 origin
+// geometry_msgs/Vector3 resolutions
+// uint32_t size_x
+// uint32_t size_y
+// uint32_t size_z
+#ifndef COSTMAP_2D_VOXEL_GRID_H_
+#define COSTMAP_2D_VOXEL_GRID_H_
+
+#include <std_msgs/Header.h>
+#include <geometry_msgs/Point32.h>
+#include <geometry_msgs/Vector3.h>
+
+namespace costmap_2d
+{
+    struct VoxelGrid
+    {
+        std_msgs::Header header;
+        std::vector<uint32_t> data;
+        geometry_msgs::Point32 origin;
+        geometry_msgs::Vector3 resolutions;
+        uint32_t size_x;
+        uint32_t size_y;
+        uint32_t size_z;
+    };
+}
+
+
+#endif // COSTMAP_2D_VOXEL_GRID_H_

include/costmap_2d/voxel_layer.h

@@ -0,0 +1,149 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, 2013, 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: Eitan Marder-Eppstein
+ *         David V. Lu!!
+ *********************************************************************/
+#ifndef COSTMAP_2D_VOXEL_LAYER_H_
+#define COSTMAP_2D_VOXEL_LAYER_H_
+
+// #include <ros/ros.h>
+#include <costmap_2d/layer.h>
+#include <costmap_2d/layered_costmap.h>
+#include <costmap_2d/observation_buffer.h>
+#include <costmap_2d/voxel_grid.h>
+#include <nav_msgs/OccupancyGrid.h>
+#include <sensor_msgs/LaserScan.h>
+// #include <laser_geometry/laser_geometry.h>
+#include <sensor_msgs/PointCloud.h>
+#include <sensor_msgs/PointCloud2.h>
+#include <sensor_msgs/point_cloud_conversion.h>
+// #include <message_filters/subscriber.h>
+// #include <dynamic_reconfigure/server.h>
+// #include <costmap_2d/VoxelPluginConfig.h>
+#include <costmap_2d/obstacle_layer.h>
+// #include <voxel_grid/voxel_grid.h>
+
+namespace costmap_2d
+{
+
+class VoxelLayer : public ObstacleLayer
+{
+public:
+  VoxelLayer() //: voxel_grid_(0, 0, 0)
+  {
+    costmap_ = NULL;  // this is the unsigned char* member of parent class's parent class Costmap2D.
+  }
+
+  virtual ~VoxelLayer();
+
+  virtual void onInitialize();
+  virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
+                            double* max_x, double* max_y);
+
+  void updateOrigin(double new_origin_x, double new_origin_y);
+  bool isDiscretized()
+  {
+    return true;
+  }
+  virtual void matchSize();
+  virtual void reset();
+
+
+protected:
+  // virtual void setupDynamicReconfigure(ros::NodeHandle& nh);
+
+  virtual void resetMaps();
+
+private:
+  // void reconfigureCB(costmap_2d::VoxelPluginConfig &config, uint32_t level);
+  void clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info);
+  virtual void raytraceFreespace(const costmap_2d::Observation& clearing_observation, double* min_x, double* min_y,
+                                 double* max_x, double* max_y);
+
+  // dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig> *voxel_dsrv_;
+
+  bool publish_voxel_;
+  // ros::Publisher voxel_pub_;
+  // voxel_grid::VoxelGrid voxel_grid_;
+  double z_resolution_, origin_z_;
+  unsigned int unknown_threshold_, mark_threshold_, size_z_;
+  // ros::Publisher clearing_endpoints_pub_;
+  sensor_msgs::PointCloud clearing_endpoints_;
+
+  inline bool worldToMap3DFloat(double wx, double wy, double wz, double& mx, double& my, double& mz)
+  {
+    if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_)
+      return false;
+    mx = ((wx - origin_x_) / resolution_);
+    my = ((wy - origin_y_) / resolution_);
+    mz = ((wz - origin_z_) / z_resolution_);
+    if (mx < size_x_ && my < size_y_ && mz < size_z_)
+      return true;
+
+    return false;
+  }
+
+  inline bool worldToMap3D(double wx, double wy, double wz, unsigned int& mx, unsigned int& my, unsigned int& mz)
+  {
+    if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_)
+      return false;
+
+    mx = (int)((wx - origin_x_) / resolution_);
+    my = (int)((wy - origin_y_) / resolution_);
+    mz = (int)((wz - origin_z_) / z_resolution_);
+
+    if (mx < size_x_ && my < size_y_ && mz < size_z_)
+      return true;
+
+    return false;
+  }
+
+  inline void mapToWorld3D(unsigned int mx, unsigned int my, unsigned int mz, double& wx, double& wy, double& wz)
+  {
+    // returns the center point of the cell
+    wx = origin_x_ + (mx + 0.5) * resolution_;
+    wy = origin_y_ + (my + 0.5) * resolution_;
+    wz = origin_z_ + (mz + 0.5) * z_resolution_;
+  }
+
+  inline double dist(double x0, double y0, double z0, double x1, double y1, double z1)
+  {
+    return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0));
+  }
+};
+
+}  // namespace costmap_2d
+
+#endif  // COSTMAP_2D_VOXEL_LAYER_H_