Hiep update

include/robot_costmap_2d/costmap_layer.h

@@ -0,0 +1,151 @@
+/*********************************************************************
+ *
+ * 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 ROBOT_COSTMAP_2D_COSTMAP_LAYER_H_
+#define ROBOT_COSTMAP_2D_COSTMAP_LAYER_H_
+
+#include <robot_costmap_2d/layer.h>
+#include <robot_costmap_2d/layered_costmap.h>
+
+namespace robot_costmap_2d
+{
+
+class CostmapLayer : public Layer, public Costmap2D
+{
+public:
+  CostmapLayer() : has_extra_bounds_(false),
+    extra_min_x_(1e6), extra_max_x_(-1e6),
+    extra_min_y_(1e6), extra_max_y_(-1e6) {}
+
+  bool isDiscretized()
+  {
+    return true;
+  }
+
+  virtual void matchSize();
+
+  virtual void clearArea(int start_x, int start_y, int end_x, int end_y, bool invert_area=false);
+
+  /**
+   * If an external source changes values in the costmap,
+   * it should call this method with the area that it changed
+   * to ensure that the costmap includes this region as well.
+   * @param mx0 Minimum x value of the bounding box
+   * @param my0 Minimum y value of the bounding box
+   * @param mx1 Maximum x value of the bounding box
+   * @param my1 Maximum y value of the bounding box
+   */
+  void addExtraBounds(double mx0, double my0, double mx1, double my1);
+
+protected:
+  /*
+   * Updates the master_grid within the specified
+   * bounding box using this layer's values.
+   *
+   * TrueOverwrite means every value from this layer
+   * is written into the master grid.
+   */
+  void updateWithTrueOverwrite(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
+
+  /*
+   * Updates the master_grid within the specified
+   * bounding box using this layer's values.
+   *
+   * Overwrite means every valid value from this layer
+   * is written into the master grid (does not copy NO_INFORMATION)
+   */
+  void updateWithOverwrite(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
+
+  /*
+   * Updates the master_grid within the specified
+   * bounding box using this layer's values.
+   *
+   * Sets the new value to the maximum of the master_grid's value
+   * and this layer's value. If the master value is NO_INFORMATION,
+   * it is overwritten. If the layer's value is NO_INFORMATION,
+   * the master value does not change.
+   */
+  void updateWithMax(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
+
+  /*
+   * Updates the master_grid within the specified
+   * bounding box using this layer's values.
+   *
+   * Sets the new value to the sum of the master grid's value
+   * and this layer's value. If the master value is NO_INFORMATION,
+   * it is overwritten with the layer's value. If the layer's value
+   * is NO_INFORMATION, then the master value does not change.
+   *
+   * If the sum value is larger than INSCRIBED_INFLATED_OBSTACLE,
+   * the master value is set to (INSCRIBED_INFLATED_OBSTACLE - 1).
+   */
+  void updateWithAddition(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
+
+  /**
+   * Updates the bounding box specified in the parameters to include
+   * the location (x,y)
+   *
+   * @param x x-coordinate to include
+   * @param y y-coordinate to include
+   * @param min_x bounding box
+   * @param min_y bounding box
+   * @param max_x bounding box
+   * @param max_y bounding box
+   */
+  void touch(double x, double y, double* min_x, double* min_y, double* max_x, double* max_y);
+
+  /*
+   * Updates the bounding box specified in the parameters
+   * to include the bounding box from the addExtraBounds
+   * call. If addExtraBounds was not called, the method will do nothing.
+   *
+   * Should be called at the beginning of the updateBounds method
+   *
+   * @param min_x bounding box (input and output)
+   * @param min_y bounding box (input and output)
+   * @param max_x bounding box (input and output)
+   * @param max_y bounding box (input and output)
+   */
+  void useExtraBounds(double* min_x, double* min_y, double* max_x, double* max_y);
+  bool has_extra_bounds_;
+
+private:
+  double extra_min_x_, extra_max_x_, extra_min_y_, extra_max_y_;
+};
+
+}  // namespace robot_costmap_2d
+#endif  // ROBOT_COSTMAP_2D_COSTMAP_LAYER_H_