Hiep update

include/robot_costmap_2d/layered_costmap.h

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+/*********************************************************************
+ *
+ * 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_LAYERED_COSTMAP_H_
+#define ROBOT_COSTMAP_2D_LAYERED_COSTMAP_H_
+
+#include <robot_costmap_2d/cost_values.h>
+#include <robot_costmap_2d/layer.h>
+#include <robot_costmap_2d/costmap_2d.h>
+#include <vector>
+#include <string>
+
+namespace robot_costmap_2d
+{
+class Layer;
+
+/**
+ * @class LayeredCostmap
+ * @brief Instantiates different layer plugins and aggregates them into one score
+ */
+class LayeredCostmap
+{
+public:
+  /**
+   * @brief  Constructor for a costmap
+   */
+  LayeredCostmap(std::string global_frame, bool rolling_window, bool track_unknown);
+
+  /**
+   * @brief  Destructor
+   */
+  ~LayeredCostmap();
+
+  /**
+   * @brief  Update the underlying costmap with new data.
+   * If you want to update the map outside of the update loop that runs, you can call this.
+   */
+  void updateMap(double robot_x, double robot_y, double robot_yaw);
+
+  inline const std::string& getGlobalFrameID() const noexcept
+  {
+    return global_frame_;
+  }
+
+  void resizeMap(unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y,
+                 bool size_locked = false);
+
+  void getUpdatedBounds(double& minx, double& miny, double& maxx, double& maxy)
+  {
+    minx = minx_;
+    miny = miny_;
+    maxx = maxx_;
+    maxy = maxy_;
+  }
+
+  bool isCurrent();
+
+  Costmap2D* getCostmap()
+  {
+    return &costmap_;
+  }
+
+  bool isRolling()
+  {
+    return rolling_window_;
+  }
+
+  bool isTrackingUnknown()
+  {
+    return costmap_.getDefaultValue() == robot_costmap_2d::NO_INFORMATION;
+  }
+
+  std::vector<boost::shared_ptr<Layer> >* getPlugins()
+  {
+    return &plugins_;
+  }
+
+  void addPlugin(boost::shared_ptr<Layer> plugin)
+  {
+    plugins_.push_back(plugin);
+  }
+
+  bool isSizeLocked()
+  {
+    return size_locked_;
+  }
+
+  void getBounds(unsigned int* x0, unsigned int* xn, unsigned int* y0, unsigned int* yn)
+  {
+    *x0 = bx0_;
+    *xn = bxn_;
+    *y0 = by0_;
+    *yn = byn_;
+  }
+
+  bool isInitialized()
+  {
+      return initialized_;
+  }
+
+  /** @brief Updates the stored footprint, updates the circumscribed
+   * and inscribed radii, and calls onFootprintChanged() in all
+   * layers. */
+  void setFootprint(const std::vector<robot_geometry_msgs::Point>& footprint_spec);
+
+  /** @brief Returns the latest footprint stored with setFootprint(). */
+  const std::vector<robot_geometry_msgs::Point>& getFootprint() { return footprint_; }
+
+  /** @brief The radius of a circle centered at the origin of the
+   * robot which just surrounds all points on the robot's
+   * footprint.
+   *
+   * This is updated by setFootprint(). */
+  double getCircumscribedRadius() { return circumscribed_radius_; }
+
+  /** @brief The radius of a circle centered at the origin of the
+   * robot which is just within all points and edges of the robot's
+   * footprint.
+   *
+   * This is updated by setFootprint(). */
+  double getInscribedRadius() { return inscribed_radius_; }
+
+private:
+  Costmap2D costmap_;
+  std::string global_frame_;
+
+  bool rolling_window_;  /// < @brief Whether or not the costmap should roll with the robot
+
+  bool current_;
+  double minx_, miny_, maxx_, maxy_;
+  unsigned int bx0_, bxn_, by0_, byn_;
+
+  std::vector<boost::shared_ptr<Layer> > plugins_;
+
+  bool initialized_;
+  bool size_locked_;
+  double circumscribed_radius_, inscribed_radius_;
+  std::vector<robot_geometry_msgs::Point> footprint_;
+};
+
+}  // namespace robot_costmap_2d
+
+#endif  // ROBOT_COSTMAP_2D_LAYERED_COSTMAP_H_