Hiep update

include/robot_costmap_2d/static_layer.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_STATIC_LAYER_H_
+#define ROBOT_COSTMAP_2D_STATIC_LAYER_H_
+
+#include <robot_costmap_2d/costmap_layer.h>
+#include <robot_costmap_2d/layered_costmap.h>
+
+#include <robot_nav_msgs/OccupancyGrid.h>
+#include <robot_map_msgs/OccupancyGridUpdate.h>
+#include <string>
+
+namespace robot_costmap_2d
+{
+
+class StaticLayer : public CostmapLayer
+{
+public:
+  StaticLayer();
+  virtual ~StaticLayer();
+  virtual void onInitialize();
+  virtual void activate();
+  virtual void deactivate();
+  virtual void reset();
+
+  virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
+                            double* max_x, double* max_y);
+  virtual void updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
+
+  virtual void matchSize();
+protected:
+  void handleImpl(const void* data,
+                  const std::type_info& type,
+                  const std::string& topic) override;
+  virtual unsigned char interpretValue(unsigned char value);
+  virtual void incomingMap(const robot_nav_msgs::OccupancyGrid& new_map);
+  virtual void incomingUpdate(const robot_map_msgs::OccupancyGridUpdate& update);
+  unsigned char* threshold_;
+  std::string base_frame_id_;
+  std::string global_frame_;  ///< @brief The global frame for the costmap
+  std::string map_frame_;  /// @brief frame that map is located in
+  std::string map_topic_;  // Hiep thêm vào mục đich phân biết zones
+  bool subscribe_to_updates_;
+  bool map_received_;
+  bool has_updated_data_;
+  unsigned int x_, y_, width_, height_;
+  bool track_unknown_space_;
+  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;
+  unsigned char lethal_threshold_, unknown_cost_value_;
+  
+private:
+  bool getParams(const std::string& config_file_name, robot::NodeHandle &nh);
+};
+
+}  // namespace robot_costmap_2d
+
+#endif  // ROBOT_COSTMAP_2D_STATIC_LAYER_H_