Hiep update

include/robot_costmap_2d/voxel_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_VOXEL_LAYER_H_
+#define ROBOT_COSTMAP_2D_VOXEL_LAYER_H_
+
+#include <robot_costmap_2d/layer.h>
+#include <robot_costmap_2d/layered_costmap.h>
+#include <robot_costmap_2d/observation_buffer.h>
+#include <robot_costmap_2d/voxel_grid.h>
+#include <robot_nav_msgs/OccupancyGrid.h>
+#include <robot_sensor_msgs/LaserScan.h>
+#include <laser_geometry/laser_geometry.hpp>
+#include <robot_sensor_msgs/PointCloud.h>
+#include <robot_sensor_msgs/PointCloud2.h>
+#include <robot_sensor_msgs/point_cloud_conversion.h>
+#include <robot_costmap_2d/obstacle_layer.h>
+#include <voxel_grid/voxel_grid.h>
+
+namespace robot_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 resetMaps();
+
+private:
+  bool getParams(const std::string& config_file_name, robot::NodeHandle &nh);
+  void clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info);
+  virtual void raytraceFreespace(const robot_costmap_2d::Observation& clearing_observation, double* min_x, double* min_y,
+                                 double* max_x, double* max_y);
+
+
+  bool publish_voxel_;
+  voxel_grid::VoxelGrid voxel_grid_;
+  double z_resolution_, origin_z_;
+  unsigned int unknown_threshold_, mark_threshold_, size_z_;
+  robot_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 robot_costmap_2d
+
+#endif  // ROBOT_COSTMAP_2D_VOXEL_LAYER_H_