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duongtd 2025-10-28 17:21:02 +07:00
parent 5d8981eab6
commit 7c1dcfd352
31 changed files with 663 additions and 445 deletions
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4
CMakeLists.txt
View File

@ -5,11 +5,11 @@ set(CMAKE_CXX_STANDARD 17)
set(CMAKE_POSITION_INDEPENDENT_CODE ON) set(CMAKE_POSITION_INDEPENDENT_CODE ON)
if (NOT TARGET sensor_msgs) if (NOT TARGET sensor_msgs)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build) add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build)
endif() endif()
if (NOT TARGET geometry_msgs) if (NOT TARGET geometry_msgs)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build) add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
endif() endif()
# ---- Dependencies ---- # ---- Dependencies ----

6
build/CMakeCache.txt
View File

@ -247,7 +247,7 @@ costmap_2d_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d
geometry_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/geometry_msgs_build geometry_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/geometry_msgs_build
//Value Computed by CMake //Value Computed by CMake
geometry_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/geometry_msgs geometry_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/common_msgs/geometry_msgs
//Dependencies for the target //Dependencies for the target
layers_LIB_DEPENDS:STATIC=general;costmap_2d;general;Boost::system;general;Boost::thread; layers_LIB_DEPENDS:STATIC=general;costmap_2d;general;Boost::system;general;Boost::thread;
@ -256,13 +256,13 @@ layers_LIB_DEPENDS:STATIC=general;costmap_2d;general;Boost::system;general;Boost
sensor_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build sensor_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build
//Value Computed by CMake //Value Computed by CMake
sensor_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/sensor_msgs sensor_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/common_msgs/sensor_msgs
//Value Computed by CMake //Value Computed by CMake
std_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/std_msgs_build std_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/std_msgs_build
//Value Computed by CMake //Value Computed by CMake
std_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/std_msgs std_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/common_msgs/std_msgs
######################## ########################

6
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@ -6,99 +6,79 @@
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@ -27,9 +27,9 @@ set(CMAKE_TARGET_DEFINITIONS_CXX
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#define COSTMAP_2D_INFLATION_LAYER_H_ #define COSTMAP_2D_INFLATION_LAYER_H_
// #include <ros/ros.h> // #include <ros/ros.h>
// #include <costmap_2d/layer.h> #include <costmap_2d/layer.h>
// #include <costmap_2d/layered_costmap.h> #include <costmap_2d/layered_costmap.h>
// #include <costmap_2d/InflationPluginConfig.h> // #include <costmap_2d/InflationPluginConfig.h>
// #include <dynamic_reconfigure/server.h> // #include <dynamic_reconfigure/server.h>
// #include <boost/thread.hpp> #include <boost/thread.hpp>
#include <boost/dll/alias.hpp>
// namespace costmap_2d
// {
// /**
// * @class CellData
// * @brief Storage for cell information used during obstacle inflation
// */
// class CellData
// {
// public:
// /**
// * @brief Constructor for a CellData objects
// * @param i The index of the cell in the cost map
// * @param x The x coordinate of the cell in the cost map
// * @param y The y coordinate of the cell in the cost map
// * @param sx The x coordinate of the closest obstacle cell in the costmap
// * @param sy The y coordinate of the closest obstacle cell in the costmap
// * @return
// */
// CellData(double i, unsigned int x, unsigned int y, unsigned int sx, unsigned int sy) :
// index_(i), x_(x), y_(y), src_x_(sx), src_y_(sy)
// {
// }
// unsigned int index_;
// unsigned int x_, y_;
// unsigned int src_x_, src_y_;
// };
// class InflationLayer : public Layer namespace costmap_2d
// { {
// public: /**
// InflationLayer(); * @class CellData
* @brief Storage for cell information used during obstacle inflation
*/
class CellData
{
public:
/**
* @brief Constructor for a CellData objects
* @param i The index of the cell in the cost map
* @param x The x coordinate of the cell in the cost map
* @param y The y coordinate of the cell in the cost map
* @param sx The x coordinate of the closest obstacle cell in the costmap
* @param sy The y coordinate of the closest obstacle cell in the costmap
* @return
*/
CellData(double i, unsigned int x, unsigned int y, unsigned int sx, unsigned int sy) :
index_(i), x_(x), y_(y), src_x_(sx), src_y_(sy)
{
}
unsigned int index_;
unsigned int x_, y_;
unsigned int src_x_, src_y_;
};
// virtual ~InflationLayer() class InflationLayer : public Layer
// { {
// deleteKernels(); public:
// if (dsrv_) InflationLayer();
// delete dsrv_;
// if (seen_)
// delete[] seen_;
// }
// virtual void onInitialize(); virtual ~InflationLayer()
// virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, {
// double* max_x, double* max_y); deleteKernels();
// virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j); // if (dsrv_)
// virtual bool isDiscretized() // delete dsrv_;
// { if (seen_)
// return true; delete[] seen_;
// } }
// virtual void matchSize();
// virtual void reset() { onInitialize(); } 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);
virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
virtual bool isDiscretized()
{
return true;
}
virtual void matchSize();
// /** @brief Given a distance, compute a cost. virtual void reset() { onInitialize(); }
// * @param distance The distance from an obstacle in cells
// * @return A cost value for the distance */
// virtual inline unsigned char computeCost(double distance) const
// {
// unsigned char cost = 0;
// if (distance == 0)
// cost = LETHAL_OBSTACLE;
// else if (distance * resolution_ <= inscribed_radius_)
// cost = INSCRIBED_INFLATED_OBSTACLE;
// else
// {
// // make sure cost falls off by Euclidean distance
// double euclidean_distance = distance * resolution_;
// double factor = exp(-1.0 * weight_ * (euclidean_distance - inscribed_radius_));
// cost = (unsigned char)((INSCRIBED_INFLATED_OBSTACLE - 1) * factor);
// }
// return cost;
// }
// /** /** @brief Given a distance, compute a cost.
// * @brief Change the values of the inflation radius parameters * @param distance The distance from an obstacle in cells
// * @param inflation_radius The new inflation radius * @return A cost value for the distance */
// * @param cost_scaling_factor The new weight virtual inline unsigned char computeCost(double distance) const
// */ {
// void setInflationParameters(double inflation_radius, double cost_scaling_factor); unsigned char cost = 0;
if (distance == 0)
cost = LETHAL_OBSTACLE;
else if (distance * resolution_ <= inscribed_radius_)
cost = INSCRIBED_INFLATED_OBSTACLE;
else
{
// make sure cost falls off by Euclidean distance
double euclidean_distance = distance * resolution_;
double factor = exp(-1.0 * weight_ * (euclidean_distance - inscribed_radius_));
cost = (unsigned char)((INSCRIBED_INFLATED_OBSTACLE - 1) * factor);
}
return cost;
}
// protected: /**
// virtual void onFootprintChanged(); * @brief Change the values of the inflation radius parameters
// boost::recursive_mutex* inflation_access_; * @param inflation_radius The new inflation radius
* @param cost_scaling_factor The new weight
*/
void setInflationParameters(double inflation_radius, double cost_scaling_factor);
// double resolution_; protected:
// double inflation_radius_; virtual void onFootprintChanged();
// double inscribed_radius_; boost::recursive_mutex* inflation_access_;
// double weight_;
// bool inflate_unknown_;
// private: double resolution_;
// /** double inflation_radius_;
// * @brief Lookup pre-computed distances double inscribed_radius_;
// * @param mx The x coordinate of the current cell double weight_;
// * @param my The y coordinate of the current cell bool inflate_unknown_;
// * @param src_x The x coordinate of the source cell
// * @param src_y The y coordinate of the source cell
// * @return
// */
// inline double distanceLookup(int mx, int my, int src_x, int src_y)
// {
// unsigned int dx = abs(mx - src_x);
// unsigned int dy = abs(my - src_y);
// return cached_distances_[dx][dy];
// }
// /** private:
// * @brief Lookup pre-computed costs /**
// * @param mx The x coordinate of the current cell * @brief Lookup pre-computed distances
// * @param my The y coordinate of the current cell * @param mx The x coordinate of the current cell
// * @param src_x The x coordinate of the source cell * @param my The y coordinate of the current cell
// * @param src_y The y coordinate of the source cell * @param src_x The x coordinate of the source cell
// * @return * @param src_y The y coordinate of the source cell
// */ * @return
// inline unsigned char costLookup(int mx, int my, int src_x, int src_y) */
// { inline double distanceLookup(int mx, int my, int src_x, int src_y)
// unsigned int dx = abs(mx - src_x); {
// unsigned int dy = abs(my - src_y); unsigned int dx = abs(mx - src_x);
// return cached_costs_[dx][dy]; unsigned int dy = abs(my - src_y);
// } return cached_distances_[dx][dy];
}
// void computeCaches(); /**
// void deleteKernels(); * @brief Lookup pre-computed costs
// void inflate_area(int min_i, int min_j, int max_i, int max_j, unsigned char* master_grid); * @param mx The x coordinate of the current cell
* @param my The y coordinate of the current cell
* @param src_x The x coordinate of the source cell
* @param src_y The y coordinate of the source cell
* @return
*/
inline unsigned char costLookup(int mx, int my, int src_x, int src_y)
{
unsigned int dx = abs(mx - src_x);
unsigned int dy = abs(my - src_y);
return cached_costs_[dx][dy];
}
// unsigned int cellDistance(double world_dist) void computeCaches();
// { void deleteKernels();
// return layered_costmap_->getCostmap()->cellDistance(world_dist); void inflate_area(int min_i, int min_j, int max_i, int max_j, unsigned char* master_grid);
// }
// inline void enqueue(unsigned int index, unsigned int mx, unsigned int my, unsigned int cellDistance(double world_dist)
// unsigned int src_x, unsigned int src_y); {
return layered_costmap_->getCostmap()->cellDistance(world_dist);
}
// unsigned int cell_inflation_radius_; inline void enqueue(unsigned int index, unsigned int mx, unsigned int my,
// unsigned int cached_cell_inflation_radius_; unsigned int src_x, unsigned int src_y);
// std::map<double, std::vector<CellData> > inflation_cells_;
// bool* seen_; unsigned int cell_inflation_radius_;
// int seen_size_; unsigned int cached_cell_inflation_radius_;
std::map<double, std::vector<CellData> > inflation_cells_;
// unsigned char** cached_costs_; bool* seen_;
// double** cached_distances_; int seen_size_;
// double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
unsigned char** cached_costs_;
double** cached_distances_;
double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
// dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig> *dsrv_; // dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig> *dsrv_;
// void reconfigureCB(costmap_2d::InflationPluginConfig &config, uint32_t level); // void reconfigureCB(costmap_2d::InflationPluginConfig &config, uint32_t level);
// bool need_reinflation_; ///< Indicates that the entire costmap should be reinflated next time around. bool need_reinflation_; ///< Indicates that the entire costmap should be reinflated next time around.
// }; };
// } // namespace costmap_2d } // namespace costmap_2d
// #endif // COSTMAP_2D_INFLATION_LAYER_H_
// /////////////////////////////////////////
// #ifndef INFLATION_LAYER_H_
// #define INFLATION_LAYER_H_
// #include "share.h"
// #include <cmath>
// #include <map>
// #include <vector>
// #include <boost/thread/recursive_mutex.hpp>
// /**
// * @brief Lưu thông tin 1 cell khi thực hiện inflation
// */
// class CellData
// {
// public:
// CellData(double i, unsigned int x, unsigned int y, unsigned int sx, unsigned int sy)
// : index_(i), x_(x), y_(y), src_x_(sx), src_y_(sy) {}
// unsigned int index_;
// unsigned int x_, y_;
// unsigned int src_x_, src_y_;
// };
// /**
// * @brief Lớp thực hiện "inflation" cho costmap (mở rộng vùng vật cản)
// */
// class InflationLayer : public Layer
// {
// public:
// InflationLayer();
// virtual ~InflationLayer();
// 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);
// virtual void updateCosts(Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
// virtual bool isDiscretized() { return true; }
// virtual void matchSize();
// virtual void reset() { onInitialize(); }
// void setInflationParameters(double inflation_radius, double cost_scaling_factor);
// protected:
// virtual void onFootprintChanged();
// boost::recursive_mutex inflation_access_;
// double resolution_;
// double inflation_radius_;
// double inscribed_radius_;
// double weight_;
// bool inflate_unknown_;
// private:
// inline double distanceLookup(int mx, int my, int src_x, int src_y);
// inline unsigned char costLookup(int mx, int my, int src_x, int src_y);
// inline unsigned char computeCost(double distance) const;
// void computeCaches();
// void deleteKernels();
// void inflate_area(int min_i, int min_j, int max_i, int max_j, unsigned char* master_grid);
// inline void enqueue(unsigned int index, unsigned int mx, unsigned int my,
// unsigned int src_x, unsigned int src_y);
// unsigned int cell_inflation_radius_;
// unsigned int cached_cell_inflation_radius_;
// std::map<double, std::vector<CellData>> inflation_cells_;
// bool* seen_;
// int seen_size_;
// unsigned char** cached_costs_;
// double** cached_distances_;
// double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
// bool need_reinflation_;
// };
#endif // INFLATION_LAYER_H_
#endif // COSTMAP_2D_INFLATION_LAYER_H_

6
include/costmap_2d/layer.h
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@ -40,7 +40,7 @@
#include <costmap_2d/costmap_2d.h> #include <costmap_2d/costmap_2d.h>
#include <costmap_2d/layered_costmap.h> #include <costmap_2d/layered_costmap.h>
#include <string> #include <string>
#include "tf2/buffer_core.h" #include <tf2/buffer_core.h>
namespace costmap_2d namespace costmap_2d
{ {
@ -146,6 +146,10 @@ private:
std::vector<geometry_msgs::Point> footprint_spec_; std::vector<geometry_msgs::Point> footprint_spec_;
}; };
using PluginPtr = std::shared_ptr<Layer>;
} // namespace costmap_2d } // namespace costmap_2d
#endif // COSTMAP_2D_LAYER_H_ #endif // COSTMAP_2D_LAYER_H_

177
include/costmap_2d/obstacle_layer.h Normal file
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@ -0,0 +1,177 @@
/*********************************************************************
*
* 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_OBSTACLE_LAYER_H_
#define COSTMAP_2D_OBSTACLE_LAYER_H_
#include <ros/ros.h>
#include <costmap_2d/costmap_layer.h>
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/observation_buffer.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 <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
{
class ObstacleLayer : public CostmapLayer
{
public:
ObstacleLayer()
{
costmap_ = NULL; // this is the unsigned char* member of parent class Costmap2D.
}
virtual ~ObstacleLayer();
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);
virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
virtual void activate();
virtual void deactivate();
virtual void reset();
/**
* @brief A callback to handle buffering LaserScan messages
* @param message The message returned from a message notifier
* @param buffer A pointer to the observation buffer to update
*/
void laserScanCallback(const sensor_msgs::LaserScanConstPtr& message,
const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
/**
* @brief A callback to handle buffering LaserScan messages which need filtering to turn Inf values into range_max.
* @param message The message returned from a message notifier
* @param buffer A pointer to the observation buffer to update
*/
void laserScanValidInfCallback(const sensor_msgs::LaserScanConstPtr& message,
const boost::shared_ptr<ObservationBuffer>& buffer);
/**
* @brief A callback to handle buffering PointCloud messages
* @param message The message returned from a message notifier
* @param buffer A pointer to the observation buffer to update
*/
void pointCloudCallback(const sensor_msgs::PointCloudConstPtr& message,
const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
/**
* @brief A callback to handle buffering PointCloud2 messages
* @param message The message returned from a message notifier
* @param buffer A pointer to the observation buffer to update
*/
void pointCloud2Callback(const sensor_msgs::PointCloud2ConstPtr& message,
const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
// for testing purposes
void addStaticObservation(costmap_2d::Observation& obs, bool marking, bool clearing);
void clearStaticObservations(bool marking, bool clearing);
protected:
virtual void setupDynamicReconfigure(ros::NodeHandle& nh);
/**
* @brief Get the observations used to mark space
* @param marking_observations A reference to a vector that will be populated with the observations
* @return True if all the observation buffers are current, false otherwise
*/
bool getMarkingObservations(std::vector<costmap_2d::Observation>& marking_observations) const;
/**
* @brief Get the observations used to clear space
* @param clearing_observations A reference to a vector that will be populated with the observations
* @return True if all the observation buffers are current, false otherwise
*/
bool getClearingObservations(std::vector<costmap_2d::Observation>& clearing_observations) const;
/**
* @brief Clear freespace based on one observation
* @param clearing_observation The observation used to raytrace
* @param min_x
* @param min_y
* @param max_x
* @param max_y
*/
virtual void raytraceFreespace(const costmap_2d::Observation& clearing_observation, double* min_x, double* min_y,
double* max_x, double* max_y);
void updateRaytraceBounds(double ox, double oy, double wx, double wy, double range, double* min_x, double* min_y,
double* max_x, double* max_y);
std::vector<geometry_msgs::Point> transformed_footprint_;
bool footprint_clearing_enabled_;
void updateFootprint(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
double* max_x, double* max_y);
std::string global_frame_; ///< @brief The global frame for the costmap
double max_obstacle_height_; ///< @brief Max Obstacle Height
laser_geometry::LaserProjection projector_; ///< @brief Used to project laser scans into point clouds
std::vector<boost::shared_ptr<message_filters::SubscriberBase> > observation_subscribers_; ///< @brief Used for the observation message filters
std::vector<boost::shared_ptr<tf2_ros::MessageFilterBase> > observation_notifiers_; ///< @brief Used to make sure that transforms are available for each sensor
std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > observation_buffers_; ///< @brief Used to store observations from various sensors
std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > marking_buffers_; ///< @brief Used to store observation buffers used for marking obstacles
std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > clearing_buffers_; ///< @brief Used to store observation buffers used for clearing obstacles
// Used only for testing purposes
std::vector<costmap_2d::Observation> static_clearing_observations_, static_marking_observations_;
bool rolling_window_;
dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig> *dsrv_;
int combination_method_;
private:
void reconfigureCB(costmap_2d::ObstaclePluginConfig &config, uint32_t level);
};
} // namespace costmap_2d
#endif // COSTMAP_2D_OBSTACLE_LAYER_H_

66
plugins/inflation_layer.cpp
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@ -1,37 +1,37 @@
// #include <algorithm> #include <algorithm>
// #include <costmap_2d/inflation_layer.h> #include <costmap_2d/inflation_layer.h>
// #include <costmap_2d/costmap_math.h> #include <costmap_2d/costmap_math.h>
// #include <costmap_2d/footprint.h> #include <costmap_2d/footprint.h>
// #include <boost/thread.hpp> #include <boost/thread.hpp>
// PLUGINLIB_EXPORT_CLASS(costmap_2d::InflationLayer, costmap_2d::Layer) // PLUGINLIB_EXPORT_CLASS(costmap_2d::InflationLayer, costmap_2d::Layer)
// using costmap_2d::LETHAL_OBSTACLE; using costmap_2d::LETHAL_OBSTACLE;
// using costmap_2d::INSCRIBED_INFLATED_OBSTACLE; using costmap_2d::INSCRIBED_INFLATED_OBSTACLE;
// using costmap_2d::NO_INFORMATION; using costmap_2d::NO_INFORMATION;
// namespace costmap_2d namespace costmap_2d
// { {
// InflationLayer::InflationLayer() InflationLayer::InflationLayer()
// : resolution_(0) : resolution_(0)
// , inflation_radius_(0) , inflation_radius_(0)
// , inscribed_radius_(0) , inscribed_radius_(0)
// , weight_(0) , weight_(0)
// , inflate_unknown_(false) , inflate_unknown_(false)
// , cell_inflation_radius_(0) , cell_inflation_radius_(0)
// , cached_cell_inflation_radius_(0) , cached_cell_inflation_radius_(0)
// , dsrv_(NULL) // , dsrv_(NULL)
// , seen_(NULL) , seen_(NULL)
// , cached_costs_(NULL) , cached_costs_(NULL)
// , cached_distances_(NULL) , cached_distances_(NULL)
// , last_min_x_(-std::numeric_limits<float>::max()) , last_min_x_(-std::numeric_limits<float>::max())
// , last_min_y_(-std::numeric_limits<float>::max()) , last_min_y_(-std::numeric_limits<float>::max())
// , last_max_x_(std::numeric_limits<float>::max()) , last_max_x_(std::numeric_limits<float>::max())
// , last_max_y_(std::numeric_limits<float>::max()) , last_max_y_(std::numeric_limits<float>::max())
// { {
// inflation_access_ = new boost::recursive_mutex(); inflation_access_ = new boost::recursive_mutex();
// } }
// void InflationLayer::onInitialize() // void InflationLayer::onInitialize()
// { // {
@ -344,4 +344,12 @@
// } // }
// } // }
// } // namespace costmap_2d // Export factory function
static PluginPtr create_inflation_plugin() {
return std::make_shared<InflationLayer>();
}
// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
BOOST_DLL_ALIAS(create_inflation_plugin, create_plugin)
} // namespace costmap_2d