150 lines
6.0 KiB
C++
Executable File
150 lines
6.0 KiB
C++
Executable File
/*********************************************************************
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*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, 2013, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* Author: Eitan Marder-Eppstein
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* David V. Lu!!
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*********************************************************************/
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#ifndef ROBOT_COSTMAP_2D_FOOTPRINT_H
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#define ROBOT_COSTMAP_2D_FOOTPRINT_H
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#include <robot_geometry_msgs/Polygon.h>
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#include <robot_geometry_msgs/PolygonStamped.h>
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#include <robot_geometry_msgs/Point.h>
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#include <robot_geometry_msgs/Point32.h>
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#include <robot/node_handle.h>
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#include <robot_xmlrpcpp/XmlRpcValue.h>
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namespace robot_costmap_2d
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{
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/**
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* @brief Calculate the extreme distances for the footprint
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*
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* @param footprint The footprint to examine
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* @param min_dist Output parameter of the minimum distance
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* @param max_dist Output parameter of the maximum distance
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*/
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void calculateMinAndMaxDistances(const std::vector<robot_geometry_msgs::Point>& footprint,
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double& min_dist, double& max_dist);
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/**
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* @brief Convert Point32 to Point
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*/
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robot_geometry_msgs::Point toPoint(robot_geometry_msgs::Point32 pt);
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/**
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* @brief Convert Point to Point32
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*/
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robot_geometry_msgs::Point32 toPoint32(robot_geometry_msgs::Point pt);
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/**
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* @brief Convert vector of Points to Polygon msg
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*/
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robot_geometry_msgs::Polygon toPolygon(std::vector<robot_geometry_msgs::Point> pts);
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/**
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* @brief Convert Polygon msg to vector of Points.
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*/
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std::vector<robot_geometry_msgs::Point> toPointVector(robot_geometry_msgs::Polygon polygon);
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/**
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* @brief Given a pose and base footprint, build the oriented footprint of the robot (list of Points)
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* @param x The x position of the robot
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* @param y The y position of the robot
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* @param theta The orientation of the robot
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* @param footprint_spec Basic shape of the footprint
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* @param oriented_footprint Will be filled with the points in the oriented footprint of the robot
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*/
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void transformFootprint(double x, double y, double theta, const std::vector<robot_geometry_msgs::Point>& footprint_spec,
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std::vector<robot_geometry_msgs::Point>& oriented_footprint);
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/**
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* @brief Given a pose and base footprint, build the oriented footprint of the robot (PolygonStamped)
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* @param x The x position of the robot
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* @param y The y position of the robot
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* @param theta The orientation of the robot
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* @param footprint_spec Basic shape of the footprint
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* @param oriented_footprint Will be filled with the points in the oriented footprint of the robot
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*/
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void transformFootprint(double x, double y, double theta, const std::vector<robot_geometry_msgs::Point>& footprint_spec,
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robot_geometry_msgs::PolygonStamped & oriented_footprint);
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/**
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* @brief Adds the specified amount of padding to the footprint (in place)
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*/
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void padFootprint(std::vector<robot_geometry_msgs::Point>& footprint, double padding);
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/**
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* @brief Create a circular footprint from a given radius
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*/
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std::vector<robot_geometry_msgs::Point> makeFootprintFromRadius(double radius);
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/**
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* @brief Make the footprint from the given string.
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*
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* Format should be bracketed array of arrays of floats, like so: [[1.0, 2.2], [3.3, 4.2], ...]
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*
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*/
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bool makeFootprintFromString(const std::string& footprint_string, std::vector<robot_geometry_msgs::Point>& footprint);
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/**
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* @brief Read the ros-params "footprint" and/or "robot_radius" from
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* the given NodeHandle using searchParam() to go up the tree.
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*/
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std::vector<robot_geometry_msgs::Point> makeFootprintFromParams(robot::NodeHandle& nh);
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/**
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* @brief Create the footprint from the given XmlRpcValue.
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*
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* @param footprint_xmlrpc should be an array of arrays, where the
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* top-level array should have 3 or more elements, and the
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* sub-arrays should all have exactly 2 elements (x and y
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* coordinates).
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*
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* @param full_param_name this is the full name of the rosparam from
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* which the footprint_xmlrpc value came. It is used only for
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* reporting errors. */
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std::vector<robot_geometry_msgs::Point> makeFootprintFromXMLRPC(robot_xmlrpcpp::XmlRpcValue& footprint_xmlrpc,
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const std::string& full_param_name);
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// /** @brief Write the current unpadded_footprint_ to the "footprint"
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// * parameter of the given NodeHandle so that dynamic_reconfigure
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// * will see the new value. */
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// void writeFootprintToParam(ros::NodeHandle& nh, const std::vector<robot_geometry_msgs::Point>& footprint);
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} // end namespace robot_costmap_2d
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#endif // ROBOT_COSTMAP_2D_FOOTPRINT_H
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