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costmap_2d/plugins/directional_layer.cpp

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#include <costmap_2d/directional_layer.h>
// #include <pluginlib/class_list_macros.hpp>
// #include <tf/transform_listener.h>
// #include <tf2/convert.h>
// #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
// #include <tf/transform_datatypes.h>
// PLUGINLIB_EXPORT_CLASS(costmap_2d::DirectionalLayer, costmap_2d::Layer)
#define MAP_IDX(sx, i, j) ((sx) * (j) + (i))
using costmap_2d::CRITICAL_SPACE;
using costmap_2d::LETHAL_OBSTACLE;
using costmap_2d::NO_INFORMATION;
namespace costmap_2d
{
// DirectionalLayer::DirectionalLayer()
// {
// ros::NodeHandle nh("~/" + name_);
// lane_mask_pub_ = nh.advertise<nav_msgs::OccupancyGrid>("/direction_zones/lanes", 1);
// }
// DirectionalLayer::~DirectionalLayer() {}
// bool DirectionalLayer::laneFilter(const std::vector<geometry_msgs::PoseStamped> plan)
// {
// if (directional_areas_.empty())
// throw "Has no map data";
// nav_msgs::Path path;
// path.header.stamp = ros::Time::now();
// path.header.frame_id = map_frame_;
// path.poses = plan;
// return this->laneFilter(directional_areas_, path);
// }
// void DirectionalLayer::incomingMap(const nav_msgs::OccupancyGridConstPtr &new_map)
// {
// unsigned int size_x = new_map->info.width, size_y = new_map->info.height;
// ROS_DEBUG("Received a %d X %d map at %f m/pix", size_x / 2, size_y / 2, new_map->info.resolution);
// // resize costmap if size, resolution or origin do not match
// Costmap2D *master = layered_costmap_->getCostmap();
// if (!layered_costmap_->isRolling() &&
// (master->getSizeInCellsX() != size_x / 2 ||
// master->getSizeInCellsY() != size_y / 2 ||
// master->getResolution() != new_map->info.resolution ||
// master->getOriginX() != new_map->info.origin.position.x ||
// master->getOriginY() != new_map->info.origin.position.y))
// {
// // Update the size of the layered costmap (and all layers, including this one)
// ROS_INFO("Resizing costmap to %d X %d at %f m/pix", size_x / 2, size_y / 2, new_map->info.resolution);
// layered_costmap_->resizeMap(size_x / 2, size_y / 2, new_map->info.resolution, new_map->info.origin.position.x,
// new_map->info.origin.position.y,
// true /* set size_locked to true, prevents reconfigureCb from overriding map size*/);
// }
// else if (size_x_ != size_x / 2 || size_y_ != size_y / 2 ||
// resolution_ != new_map->info.resolution ||
// origin_x_ != new_map->info.origin.position.x ||
// origin_y_ != new_map->info.origin.position.y)
// {
// // only update the size of the costmap stored locally in this layer
// ROS_INFO("Resizing static layer to %d X %d at %f m/pix", size_x / 2, size_y / 2, new_map->info.resolution);
// resizeMap(size_x / 2, size_y / 2, new_map->info.resolution,
// new_map->info.origin.position.x, new_map->info.origin.position.y);
// }
// unsigned char values[4];
// directional_areas_.clear();
// directional_areas_.resize(size_x / 2 * size_y / 2);
// // initialize the costmap with static data
// for (unsigned int iy = 0; iy < size_y; iy += 2)
// {
// for (unsigned int ix = 0; ix < size_x; ix += 2)
// {
// values[0] = new_map->data[MAP_IDX(size_x, ix, iy)];
// values[1] = new_map->data[MAP_IDX(size_x, ix + 1, iy)];
// values[2] = new_map->data[MAP_IDX(size_x, ix, iy + 1)];
// values[3] = new_map->data[MAP_IDX(size_x, ix + 1, iy + 1)];
// uint32_t color_avg = (uint32_t)(values[0] | values[1] << 8u | values[2] << 16u | values[3] << 24u);
// int index = getIndex(ix / 2, iy / 2);
// directional_areas_[index][0] = (uint16_t)(color_avg & 0xfff);
// directional_areas_[index][1] = (uint16_t)(color_avg >> 12u);
// costmap_[index] = costmap_2d::NO_INFORMATION;
// }
// }
// map_frame_ = new_map->header.frame_id;
// // we have a new map, update full size of map
// x_ = y_ = 0;
// width_ = size_x_;
// height_ = size_y_;
// map_received_ = true;
// has_updated_data_ = true;
// new_map_.header = new_map->header;
// new_map_.header.stamp = ros::Time::now();
// new_map_.info = new_map->info;
// new_map_.info.width = width_;
// new_map_.info.height = height_;
// // shutdown the map subscrber if firt_map_only_ flag is on
// if (first_map_only_)
// {
// ROS_INFO("Shutting down the map subscriber. first_map_only flag is on");
// map_sub_.shutdown();
// }
// }
// bool DirectionalLayer::laneFilter(std::vector<std::array<uint16_t, 2>> new_map, const nav_msgs::Path path)
// {
// boost::unique_lock<mutex_t> lock(*layered_costmap_->getCostmap()->getMutex());
// if (new_map.empty())
// return false;
// std::vector<std::pair<unsigned int, double>> X_List, Y_List;
// std::vector<double> Yaw_list;
// const geometry_msgs::PoseStamped &e = path.poses.back();
// bool get_success = getRobotPose(pose_x_, pose_y_, pose_yaw_);
// if(!get_success) return false;
// for (auto it = path.poses.begin(); it != path.poses.end(); ++it)
// {
// const geometry_msgs::PoseStamped &p = *it; // Get the pose from the iterator
// unsigned int mx, my;
// if (!worldToMap(p.pose.position.x, p.pose.position.y, mx, my))
// {
// ROS_ERROR("ERROR: trying to set a start cell %f %f that is outside of map\n", p.pose.position.x, p.pose.position.y);
// return false;
// }
// // Convert to yaw
// tf::Quaternion quaternion;
// tf::quaternionMsgToTF(p.pose.orientation, quaternion);
// double theta = tf::getYaw(quaternion);
// unsigned char value = laneFilter(mx, my, theta);
// if (get_success)
// {
// if (
// (!inSkipErea(pose_x_, pose_y_, p.pose.position.x, p.pose.position.y, distance_skip_) &
// !inSkipErea(p.pose.position.x, p.pose.position.y, e.pose.position.x, e.pose.position.y, distance_skip_))
// || p == path.poses.back()
// )
// {
// if (value == costmap_2d::INSCRIBED_INFLATED_OBSTACLE || value == costmap_2d::LETHAL_OBSTACLE)
// {
// std::pair<unsigned int, double> x_val(mx, p.pose.position.x);
// std::pair<unsigned int, double> y_val(my, p.pose.position.y);
// X_List.push_back(x_val);
// Y_List.push_back(y_val);
// Yaw_list.push_back(theta);
// // costmap_[getIndex(mx, my)] = value;
// }
// }
// }
// }
// if (!Yaw_list.empty())
// {
// laneFilter(X_List, Y_List, Yaw_list);
// nav_msgs::OccupancyGrid lanes;
// convertToMap(costmap_, lanes, 0.65, 0.196);
// lane_mask_pub_.publish(lanes);
// return false;
// }
// return true;
// }
// void DirectionalLayer::convertToMap(unsigned char *costmap, nav_msgs::OccupancyGrid &dir_map, double occ_th, double free_th)
// {
// dir_map.header = new_map_.header;
// dir_map.header.stamp = ros::Time::now();
// dir_map.info = new_map_.info;
// int size_costmap = new_map_.info.width * new_map_.info.height;
// dir_map.data.resize(size_costmap);
// for (int i = 0; i < size_costmap; i++)
// {
// int8_t value;
// if (costmap[i] == costmap_2d::NO_INFORMATION)
// {
// value = -1;
// }
// else
// {
// double occ = (costmap[i]) / 255.0;
// if (occ > occ_th)
// value = +100;
// else if (occ < free_th)
// value = 0;
// else
// {
// double ratio = (occ - free_th) / (occ_th - free_th);
// value = 1 + 98 * ratio;
// }
// }
// dir_map.data[i] = value;
// }
// }
// unsigned char DirectionalLayer::laneFilter(unsigned int x, unsigned int y, double yaw_robot)
// {
// double yaw_lane;
// unsigned char cost = costmap_2d::NO_INFORMATION;
// int index = getIndex(x, y);
// for (auto &lane : directional_areas_[index])
// {
// if (lane > 359)
// {
// cost = std::min(cost, costmap_2d::NO_INFORMATION);
// }
// else
// {
// double yaw_lane = (double)lane / 180 * M_PI;
// if (0.4 <= cos(yaw_robot - yaw_lane) && cos(yaw_robot - yaw_lane) <= 1.0)
// cost = std::min(cost, costmap_2d::FREE_SPACE);
// else if (-1.0 <= cos(yaw_robot - yaw_lane) && cos(yaw_robot - yaw_lane) <= -0.4)
// cost = std::min(cost, costmap_2d::LETHAL_OBSTACLE);
// else
// cost = std::min(cost, costmap_2d::NO_INFORMATION);
// }
// }
// return cost;
// }
// void DirectionalLayer::laneFilter(std::vector<std::pair<unsigned int, double>> x,
// std::vector<std::pair<unsigned int, double>> y,
// std::vector<double> yaw_robot)
// {
// if(x.empty() || y.empty() || yaw_robot.empty())
// return;
// unsigned int x_min, y_min, x_max, y_max;
// double x_min_w, y_min_w, x_max_w, y_max_w;
// x_min = x.front().first; y_min = y.front().first;
// x_max = x.front().first; y_max = y.front().first;
// x_min_w = x.front().second; y_min_w = y.front().second;
// x_max_w = x.front().second; y_max_w = y.front().second;
// for (int i = 1; i < yaw_robot.size(); i++)
// {
// if(inSkipErea(pose_x_, pose_y_, x[i].second, y[i].second, distance_skip_))
// continue;
// x_min = std::min(x_min, x[i].first);
// y_min = std::min(y_min, y[i].first);
// x_max = std::max(x_max, x[i].first);
// y_max = std::max(y_max, y[i].first);
// x_min_w = std::min(x_min_w, x[i].second);
// y_min_w = std::min(y_min_w, y[i].second);
// x_max_w = std::max(x_max_w, x[i].second);
// y_max_w = std::max(y_max_w, y[i].second);
// }
// // ROS_INFO("%d %d %d %d", x_min, y_min, x_max, y_max);
// // ROS_INFO("%f %f %f %f", x_min_w, y_min_w, x_max_w, y_max_w);
// for (int i = 0; i < yaw_robot.size(); i++)
// {
// if(inSkipErea(pose_x_, pose_y_, x[i].second, y[i].second, distance_skip_))
// continue;
// double yaw_rad = (double)yaw_robot[i] / 180 * M_PI;
// if (fabs(cos(yaw_rad)) > fabs(sin(yaw_rad)))
// {
// int x_ = x[i].first;
// // Dưới lên trên
// for (int j = y[i].first; j <= y_max; j++)
// {
// int y_ = j;
// if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
// continue;
// unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
// if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
// costmap_[getIndex(x_, y_)] = value;
// else
// break;
// }
// // Trên xuống dưới
// for (int k = y[i].first; k >= y_min; k--)
// {
// int y_ = k;
// if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
// continue;
// unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
// if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
// costmap_[getIndex(x_, y_)] = value;
// else
// break;
// }
// int y_ = y[i].first;
// // Phải qua trái
// for (int j = x[i].first; j < layered_costmap_->getCostmap()->getSizeInCellsX(); j++)
// {
// int x_ = j;
// if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
// continue;
// unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
// if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
// costmap_[getIndex(x_, y_)] = value;
// else
// break;
// }
// // Trái qua phải
// for (int k = x[i].first; k >= 0; k--)
// {
// int x_ = k;
// if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
// continue;
// unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
// if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
// costmap_[getIndex(x_, y_)] = value;
// else
// break;
// }
// }
// else if(fabs(cos(yaw_rad)) < fabs(sin(yaw_rad)))
// {
// int y_ = y[i].first;
// // Phải qua trái
// for (int j = x[i].first; j <= x_max; j++)
// {
// int x_ = j;
// if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
// continue;
// unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
// if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
// costmap_[getIndex(x_, y_)] = value;
// else
// break;
// }
// // Trái qua phải
// for (int k = x[i].first; k >= x_min; k--)
// {
// int x_ = k;
// if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
// continue;
// unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
// if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
// costmap_[getIndex(x_, y_)] = value;
// else
// break;
// }
// int x_ = x[i].first;
// // Dưới lên trên
// for (int j = y[i].first; j < layered_costmap_->getCostmap()->getSizeInCellsY(); j++)
// {
// int y_ = j;
// if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
// continue;
// unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
// if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
// costmap_[getIndex(x_, y_)] = value;
// else
// break;
// }
// // Trên xuống dưới
// for (int k = y[i].first; k >= 0; k--)
// {
// int y_ = k;
// if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
// continue;
// unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
// if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
// costmap_[getIndex(x_, y_)] = value;
// else
// break;
// }
// }
// }
// }
// void DirectionalLayer::resetMap()
// {
// unsigned int size_x = layered_costmap_->getCostmap()->getSizeInCellsX();
// unsigned int size_y = layered_costmap_->getCostmap()->getSizeInCellsY();
// for (unsigned int iy = 0; iy < size_y; iy++)
// {
// for (unsigned int ix = 0; ix < size_x; ix++)
// {
// int index = getIndex(ix, iy);
// costmap_[index] = costmap_2d::NO_INFORMATION;
// }
// }
// }
// bool DirectionalLayer::getRobotPose(double &x, double &y, double &yaw)
// {
// tf::StampedTransform transform;
// try
// {
// listener_.lookupTransform(map_frame_, base_frame_id_, ros::Time(0), transform);
// }
// catch (tf::TransformException &ex)
// {
// ROS_ERROR("%s", ex.what());
// return false;
// }
// x = transform.getOrigin().x();
// y = transform.getOrigin().y();
// // Extract the rotation as a quaternion from the transform
// tf::Quaternion rotation = transform.getRotation();
// // Convert the quaternion to a yaw angle (in radians)
// yaw = tf::getYaw(rotation);
// return true;
// }
// bool DirectionalLayer::inSkipErea(double start_x, double start_y, double end_x, double end_y, double skip_distance)
// {
// return fabs(hypot(start_x - end_x, start_y - end_y)) <= skip_distance;
// }
}
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