470 lines
16 KiB
C++
Executable File
470 lines
16 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_ROBOT_COSTMAP_2D_H_
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#define ROBOT_COSTMAP_2D_ROBOT_COSTMAP_2D_H_
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#include <vector>
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#include <queue>
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#include <robot_geometry_msgs/Point.h>
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#include <boost/thread.hpp>
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namespace robot_costmap_2d
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{
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// convenient for storing x/y point pairs
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struct MapLocation
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{
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unsigned int x;
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unsigned int y;
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};
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/**
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* @class Costmap2D
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* @brief A 2D costmap provides a mapping between points in the world and their associated "costs".
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*/
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class Costmap2D
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{
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friend class CostmapTester; // Need this for gtest to work correctly
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public:
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/**
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* @brief Constructor for a costmap
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* @param cells_size_x The x size of the map in cells
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* @param cells_size_y The y size of the map in cells
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* @param resolution The resolution of the map in meters/cell
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* @param origin_x The x origin of the map
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* @param origin_y The y origin of the map
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* @param default_value Default Value
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*/
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Costmap2D(unsigned int cells_size_x, unsigned int cells_size_y, double resolution,
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double origin_x, double origin_y, unsigned char default_value = 0);
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/**
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* @brief Copy constructor for a costmap, creates a copy efficiently
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* @param map The costmap to copy
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*/
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Costmap2D(const Costmap2D& map);
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/**
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* @brief Overloaded assignment operator
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* @param map The costmap to copy
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* @return A reference to the map after the copy has finished
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*/
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Costmap2D& operator=(const Costmap2D& map);
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/**
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* @brief Turn this costmap into a copy of a window of a costmap passed in
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* @param map The costmap to copy
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* @param win_origin_x The x origin (lower left corner) for the window to copy, in meters
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* @param win_origin_y The y origin (lower left corner) for the window to copy, in meters
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* @param win_size_x The x size of the window, in meters
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* @param win_size_y The y size of the window, in meters
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*/
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bool copyCostmapWindow(const Costmap2D& map, double win_origin_x, double win_origin_y, double win_size_x,
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double win_size_y);
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/**
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* @brief Default constructor
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*/
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Costmap2D();
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/**
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* @brief Destructor
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*/
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virtual ~Costmap2D();
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/**
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* @brief Get the cost of a cell in the costmap
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* @param mx The x coordinate of the cell
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* @param my The y coordinate of the cell
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* @return The cost of the cell
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*/
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unsigned char getCost(unsigned int mx, unsigned int my) const;
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/**
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* @brief Set the cost of a cell in the costmap
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* @param mx The x coordinate of the cell
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* @param my The y coordinate of the cell
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* @param cost The cost to set the cell to
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*/
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void setCost(unsigned int mx, unsigned int my, unsigned char cost);
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/**
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* @brief Convert from map coordinates to world coordinates
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* @param mx The x map coordinate
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* @param my The y map coordinate
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* @param wx Will be set to the associated world x coordinate
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* @param wy Will be set to the associated world y coordinate
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*/
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void mapToWorld(unsigned int mx, unsigned int my, double& wx, double& wy) const;
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/**
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* @brief Convert from world coordinates to map coordinates
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* @param wx The x world coordinate
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* @param wy The y world coordinate
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* @param mx Will be set to the associated map x coordinate
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* @param my Will be set to the associated map y coordinate
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* @return True if the conversion was successful (legal bounds) false otherwise
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*/
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bool worldToMap(double wx, double wy, unsigned int& mx, unsigned int& my) const;
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/**
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* @brief Convert from world coordinates to map coordinates without checking for legal bounds
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* @param wx The x world coordinate
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* @param wy The y world coordinate
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* @param mx Will be set to the associated map x coordinate
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* @param my Will be set to the associated map y coordinate
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* @note The returned map coordinates <b>are not guaranteed to lie within the map.</b>
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*/
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void worldToMapNoBounds(double wx, double wy, int& mx, int& my) const;
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/**
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* @brief Convert from world coordinates to map coordinates, constraining results to legal bounds.
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* @param wx The x world coordinate
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* @param wy The y world coordinate
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* @param mx Will be set to the associated map x coordinate
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* @param my Will be set to the associated map y coordinate
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* @note The returned map coordinates are guaranteed to lie within the map.
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*/
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void worldToMapEnforceBounds(double wx, double wy, int& mx, int& my) const;
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/**
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* @brief Given two map coordinates... compute the associated index
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* @param mx The x coordinate
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* @param my The y coordinate
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* @return The associated index
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*/
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inline unsigned int getIndex(unsigned int mx, unsigned int my) const
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{
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return my * size_x_ + mx;
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}
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/**
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* @brief Given an index... compute the associated map coordinates
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* @param index The index
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* @param mx Will be set to the x coordinate
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* @param my Will be set to the y coordinate
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*/
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inline void indexToCells(unsigned int index, unsigned int& mx, unsigned int& my) const
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{
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my = index / size_x_;
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mx = index - (my * size_x_);
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}
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/**
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* @brief Will return a pointer to the underlying unsigned char array used as the costmap
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* @return A pointer to the underlying unsigned char array storing cost values
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*/
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unsigned char* getCharMap() const;
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/**
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* @brief Accessor for the x size of the costmap in cells
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* @return The x size of the costmap
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*/
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unsigned int getSizeInCellsX() const;
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/**
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* @brief Accessor for the y size of the costmap in cells
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* @return The y size of the costmap
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*/
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unsigned int getSizeInCellsY() const;
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/**
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* @brief Accessor for the x size of the costmap in meters
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* @return The x size of the costmap (returns the centerpoint of the last legal cell in the map)
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*/
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double getSizeInMetersX() const;
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/**
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* @brief Accessor for the y size of the costmap in meters
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* @return The y size of the costmap (returns the centerpoint of the last legal cell in the map)
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*/
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double getSizeInMetersY() const;
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/**
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* @brief Accessor for the x origin of the costmap
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* @return The x origin of the costmap
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*/
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double getOriginX() const;
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/**
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* @brief Accessor for the y origin of the costmap
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* @return The y origin of the costmap
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*/
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double getOriginY() const;
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/**
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* @brief Accessor for the resolution of the costmap
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* @return The resolution of the costmap
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*/
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double getResolution() const;
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void setDefaultValue(unsigned char c)
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{
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default_value_ = c;
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}
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unsigned char getDefaultValue()
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{
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return default_value_;
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}
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/**
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* @brief Sets the cost of a convex polygon to a desired value
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* @param polygon The polygon to perform the operation on
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* @param cost_value The value to set costs to
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* @return True if the polygon was filled... false if it could not be filled
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*/
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bool setConvexPolygonCost(const std::vector<robot_geometry_msgs::Point>& polygon, unsigned char cost_value);
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/**
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* @brief Get the map cells that make up the outline of a polygon
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* @param polygon The polygon in map coordinates to rasterize
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* @param polygon_cells Will be set to the cells contained in the outline of the polygon
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*/
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void polygonOutlineCells(const std::vector<MapLocation>& polygon, std::vector<MapLocation>& polygon_cells);
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/**
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* @brief Get the map cells that fill a convex polygon
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* @param polygon The polygon in map coordinates to rasterize
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* @param polygon_cells Will be set to the cells that fill the polygon
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*/
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void convexFillCells(const std::vector<MapLocation>& polygon, std::vector<MapLocation>& polygon_cells);
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/**
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* @brief Move the origin of the costmap to a new location.... keeping data when it can
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* @param new_origin_x The x coordinate of the new origin
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* @param new_origin_y The y coordinate of the new origin
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*/
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virtual void updateOrigin(double new_origin_x, double new_origin_y);
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/**
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* @brief Save the costmap out to a pgm file
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* @param file_name The name of the file to save
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*/
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bool saveMap(std::string file_name);
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void resizeMap(unsigned int size_x, unsigned int size_y, double resolution, double origin_x,
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double origin_y);
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void resetMap(unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn);
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/**
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* @brief Given distance in the world... convert it to cells
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* @param world_dist The world distance
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* @return The equivalent cell distance
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*/
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unsigned int cellDistance(double world_dist);
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// Provide a typedef to ease future code maintenance
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typedef boost::recursive_mutex mutex_t;
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mutex_t* getMutex()
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{
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return access_;
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}
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protected:
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/**
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* @brief Copy a region of a source map into a destination map
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* @param source_map The source map
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* @param sm_lower_left_x The lower left x point of the source map to start the copy
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* @param sm_lower_left_y The lower left y point of the source map to start the copy
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* @param sm_size_x The x size of the source map
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* @param dest_map The destination map
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* @param dm_lower_left_x The lower left x point of the destination map to start the copy
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* @param dm_lower_left_y The lower left y point of the destination map to start the copy
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* @param dm_size_x The x size of the destination map
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* @param region_size_x The x size of the region to copy
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* @param region_size_y The y size of the region to copy
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*/
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template<typename data_type>
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void copyMapRegion(data_type* source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y,
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unsigned int sm_size_x, data_type* dest_map, unsigned int dm_lower_left_x,
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unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x,
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unsigned int region_size_y)
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{
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// we'll first need to compute the starting points for each map
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data_type* sm_index = source_map + (sm_lower_left_y * sm_size_x + sm_lower_left_x);
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data_type* dm_index = dest_map + (dm_lower_left_y * dm_size_x + dm_lower_left_x);
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// now, we'll copy the source map into the destination map
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for (unsigned int i = 0; i < region_size_y; ++i)
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{
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memcpy(dm_index, sm_index, region_size_x * sizeof(data_type));
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sm_index += sm_size_x;
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dm_index += dm_size_x;
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}
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}
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/**
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* @brief Deletes the costmap, static_map, and markers data structures
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*/
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virtual void deleteMaps();
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/**
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* @brief Resets the costmap and static_map to be unknown space
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*/
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virtual void resetMaps();
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/**
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* @brief Initializes the costmap, static_map, and markers data structures
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* @param size_x The x size to use for map initialization
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* @param size_y The y size to use for map initialization
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*/
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virtual void initMaps(unsigned int size_x, unsigned int size_y);
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/**
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* @brief Raytrace a line and apply some action at each step
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* @param at The action to take... a functor
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* @param x0 The starting x coordinate
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* @param y0 The starting y coordinate
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* @param x1 The ending x coordinate
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* @param y1 The ending y coordinate
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* @param max_length The maximum desired length of the segment... allows you to not go all the way to the endpoint
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*/
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template<class ActionType>
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inline void raytraceLine(ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1,
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unsigned int max_length = UINT_MAX)
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{
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int dx = x1 - x0;
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int dy = y1 - y0;
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unsigned int abs_dx = abs(dx);
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unsigned int abs_dy = abs(dy);
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int offset_dx = sign(dx);
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int offset_dy = sign(dy) * size_x_;
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unsigned int offset = y0 * size_x_ + x0;
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// we need to chose how much to scale our dominant dimension, based on the maximum length of the line
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double dist = hypot(dx, dy);
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double scale = (dist == 0.0) ? 1.0 : std::min(1.0, max_length / dist);
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// if x is dominant
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if (abs_dx >= abs_dy)
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{
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int error_y = abs_dx / 2;
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bresenham2D(at, abs_dx, abs_dy, error_y, offset_dx, offset_dy, offset, (unsigned int)(scale * abs_dx));
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return;
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}
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// otherwise y is dominant
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int error_x = abs_dy / 2;
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bresenham2D(at, abs_dy, abs_dx, error_x, offset_dy, offset_dx, offset, (unsigned int)(scale * abs_dy));
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}
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private:
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/**
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* @brief A 2D implementation of Bresenham's raytracing algorithm... applies an action at each step
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*/
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template<class ActionType>
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inline void bresenham2D(ActionType at, unsigned int abs_da, unsigned int abs_db, int error_b, int offset_a,
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int offset_b, unsigned int offset, unsigned int max_length)
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{
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unsigned int end = std::min(max_length, abs_da);
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for (unsigned int i = 0; i < end; ++i)
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{
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at(offset);
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offset += offset_a;
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error_b += abs_db;
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if ((unsigned int)error_b >= abs_da)
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{
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offset += offset_b;
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error_b -= abs_da;
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}
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}
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at(offset);
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}
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inline int sign(int x)
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{
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return x > 0 ? 1.0 : -1.0;
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}
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mutex_t* access_;
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protected:
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unsigned int size_x_;
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unsigned int size_y_;
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double resolution_;
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double origin_x_;
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double origin_y_;
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unsigned char* costmap_;
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unsigned char default_value_;
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class MarkCell
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{
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public:
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MarkCell(unsigned char* costmap, unsigned char value) :
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costmap_(costmap), value_(value)
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{
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}
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inline void operator()(unsigned int offset)
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{
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costmap_[offset] = value_;
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}
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private:
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unsigned char* costmap_;
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unsigned char value_;
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};
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class PolygonOutlineCells
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{
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public:
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PolygonOutlineCells(const Costmap2D& costmap, const unsigned char* char_map, std::vector<MapLocation>& cells) :
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costmap_(costmap), char_map_(char_map), cells_(cells)
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{
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}
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// just push the relevant cells back onto the list
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inline void operator()(unsigned int offset)
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{
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MapLocation loc;
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costmap_.indexToCells(offset, loc.x, loc.y);
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cells_.push_back(loc);
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}
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private:
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const Costmap2D& costmap_;
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const unsigned char* char_map_;
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std::vector<MapLocation>& cells_;
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};
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};
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} // namespace robot_costmap_2d
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#endif // ROBOT_COSTMAP_2D_ROBOT_COSTMAP_2D_H
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