103 lines
3.9 KiB
C++
Executable File
103 lines
3.9 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_STATIC_LAYER_H_
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#define ROBOT_COSTMAP_2D_STATIC_LAYER_H_
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#include <robot_costmap_2d/costmap_layer.h>
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#include <robot_costmap_2d/layered_costmap.h>
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#include <robot_nav_msgs/OccupancyGrid.h>
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#include <robot_map_msgs/OccupancyGridUpdate.h>
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#include <string>
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namespace robot_costmap_2d
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{
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class StaticLayer : public CostmapLayer
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{
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public:
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StaticLayer();
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virtual ~StaticLayer();
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virtual void onInitialize();
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virtual void activate();
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virtual void deactivate();
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virtual void reset();
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virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
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double* max_x, double* max_y);
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virtual void updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
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virtual void matchSize();
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LayerType getType() const override
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{
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return LayerType::STATIC_LAYER;
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}
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protected:
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void handleImpl(const void* data,
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const std::type_info& type,
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const std::string& topic) override;
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virtual unsigned char interpretValue(unsigned char value);
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virtual void incomingMap(const robot_nav_msgs::OccupancyGrid& new_map);
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virtual void incomingUpdate(const robot_map_msgs::OccupancyGridUpdate& update);
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unsigned char* threshold_;
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std::string base_frame_id_;
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std::string global_frame_; ///< @brief The global frame for the costmap
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std::string map_frame_; /// @brief frame that map is located in
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std::string map_topic_; // Hiep thêm vào mục đich phân biết zones
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bool subscribe_to_updates_;
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bool map_received_;
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bool has_updated_data_;
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unsigned int x_, y_, width_, height_;
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bool track_unknown_space_;
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bool use_maximum_;
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bool first_map_only_; ///< @brief Store the first static map and reuse it on reinitializing
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bool trinary_costmap_;
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bool map_shutdown_ = false;
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bool map_update_shutdown_ = false;
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unsigned char lethal_threshold_, unknown_cost_value_;
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private:
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bool getParams(const std::string& config_file_name, robot::NodeHandle &nh);
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};
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} // namespace robot_costmap_2d
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#endif // ROBOT_COSTMAP_2D_STATIC_LAYER_H_
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