git commit -m "first commit"

navigations/base_local_planner/src/costmap_model.cpp

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+/*********************************************************************
+*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2008, 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 the Willow Garage 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
+*********************************************************************/
+#include <base_local_planner/line_iterator.h>
+#include <base_local_planner/costmap_model.h>
+#include <costmap_2d/cost_values.h>
+
+using namespace std;
+using namespace costmap_2d;
+
+namespace base_local_planner {
+  CostmapModel::CostmapModel(const Costmap2D& ma) : costmap_(ma) {}
+
+  double CostmapModel::footprintCost(const geometry_msgs::Point& position, const std::vector<geometry_msgs::Point>& footprint,
+      double inscribed_radius, double circumscribed_radius){
+    // returns:
+    //  -1 if footprint covers at least a lethal obstacle cell, or
+    //  -2 if footprint covers at least a no-information cell, or
+    //  -3 if footprint is [partially] outside of the map, or
+    //  a positive value for traversable space
+
+    //used to put things into grid coordinates
+    unsigned int cell_x, cell_y;
+
+    //get the cell coord of the center point of the robot
+    if(!costmap_.worldToMap(position.x, position.y, cell_x, cell_y))
+      return -3.0;
+
+    //if number of points in the footprint is less than 3, we'll just assume a circular robot
+    if(footprint.size() < 3){
+      unsigned char cost = costmap_.getCost(cell_x, cell_y);
+      if(cost == NO_INFORMATION)
+        return -2.0;
+      if(cost == LETHAL_OBSTACLE || cost == INSCRIBED_INFLATED_OBSTACLE)
+        return -1.0;
+      return cost;
+    }
+
+    //now we really have to lay down the footprint in the costmap grid
+    unsigned int x0, x1, y0, y1;
+    double line_cost = 0.0;
+    double footprint_cost = 0.0;
+
+    //we need to rasterize each line in the footprint
+    for(unsigned int i = 0; i < footprint.size() - 1; ++i){
+      //get the cell coord of the first point
+      if(!costmap_.worldToMap(footprint[i].x, footprint[i].y, x0, y0))
+        return -3.0;
+
+      //get the cell coord of the second point
+      if(!costmap_.worldToMap(footprint[i + 1].x, footprint[i + 1].y, x1, y1))
+        return -3.0;
+
+      line_cost = lineCost(x0, x1, y0, y1);
+      footprint_cost = std::max(line_cost, footprint_cost);
+
+      //if there is an obstacle that hits the line... we know that we can return false right away
+      if(line_cost < 0)
+        return line_cost;
+    }
+
+    //we also need to connect the first point in the footprint to the last point
+    //get the cell coord of the last point
+    if(!costmap_.worldToMap(footprint.back().x, footprint.back().y, x0, y0))
+      return -3.0;
+
+    //get the cell coord of the first point
+    if(!costmap_.worldToMap(footprint.front().x, footprint.front().y, x1, y1))
+      return -3.0;
+
+    line_cost = lineCost(x0, x1, y0, y1);
+    footprint_cost = std::max(line_cost, footprint_cost);
+
+    if(line_cost < 0)
+      return line_cost;
+
+    //if all line costs are legal... then we can return that the footprint is legal
+    return footprint_cost;
+
+  }
+
+  //calculate the cost of a ray-traced line
+  double CostmapModel::lineCost(int x0, int x1, int y0, int y1) const {
+    double line_cost = 0.0;
+    double point_cost = -1.0;
+
+    for( LineIterator line( x0, y0, x1, y1 ); line.isValid(); line.advance() )
+    {
+      point_cost = pointCost( line.getX(), line.getY() ); //Score the current point
+
+      if(point_cost < 0)
+        return point_cost;
+
+      if(line_cost < point_cost)
+        line_cost = point_cost;
+    }
+
+    return line_cost;
+  }
+
+  double CostmapModel::pointCost(int x, int y) const {
+    unsigned char cost = costmap_.getCost(x, y);
+    //if the cell is in an obstacle the path is invalid
+    if(cost == NO_INFORMATION)
+      return -2;
+    if(cost == LETHAL_OBSTACLE)
+      return -1;
+
+    return cost;
+  }
+
+};