InflationFilter.hpp

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 * Author: Eitan Marder-Eppstein
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#ifndef EASYNAV_PLANNER__FILTERS__IINFLATIONFILTER_HPP_
#define EASYNAV_PLANNER__FILTERS__IINFLATIONFILTER_HPP_
 
#include <expected>
#include <string>
#include <map>
#include <vector>
#include <mutex>
#include <memory>
 
#include "pluginlib/class_loader.hpp"
 
#include "easynav_costmap_common/costmap_2d.hpp"
#include "easynav_costmap_common/cost_values.hpp"
#include "easynav_common/types/NavState.hpp"
 
#include "easynav_costmap_maps_manager/filters/CostmapFilter.hpp"
 
namespace easynav
{
 
class CellData
{
public:
  CellData(unsigned int x, unsigned int y, unsigned int sx, unsigned int sy)
  : x_(x), y_(y), src_x_(sx), src_y_(sy)
  {
  }
  unsigned int x_, y_;
  unsigned int src_x_, src_y_;
};
 
class InflationFilter : public CostmapFilter
{
public:
  InflationFilter();
 
  virtual std::expected<void, std::string> on_initialize();
  virtual void update(NavState & nav_state);

  void updateBounds(
    double robot_x, double robot_y, double robot_yaw, double * min_x,
    double * min_y,
    double * max_x,
    double * max_y);
  void updateCosts(
    easynav::Costmap2D & master_grid,
    int min_i, int min_j, int max_i, int max_j);

  void matchSize(easynav::Costmap2D & costmap);

  inline unsigned char computeCost(double distance) const
  {
    unsigned char cost = 0;
    if (distance == 0) {
      cost = LETHAL_OBSTACLE;
    } else if (distance * resolution_ <= inscribed_radius_) {
      cost = INSCRIBED_INFLATED_OBSTACLE;
    } else {
      // make sure cost falls off by Euclidean distance
      double factor =
        exp(-1.0 * cost_scaling_factor_ * (distance * resolution_ - inscribed_radius_));
      cost = static_cast<unsigned char>((INSCRIBED_INFLATED_OBSTACLE - 1) * factor);
    }
    return cost;
  }
 
  double getCostScalingFactor()
  {
    return cost_scaling_factor_;
  }
 
  double getInflationRadius()
  {
    return inflation_radius_;
  }
 
protected:
  inline double distanceLookup(
    unsigned int mx, unsigned int my, unsigned int src_x,
    unsigned int src_y)
  {
    unsigned int dx = (mx > src_x) ? mx - src_x : src_x - mx;
    unsigned int dy = (my > src_y) ? my - src_y : src_y - my;
    return cached_distances_[dx * cache_length_ + dy];
  }

  inline unsigned char costLookup(
    unsigned int mx, unsigned int my, unsigned int src_x,
    unsigned int src_y)
  {
    unsigned int dx = (mx > src_x) ? mx - src_x : src_x - mx;
    unsigned int dy = (my > src_y) ? my - src_y : src_y - my;
    return cached_costs_[dx * cache_length_ + dy];
  }

  void computeCaches();

  int generateIntegerDistances();

  unsigned int cellDistance(easynav::Costmap2D & costmap, double world_dist)
  {
    return costmap.cellDistance(world_dist);
  }

  inline void enqueue(
    unsigned int index, unsigned int mx, unsigned int my,
    unsigned int src_x, unsigned int src_y);
 
 
  double inflation_radius_, inscribed_radius_, cost_scaling_factor_;
  bool inflate_unknown_, inflate_around_unknown_;
  unsigned int cell_inflation_radius_;
  unsigned int cached_cell_inflation_radius_;
  std::vector<std::vector<CellData>> inflation_cells_;
 
  double resolution_;
 
  std::vector<bool> seen_;
 
  std::vector<unsigned char> cached_costs_;
  std::vector<double> cached_distances_;
  std::vector<std::vector<int>> distance_matrix_;
  unsigned int cache_length_;
  double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
 
  // Indicates that the entire costmap should be reinflated next time around.
  bool need_reinflation_;
 
  bool matchedSize_ {false};
};
 
}  // namespace easynav
 
#endif  // EASYNAV_PLANNER__FILTERS__IINFLATIONFILTER_HPP_