costmap_2d.hpp

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#ifndef EASYNAV_COSTMAP_COMMON__COSTMAP_2D_HPP_
#define EASYNAV_COSTMAP_COMMON__COSTMAP_2D_HPP_
 
#include <cstring>
#include <algorithm>
#include <cmath>
#include <climits>
#include <vector>
#include <mutex>
#include "geometry_msgs/msg/point.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
 
namespace easynav
{
 
// convenient for storing x/y point pairs
struct MapLocation
{
  unsigned int x;
  unsigned int y;
  unsigned char cost;
};

class Costmap2D
{
  friend class CostmapTester;  // Need this for gtest to work correctly
 
public:
  Costmap2D(
    unsigned int cells_size_x, unsigned int cells_size_y, double resolution,
    double origin_x, double origin_y, unsigned char default_value = 0);

  Costmap2D(const Costmap2D & map);

  explicit Costmap2D(const nav_msgs::msg::OccupancyGrid & map);

  Costmap2D & operator=(const Costmap2D & map);

  bool inBounds(unsigned int x, unsigned int y) const;

  bool copyCostmapWindow(
    const Costmap2D & map, double win_origin_x, double win_origin_y,
    double win_size_x,
    double win_size_y);

  void toOccupancyGridMsg(nav_msgs::msg::OccupancyGrid & msg) const;

  bool copyWindow(
    const Costmap2D & source,
    unsigned int sx0, unsigned int sy0, unsigned int sxn, unsigned int syn,
    unsigned int dx0, unsigned int dy0);

  Costmap2D();

  virtual ~Costmap2D();

  unsigned char getCost(unsigned int mx, unsigned int my) const;

  unsigned char getCost(unsigned int index) const;

  void setCost(unsigned int mx, unsigned int my, unsigned char cost);

  void mapToWorld(unsigned int mx, unsigned int my, double & wx, double & wy) const;

  void mapToWorldNoBounds(int mx, int my, double & wx, double & wy) const;

  bool worldToMap(double wx, double wy, unsigned int & mx, unsigned int & my) const;

  bool worldToMapContinuous(double wx, double wy, float & mx, float & my) const;

  void worldToMapNoBounds(double wx, double wy, int & mx, int & my) const;

  void worldToMapEnforceBounds(double wx, double wy, int & mx, int & my) const;

  inline unsigned int getIndex(unsigned int mx, unsigned int my) const
  {
    return my * size_x_ + mx;
  }

  inline void indexToCells(unsigned int index, unsigned int & mx, unsigned int & my) const
  {
    my = index / size_x_;
    mx = index - (my * size_x_);
  }

  unsigned char * getCharMap() const;

  unsigned int getSizeInCellsX() const;

  unsigned int getSizeInCellsY() const;

  double getSizeInMetersX() const;

  double getSizeInMetersY() const;

  double getOriginX() const;

  double getOriginY() const;

  double getResolution() const;

  void setDefaultValue(unsigned char c)
  {
    default_value_ = c;
  }

  unsigned char getDefaultValue()
  {
    return default_value_;
  }

  bool setConvexPolygonCost(
    const std::vector<geometry_msgs::msg::Point> & polygon,
    unsigned char cost_value);

  bool getMapRegionOccupiedByPolygon(
    const std::vector<geometry_msgs::msg::Point> & polygon,
    std::vector<MapLocation> & polygon_map_region);

  void setMapRegionOccupiedByPolygon(
    const std::vector<MapLocation> & polygon_map_region,
    unsigned char new_cost_value);

  void restoreMapRegionOccupiedByPolygon(
    const std::vector<MapLocation> & polygon_map_region);

  void polygonOutlineCells(
    const std::vector<MapLocation> & polygon,
    std::vector<MapLocation> & polygon_cells);

  void convexFillCells(
    const std::vector<MapLocation> & polygon,
    std::vector<MapLocation> & polygon_cells);

  virtual void updateOrigin(double new_origin_x, double new_origin_y);

  void resizeMap(
    unsigned int size_x, unsigned int size_y, double resolution, double origin_x,
    double origin_y);

  void resetMap(unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn);

  void resetMapToValue(
    unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn, unsigned char value);

  unsigned int cellDistance(double world_dist);
 
  // Provide a typedef to ease future code maintenance
  typedef std::recursive_mutex mutex_t;
  mutex_t * getMutex()
  {
    return access_;
  }
 
protected:
  template<typename data_type>
  void copyMapRegion(
    data_type * source_map, unsigned int sm_lower_left_x,
    unsigned int sm_lower_left_y,
    unsigned int sm_size_x, data_type * dest_map, unsigned int dm_lower_left_x,
    unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x,
    unsigned int region_size_y)
  {
    // we'll first need to compute the starting points for each map
    data_type * sm_index = source_map + (sm_lower_left_y * sm_size_x + sm_lower_left_x);
    data_type * dm_index = dest_map + (dm_lower_left_y * dm_size_x + dm_lower_left_x);
 
    // now, we'll copy the source map into the destination map
    for (unsigned int i = 0; i < region_size_y; ++i) {
      memcpy(dm_index, sm_index, region_size_x * sizeof(data_type));
      sm_index += sm_size_x;
      dm_index += dm_size_x;
    }
  }

  virtual void deleteMaps();

  virtual void resetMaps();

  virtual void initMaps(unsigned int size_x, unsigned int size_y);

  template<class ActionType>
  inline void raytraceLine(
    ActionType at, unsigned int x0, unsigned int y0, unsigned int x1,
    unsigned int y1,
    unsigned int max_length = UINT_MAX, unsigned int min_length = 0)
  {
    int dx_full = x1 - x0;
    int dy_full = y1 - y0;
 
    // we need to chose how much to scale our dominant dimension,
    // based on the maximum length of the line
    double dist = std::hypot(dx_full, dy_full);
    if (dist < min_length) {
      return;
    }
 
    unsigned int min_x0, min_y0;
    if (dist > 0.0) {
      // Adjust starting point and offset to start from min_length distance
      min_x0 = (unsigned int)(x0 + dx_full / dist * min_length);
      min_y0 = (unsigned int)(y0 + dy_full / dist * min_length);
    } else {
      // dist can be 0 if [x0, y0]==[x1, y1].
      // In this case only this cell should be processed.
      min_x0 = x0;
      min_y0 = y0;
    }
    unsigned int offset = min_y0 * size_x_ + min_x0;
 
    int dx = x1 - min_x0;
    int dy = y1 - min_y0;
 
    unsigned int abs_dx = abs(dx);
    unsigned int abs_dy = abs(dy);
 
    int offset_dx = sign(dx);
    int offset_dy = sign(dy) * size_x_;
 
    double scale = (dist == 0.0) ? 1.0 : std::min(1.0, max_length / dist);
    // if x is dominant
    if (abs_dx >= abs_dy) {
      int error_y = abs_dx / 2;
 
      bresenham2D(
        at, abs_dx, abs_dy, error_y, offset_dx, offset_dy, offset, (unsigned int)(scale * abs_dx));
      return;
    }
 
    // otherwise y is dominant
    int error_x = abs_dy / 2;
 
    bresenham2D(
      at, abs_dy, abs_dx, error_x, offset_dy, offset_dx, offset, (unsigned int)(scale * abs_dy));
  }
 
private:
  template<class ActionType>
  inline void bresenham2D(
    ActionType at, unsigned int abs_da, unsigned int abs_db, int error_b,
    int offset_a,
    int offset_b, unsigned int offset,
    unsigned int max_length)
  {
    unsigned int end = std::min(max_length, abs_da);
    for (unsigned int i = 0; i < end; ++i) {
      at(offset);
      offset += offset_a;
      error_b += abs_db;
      if ((unsigned int)error_b >= abs_da) {
        offset += offset_b;
        error_b -= abs_da;
      }
    }
    at(offset);
  }

  inline int sign(int x)
  {
    return x > 0 ? 1.0 : -1.0;
  }
 
  mutex_t * access_;
 
protected:
  unsigned int size_x_;
  unsigned int size_y_;
  double resolution_;
  double origin_x_;
  double origin_y_;
  unsigned char * costmap_;
  unsigned char default_value_;
 
  // *INDENT-OFF* Uncrustify doesn't handle indented public/private labels
  class MarkCell
  {
  public:
    MarkCell(unsigned char * costmap, unsigned char value)
    : costmap_(costmap), value_(value)
    {
    }
    inline void operator()(unsigned int offset)
    {
      costmap_[offset] = value_;
    }
 
  private:
    unsigned char * costmap_;
    unsigned char value_;
  };
 
  class PolygonOutlineCells
  {
  public:
    PolygonOutlineCells(
      const Costmap2D & costmap, const unsigned char * /*char_map*/,
      std::vector<MapLocation> & cells)
    : costmap_(costmap), cells_(cells)
    {
    }
 
    // just push the relevant cells back onto the list
    inline void operator()(unsigned int offset)
    {
      MapLocation loc;
      costmap_.indexToCells(offset, loc.x, loc.y);
      loc.cost = costmap_.getCost(loc.x, loc.y);
      cells_.push_back(loc);
    }
 
  private:
    const Costmap2D & costmap_;
    std::vector<MapLocation> & cells_;
  };
  // *INDENT-ON*
};
}  // namespace easynav
 
#endif  // EASYNAV_COSTMAP_COMMON__COSTMAP_2D_HPP_