From 227dc7c1ba5f747f786915e5be1fedd9b80c0a84 Mon Sep 17 00:00:00 2001
From: Mathieu Labbe <matlabbe@gmail.com>
Date: Fri, 20 Mar 2015 14:04:14 -0400
Subject: [PATCH] Grid: added "grid_eroded" parameter

---
 src/CoreWrapper.cpp          | 14 ++++++++++----
 src/CoreWrapper.h            |  1 +
 src/GridMapAssemblerNode.cpp |  6 +++++-
 3 files changed, 16 insertions(+), 5 deletions(-)

diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp
index a4021a64..9869de19 100644
--- a/src/CoreWrapper.cpp
+++ b/src/CoreWrapper.cpp
@@ -99,6 +99,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
 		projMaxHeight_(2.0), // meters
 		gridCellSize_(0.05), // meters
 		gridSize_(0), // meters
+		gridEroded_(false),
 		mapFilterRadius_(0.5),
 		mapFilterAngle_(30.0), // degrees
 		mapCacheCleanup_(true),
@@ -175,6 +176,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
 	// common grid map stuff
 	pnh.param("grid_cell_size", gridCellSize_, gridCellSize_); // m
 	pnh.param("grid_size", gridSize_, gridSize_); // m
+	pnh.param("grid_eroded", gridEroded_, gridEroded_);
 
 	// common map stuff
 	pnh.param("map_filter_radius", mapFilterRadius_, mapFilterRadius_);
@@ -1426,7 +1428,8 @@ bool CoreWrapper::getProjMapCallback(nav_msgs::GetMap::Request  &req, nav_msgs::
 				projMaps_,
 				gridCellSize_,
 				xMin, yMin,
-				gridSize_);
+				gridSize_,
+				gridEroded_);
 
 		// clear memory if no one subscribed
 		if(mapCacheCleanup_ && projMapPub_.getNumSubscribers() == 0)
@@ -1475,7 +1478,8 @@ bool CoreWrapper::getGridMapCallback(nav_msgs::GetMap::Request  &req, nav_msgs::
 				gridMaps_,
 				gridCellSize_,
 				xMin, yMin,
-				gridSize_);
+				gridSize_,
+				gridEroded_);
 
 		// clear memory if no one subscribed
 		if(mapCacheCleanup_ && gridMapPub_.getNumSubscribers() == 0)
@@ -2243,7 +2247,8 @@ void CoreWrapper::publishMaps(
 				projMaps_,
 				gridCellSize_,
 				xMin, yMin,
-				gridSize_);
+				gridSize_,
+				gridEroded_);
 
 		if(!pixels.empty())
 		{
@@ -2286,7 +2291,8 @@ void CoreWrapper::publishMaps(
 				gridMaps_,
 				gridCellSize_,
 				xMin, yMin,
-				gridSize_);
+				gridSize_,
+				gridEroded_);
 
 		if(!pixels.empty())
 		{
diff --git a/src/CoreWrapper.h b/src/CoreWrapper.h
index 361862a8..c4b8e9ac 100644
--- a/src/CoreWrapper.h
+++ b/src/CoreWrapper.h
@@ -244,6 +244,7 @@ private:
 	double projMaxHeight_;
 	double gridCellSize_;
 	double gridSize_;
+	bool gridEroded_;
 	double mapFilterRadius_;
 	double mapFilterAngle_;
 	bool mapCacheCleanup_;
diff --git a/src/GridMapAssemblerNode.cpp b/src/GridMapAssemblerNode.cpp
index a2748ff5..89f4706f 100644
--- a/src/GridMapAssemblerNode.cpp
+++ b/src/GridMapAssemblerNode.cpp
@@ -49,6 +49,7 @@ public:
 	GridMapAssembler() :
 		gridCellSize_(0.05), // meters
 		mapSize_(0), // meters
+		eroded_(false),
 		filterRadius_(0.5),
 		filterAngle_(30.0) // degrees
 	{
@@ -57,6 +58,7 @@ public:
 		pnh.param("map_size", mapSize_, mapSize_); // m
 		pnh.param("filter_radius", filterRadius_, filterRadius_);
 		pnh.param("filter_angle", filterAngle_, filterAngle_);
+		pnh.param("eroded", eroded_, eroded_);
 
 		UASSERT(gridCellSize_ > 0.0);
 		UASSERT(mapSize_ >= 0.0);
@@ -117,7 +119,8 @@ public:
 							gridMaps_,
 							gridCellSize_,
 							xMin, yMin,
-							mapSize_);
+							mapSize_,
+							eroded_);
 
 			if(!pixels.empty())
 			{
@@ -169,6 +172,7 @@ public:
 private:
 	double gridCellSize_;
 	double mapSize_;
+	bool eroded_;
 	double filterRadius_;
 	double filterAngle_;