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Voxel layer from costmap_2d package takes into account robot z position
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Prescillia
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/*********************************************************************
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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 RTABMAP_ROS_VOXEL_LAYER_H_
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#define RTABMAP_ROS_VOXEL_LAYER_H_
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#include <costmap_2d/layer.h>
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#include <costmap_2d/layered_costmap.h>
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#include <costmap_2d/observation_buffer.h>
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#include <costmap_2d/VoxelGrid.h>
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#include <nav_msgs/OccupancyGrid.h>
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#include <sensor_msgs/LaserScan.h>
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#include <laser_geometry/laser_geometry.h>
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#include <sensor_msgs/PointCloud.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <sensor_msgs/point_cloud_conversion.h>
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#include <message_filters/subscriber.h>
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#include <dynamic_reconfigure/server.h>
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#include <costmap_2d/VoxelPluginConfig.h>
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#include <costmap_2d/obstacle_layer.h>
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#include <voxel_grid/voxel_grid.h>
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using costmap_2d::VoxelPluginConfig;
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namespace rtabmap_ros
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{
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class VoxelLayer : public costmap_2d::ObstacleLayer
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{
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public:
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VoxelLayer() :
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voxel_grid_(0, 0, 0)
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{
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costmap_ = NULL; // this is the unsigned char* member of parent class's parent class Costmap2D.
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}
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virtual ~VoxelLayer();
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virtual void onInitialize();
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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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void updateOrigin(double new_origin_x, double new_origin_y);
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bool isDiscretized()
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{
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return true;
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}
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virtual void matchSize();
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virtual void reset();
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protected:
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virtual void setupDynamicReconfigure(ros::NodeHandle& nh);
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virtual void resetMaps();
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private:
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void reconfigureCB(VoxelPluginConfig &config, uint32_t level);
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void clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info);
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virtual void raytraceFreespace(const costmap_2d::Observation& clearing_observation, double* min_x, double* min_y,
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double* max_x, double* max_y);
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dynamic_reconfigure::Server<VoxelPluginConfig> *voxel_dsrv_;
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bool publish_voxel_;
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std::string robot_base_frame_;
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ros::Publisher voxel_pub_;
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voxel_grid::VoxelGrid voxel_grid_;
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double z_resolution_, origin_z_;
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unsigned int unknown_threshold_, mark_threshold_, size_z_;
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ros::Publisher clearing_endpoints_pub_;
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sensor_msgs::PointCloud clearing_endpoints_;
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inline bool worldToMap3DFloat(double wx, double wy, double wz, double& mx, double& my, double& mz)
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{
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if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_)
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return false;
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mx = ((wx - origin_x_) / resolution_);
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my = ((wy - origin_y_) / resolution_);
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mz = ((wz - origin_z_) / z_resolution_);
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if (mx < size_x_ && my < size_y_ && mz < size_z_)
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return true;
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return false;
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}
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inline bool worldToMap3D(double wx, double wy, double wz, unsigned int& mx, unsigned int& my, unsigned int& mz)
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{
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if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_)
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return false;
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mx = (int)((wx - origin_x_) / resolution_);
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my = (int)((wy - origin_y_) / resolution_);
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mz = (int)((wz - origin_z_) / z_resolution_);
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if (mx < size_x_ && my < size_y_ && mz < size_z_)
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return true;
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return false;
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}
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inline void mapToWorld3D(unsigned int mx, unsigned int my, unsigned int mz, double& wx, double& wy, double& wz)
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{
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// returns the center point of the cell
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wx = origin_x_ + (mx + 0.5) * resolution_;
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wy = origin_y_ + (my + 0.5) * resolution_;
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wz = origin_z_ + (mz + 0.5) * z_resolution_;
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}
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inline double dist(double x0, double y0, double z0, double x1, double y1, double z1)
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{
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return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0));
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}
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/**
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* @brief Copy a region of a source map into a destination map
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* @param source_map The source map
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* @param sm_lower_left_x The lower left x point of the source map to start the copy
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* @param sm_lower_left_y The lower left y point of the source map to start the copy
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* @param sm_size_x The x size of the source map
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* @param dest_map The destination map
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* @param dm_lower_left_x The lower left x point of the destination map to start the copy
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* @param dm_lower_left_y The lower left y point of the destination map to start the copy
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* @param dm_size_x The x size of the destination map
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* @param region_size_x The x size of the region to copy
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* @param region_size_y The y size of the region to copy
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*/
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template<typename data_type>
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void copyMapRegion3D(data_type* source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y,
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unsigned int sm_size_x, data_type* dest_map, unsigned int dm_lower_left_x,
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unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x,
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unsigned int region_size_y, int z_shift)
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{
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// we'll first need to compute the starting points for each map
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// this is like getting voxel column. We are not taking into account the z position of the voxel
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data_type* sm_index = source_map + (sm_lower_left_y * sm_size_x + sm_lower_left_x);
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data_type* dm_index = dest_map + (dm_lower_left_y * dm_size_x + dm_lower_left_x);
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uint32_t marked_bits_mask = (data_type) 0xFFFF0000;
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uint32_t unknown_bits_mask = (data_type) 0x0000FFFF;
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// now, we'll copy the source map into the destination map
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for (unsigned int i = 0; i < region_size_y; ++i)
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{
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memcpy(dm_index, sm_index, region_size_x * sizeof(data_type));
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for (unsigned int j = 0; j < dm_size_x; j++) {
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if (z_shift > 0) {
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dm_index[j] = ((dm_index[j] & marked_bits_mask) >> z_shift & marked_bits_mask) |
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((~((data_type) 0) << sizeof(data_type) * 4 - z_shift) |
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(dm_index[j] & unknown_bits_mask) >> z_shift) & unknown_bits_mask;
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} else if (z_shift < 0) {
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dm_index[j] = (dm_index[j] & marked_bits_mask) << z_shift * -1 |
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(dm_index[j] << z_shift * -1 & unknown_bits_mask |
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~(~((unsigned int) 0) << z_shift * -1));
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}
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}
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dm_index += dm_size_x;
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sm_index += sm_size_x;
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}
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}
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};
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} // namespace rtabmap_ros
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#endif // RTABMAP_ROS_VOXEL_LAYER_H_
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