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costmap_cspace: move XML-polygon conversion into Polygon class #102

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Jan 22, 2018
Merged

costmap_cspace: move XML-polygon conversion into Polygon class #102

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46 changes: 4 additions & 42 deletions costmap_cspace/include/costmap_3d_layer_footprint.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,15 +42,6 @@
#include <costmap_3d_layer_base.h>
#include <polygon.h>

namespace XmlRpc
{
bool isNumber(const XmlRpc::XmlRpcValue &value)
{
return value.getType() == XmlRpc::XmlRpcValue::TypeInt ||
value.getType() == XmlRpc::XmlRpcValue::TypeDouble;
}
} // namespace XmlRpc

namespace costmap_cspace
{
class Costmap3dLayerFootprint : public Costmap3dLayerBase
Expand All @@ -64,40 +55,11 @@ class Costmap3dLayerFootprint : public Costmap3dLayerBase
Polygon footprint_p_;

public:
bool setFootprint(const XmlRpc::XmlRpcValue footprint_xml_const)
bool setFootprint(const Polygon footprint)
{
XmlRpc::XmlRpcValue footprint_xml = footprint_xml_const;
if (footprint_xml.getType() != XmlRpc::XmlRpcValue::TypeArray || footprint_xml.size() < 3)
{
return false;
}

footprint_.polygon.points.clear();
footprint_.header.frame_id = "base_link";
footprint_radius_ = 0;
for (int i = 0; i < footprint_xml.size(); i++)
{
if (!XmlRpc::isNumber(footprint_xml[i][0]) ||
!XmlRpc::isNumber(footprint_xml[i][1]))
{
return false;
}

geometry_msgs::Point32 point;
Vec v;
v[0] = point.x = static_cast<double>(footprint_xml[i][0]);
v[1] = point.y = static_cast<double>(footprint_xml[i][1]);
point.z = 0;
footprint_.polygon.points.push_back(point);

footprint_p_.v.push_back(v);

const auto dist = hypotf(point.x, point.y);
if (dist > footprint_radius_)
footprint_radius_ = dist;
}
footprint_p_.v.push_back(footprint_p_.v.front());
footprint_.polygon.points.push_back(footprint_.polygon.points[0]);
footprint_p_ = footprint;
footprint_radius_ = footprint.radius();
footprint_ = footprint.toMsg();

return true;
}
Expand Down
66 changes: 66 additions & 0 deletions costmap_cspace/include/polygon.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,15 @@
#include <ros/ros.h>
#include <vector>

namespace XmlRpc
{
bool isNumber(const XmlRpc::XmlRpcValue &value)
{
return value.getType() == XmlRpc::XmlRpcValue::TypeInt ||
value.getType() == XmlRpc::XmlRpcValue::TypeDouble;
}
} // namespace XmlRpc

namespace costmap_cspace
{
class Vec
Expand Down Expand Up @@ -85,6 +94,63 @@ class Polygon
{
public:
std::vector<Vec> v;

Polygon()
{
}
explicit Polygon(const XmlRpc::XmlRpcValue footprint_xml_const)
{
XmlRpc::XmlRpcValue footprint_xml = footprint_xml_const;
if (footprint_xml.getType() != XmlRpc::XmlRpcValue::TypeArray || footprint_xml.size() < 3)
{
throw std::runtime_error("Invalid footprint xml.");
}

for (int i = 0; i < footprint_xml.size(); i++)
{
if (!XmlRpc::isNumber(footprint_xml[i][0]) ||
!XmlRpc::isNumber(footprint_xml[i][1]))
{
throw std::runtime_error("Invalid footprint xml.");
}

Vec p;
p[0] = static_cast<double>(footprint_xml[i][0]);
p[1] = static_cast<double>(footprint_xml[i][1]);

v.push_back(p);
}
v.push_back(v.front());
}
geometry_msgs::PolygonStamped toMsg() const
{
geometry_msgs::PolygonStamped msg;

msg.polygon.points.clear();
msg.header.frame_id = "base_link";
for (const auto &p : v)
{
geometry_msgs::Point32 point;
point.x = p[0];
point.y = p[1];
point.z = 0;
msg.polygon.points.push_back(point);
}
msg.polygon.points.push_back(msg.polygon.points[0]);

return msg;
}
float radius() const
{
float radius = 0;
for (const auto &p : v)
{
const auto dist = hypotf(p[0], p[1]);
if (dist > radius)
radius = dist;
}
return radius;
}
void move(const float &x, const float &y, const float &yaw)
{
float cos_v = cosf(yaw);
Expand Down
23 changes: 12 additions & 11 deletions costmap_cspace/src/costmap_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -157,26 +157,27 @@ class Costmap3DOFNode
throw std::runtime_error("Footprint doesn't specified.");
}
nhp_.getParam("footprint", footprint_xml);
costmap_cspace::Polygon footprint;
try
{
footprint = costmap_cspace::Polygon(footprint_xml);
}
catch (const std::exception &e)
{
ROS_FATAL("Invalid footprint");
throw e;
}

costmaps_.resize(2);

costmap_cspace::Costmap3dLayerFootprint::Ptr costmap_base(new costmap_cspace::Costmap3dLayerFootprint);
costmap_base->setCSpaceConfig(ang_resolution, linear_expand, linear_spread, overlay_mode);
if (!costmap_base->setFootprint(footprint_xml))
{
ROS_FATAL("Invalid footprint");
throw std::runtime_error("Invalid footprint");
}
ROS_INFO("footprint radius: %0.3f", costmap_base->getFootprintRadius());
costmap_base->setFootprint(footprint);
costmaps_[0] = costmap_base;

costmap_cspace::Costmap3dLayerFootprint::Ptr costmap_overlay(new costmap_cspace::Costmap3dLayerFootprint);
costmap_overlay->setCSpaceConfig(ang_resolution, linear_expand, linear_spread, overlay_mode);
if (!costmap_overlay->setFootprint(footprint_xml))
{
ROS_FATAL("Invalid footprint");
throw std::runtime_error("Invalid footprint");
}
costmap_overlay->setFootprint(footprint);
costmaps_[1] = costmap_overlay;
costmaps_[0]->setChild(costmaps_[1]);

Expand Down
28 changes: 15 additions & 13 deletions costmap_cspace/test/src/test_costmap_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,9 +74,9 @@ TEST(Costmap3dLayerFootprintTest, testCSpaceTemplate)

// Set example footprint
int footprint_offset = 0;
XmlRpc::XmlRpcValue footprint;
ASSERT_TRUE(footprint.fromXml(footprint_str, &footprint_offset));
ASSERT_TRUE(cm.setFootprint(footprint));
XmlRpc::XmlRpcValue footprint_xml;
ASSERT_TRUE(footprint_xml.fromXml(footprint_str, &footprint_offset));
ASSERT_TRUE(cm.setFootprint(costmap_cspace::Polygon(footprint_xml)));

// Check local footprint
const costmap_cspace::Polygon polygon = cm.getFootprint();
Expand Down Expand Up @@ -191,9 +191,9 @@ TEST(Costmap3dLayerFootprintTest, testCSpaceGenerate)

// Set example footprint
int footprint_offset = 0;
XmlRpc::XmlRpcValue footprint;
footprint.fromXml(footprint_str, &footprint_offset);
cm.setFootprint(footprint);
XmlRpc::XmlRpcValue footprint_xml;
footprint_xml.fromXml(footprint_str, &footprint_offset);
cm.setFootprint(costmap_cspace::Polygon(footprint_xml));

// Settings: 4 angular grids, no expand/spread
cm.setCSpaceConfig(4, 0.0, 0.0, costmap_cspace::Costmap3dLayerFootprint::map_overlay_mode::MAX);
Expand Down Expand Up @@ -301,9 +301,9 @@ TEST(Costmap3dLayerFootprintTest, testCSpaceExpandSpread)

// Set example footprint
int footprint_offset = 0;
XmlRpc::XmlRpcValue footprint;
footprint.fromXml(footprint_str, &footprint_offset);
cm.setFootprint(footprint);
XmlRpc::XmlRpcValue footprint_xml;
footprint_xml.fromXml(footprint_str, &footprint_offset);
cm.setFootprint(costmap_cspace::Polygon(footprint_xml));

// Settings: 4 angular grids, expand 1.0, spread 2.0
const float expand = 1.0;
Expand Down Expand Up @@ -372,8 +372,9 @@ TEST(Costmap3dLayerFootprintTest, testCSpaceOverwrite)

// Set example footprint
int footprint_offset = 0;
XmlRpc::XmlRpcValue footprint;
footprint.fromXml(footprint_str, &footprint_offset);
XmlRpc::XmlRpcValue footprint_xml;
footprint_xml.fromXml(footprint_str, &footprint_offset);
costmap_cspace::Polygon footprint(footprint_xml);
cm->setFootprint(footprint);
cm_over->setFootprint(footprint);
cm_ref.setFootprint(footprint);
Expand Down Expand Up @@ -514,8 +515,9 @@ TEST(Costmap3dLayerFootprintTest, testCSpaceOverlayMove)

// Set example footprint
int footprint_offset = 0;
XmlRpc::XmlRpcValue footprint;
footprint.fromXml(footprint_str, &footprint_offset);
XmlRpc::XmlRpcValue footprint_xml;
footprint_xml.fromXml(footprint_str, &footprint_offset);
costmap_cspace::Polygon footprint(footprint_xml);
cm->setFootprint(footprint);
cm_over->setFootprint(footprint);

Expand Down