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costmap_cspace: add stacked costmap class #104

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merged 4 commits into from
Jan 23, 2018
Merged

costmap_cspace: add stacked costmap class #104

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d93768c
costmap_cspace: add stacked costmap class
at-wat Jan 22, 2018
32208d2
Add Costmap3dLayerOutput class
at-wat Jan 22, 2018
31152fd
Process upper layer overlay maps
at-wat Jan 23, 2018
433a6c7
Fix bug in initialization
at-wat Jan 23, 2018
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74 changes: 74 additions & 0 deletions costmap_cspace/include/costmap_3d.h
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Original file line number Diff line number Diff line change
Expand Up @@ -32,5 +32,79 @@

#include <costmap_3d_layer_footprint.h>
#include <costmap_3d_layer_plain.h>
#include <costmap_3d_layer_output.h>

#include <vector>

namespace costmap_cspace
{
class Costmap3d
{
protected:
std::vector<Costmap3dLayerBase::Ptr> costmaps_;
int ang_resolution_;
float linear_expand_;
float linear_spread_;
Polygon footprint_;

public:
using Ptr = std::shared_ptr<Costmap3d>;

Costmap3d(
const int ang_resolution,
const float linear_expand,
const float linear_spread,
const Polygon footprint = Polygon())
{
ang_resolution_ = ang_resolution;
linear_expand_ = linear_expand;
ang_resolution_ = ang_resolution;
footprint_ = footprint;
}
template <typename T>
typename T::Ptr addRootLayer()
{
typename T::Ptr
costmap_base(new T);

costmap_base->setCSpaceConfig(
ang_resolution_,
linear_expand_,
linear_spread_);

costmap_base->setOverlayMode(
Costmap3dLayerBase::map_overlay_mode::MAX);

costmap_base->setFootprint(footprint_);
costmaps_.resize(1);
costmaps_[0] = costmap_base;

return costmap_base;
}
template <typename T>
typename T::Ptr addLayer(
const Costmap3dLayerBase::map_overlay_mode overlay_mode =
Costmap3dLayerBase::map_overlay_mode::MAX)
{
typename T::Ptr costmap_overlay(new T);
costmap_overlay->setCSpaceConfig(
ang_resolution_,
linear_expand_,
linear_spread_);
costmap_overlay->setOverlayMode(overlay_mode);

costmap_overlay->setFootprint(footprint_);

costmaps_.back()->setChild(costmap_overlay);
costmaps_.push_back(costmap_overlay);

return costmap_overlay;
}
Costmap3dLayerBase::Ptr getRootLayer()
{
return costmaps_.front();
}
};
} // namespace costmap_cspace

#endif // COSTMAP_3D_H
194 changes: 118 additions & 76 deletions costmap_cspace/include/costmap_3d_layer_base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@
#include <costmap_cspace/CSpace3DUpdate.h>

#include <cspace3_cache.h>
#include <polygon.h>

namespace costmap_cspace
{
Expand Down Expand Up @@ -76,6 +77,75 @@ class Costmap3dLayerBase
OVERWRITE,
MAX
};
class UpdatedRegion
{
public:
int x_, y_, yaw_;
int width_, height_, angle_;
ros::Time stamp_;

UpdatedRegion()
: x_(0)
, y_(0)
, yaw_(0)
, width_(0)
, height_(0)
, angle_(0)
, stamp_(0)
{
}
UpdatedRegion(
const int &x, const int &y, const int &yaw,
const int &width, const int &height, const int &angle,
const ros::Time &stamp)
: x_(x)
, y_(y)
, yaw_(yaw)
, width_(width)
, height_(height)
, angle_(angle)
, stamp_(stamp)
{
}
void merge(const UpdatedRegion &region)
{
if (region.width_ == 0 || region.height_ == 0 || region.angle_ == 0)
return;
if (region.stamp_ > stamp_)
stamp_ = region.stamp_;

if (width_ == 0 || height_ == 0 || angle_ == 0)
{
*this = region;
return;
}
int x2 = x_ + width_;
int y2 = y_ + height_;
int yaw2 = yaw_ + angle_;

const int mx2 = region.x_ + region.width_;
const int my2 = region.y_ + region.height_;
const int myaw2 = region.yaw_ + region.angle_;

if (region.x_ < x_)
x_ = region.x_;
if (region.y_ < y_)
y_ = region.y_;
if (region.yaw_ < yaw_)
yaw_ = region.yaw_;

if (x2 < mx2)
x2 = mx2;
if (y2 < my2)
y2 = my2;
if (yaw2 < myaw2)
yaw2 = myaw2;

width_ = x2 - x_;
height_ = y2 - y_;
angle_ = yaw2 - yaw_;
}
};

using Ptr = std::shared_ptr<Costmap3dLayerBase>;

Expand All @@ -91,9 +161,9 @@ class Costmap3dLayerBase

CSpace3DMsg::Ptr map_;
CSpace3DMsg::Ptr map_overlay_;
nav_msgs::OccupancyGrid map_base_;

Costmap3dLayerBase::Ptr child_;
UpdatedRegion region_;

public:
Costmap3dLayerBase()
Expand All @@ -102,21 +172,28 @@ class Costmap3dLayerBase
, linear_spread_(0.0)
, overlay_mode_(map_overlay_mode::MAX)
, root_(true)
, range_max_(0)
, map_(new CSpace3DMsg)
, map_overlay_(new CSpace3DMsg)
{
}
void setCSpaceConfig(
const int ang_resolution,
const float linear_expand,
const float linear_spread,
const map_overlay_mode overlay_mode)
const float linear_spread)
{
ang_grid_ = ang_resolution;
linear_expand_ = linear_expand;
linear_spread_ = linear_spread;
}
void setOverlayMode(
const map_overlay_mode overlay_mode)
{
overlay_mode_ = overlay_mode;
}
void setFootprint(const Polygon footprint)
{
}
void setChild(Costmap3dLayerBase::Ptr child)
{
child_ = child;
Expand All @@ -127,53 +204,56 @@ class Costmap3dLayerBase
void setBaseMap(const nav_msgs::OccupancyGrid &base_map)
{
ROS_ASSERT(root_);
ROS_ASSERT(ang_grid_ > 0);
ROS_ASSERT(base_map.data.size() >= base_map.info.width * base_map.info.height);
map_base_ = base_map;

map_->header = map_base_.header;
map_->info.width = map_base_.info.width;
map_->info.height = map_base_.info.height;
const size_t xy_size = base_map.info.width * base_map.info.height;
map_->header = base_map.header;
map_->info.width = base_map.info.width;
map_->info.height = base_map.info.height;
map_->info.angle = ang_grid_;
map_->info.linear_resolution = map_base_.info.resolution;
map_->info.linear_resolution = base_map.info.resolution;
map_->info.angular_resolution = 2.0 * M_PI / ang_grid_;
map_->info.origin = map_base_.info.origin;
map_->data.resize(map_base_.data.size() * map_->info.angle);
map_->info.origin = base_map.info.origin;
map_->data.resize(xy_size * map_->info.angle);

generateCSpaceTemplate(map_->info);

for (size_t yaw = 0; yaw < map_->info.angle; yaw++)
{
for (unsigned int i = 0; i < map_base_.data.size(); i++)
for (unsigned int i = 0; i < xy_size; i++)
{
map_->data[i + yaw * map_base_.data.size()] = 0;
map_->data[i + yaw * xy_size] = 0;
}
}
gemerateCSpace(map_, map_base_);
gemerateCSpace(map_, base_map);
for (size_t yaw = 0; yaw < map_->info.angle; yaw++)
{
for (unsigned int i = 0; i < map_base_.data.size(); i++)
for (unsigned int i = 0; i < xy_size; i++)
{
if (map_base_.data[i] < 0)
if (base_map.data[i] < 0)
{
map_->data[i + yaw * map_base_.data.size()] = -1;
map_->data[i + yaw * xy_size] = -1;
}
}
}
*map_overlay_ = *map_;
if (child_)
child_->setBaseMapChain();
}
CSpace3DUpdate processMapOverlay(const nav_msgs::OccupancyGrid &msg)
void processMapOverlay(const nav_msgs::OccupancyGrid &msg)
{
ROS_ASSERT(!root_);
ROS_ASSERT(ang_grid_ > 0);
const int ox = lroundf((msg.info.origin.position.x - map_->info.origin.position.x) / map_->info.linear_resolution);
const int oy = lroundf((msg.info.origin.position.y - map_->info.origin.position.y) / map_->info.linear_resolution);
*map_overlay_ = *map_;
gemerateCSpace(map_overlay_, msg, true);
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store msg and region, then trigger updateChainEntry


const int w = lroundf(msg.info.width * msg.info.resolution / map_->info.linear_resolution);
const int h = lroundf(msg.info.height * msg.info.resolution / map_->info.linear_resolution);
return generateUpdateMsg(map_overlay_, ox, oy, 0, w, h, map_->info.angle, msg.header.stamp);

updateChainEntry(UpdatedRegion(ox, oy, 0, w, h, map_->info.angle, msg.header.stamp));
}
CSpace3DMsg::Ptr getMap()
{
Expand Down Expand Up @@ -201,6 +281,25 @@ class Costmap3dLayerBase
}

protected:
virtual bool updateChain() = 0;
bool updateChainEntry(const UpdatedRegion &region)
{
region_.merge(region);
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move impl of processMapOverlay to here

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only if non-empty region is stored

if (updateChain())
{
region_ = UpdatedRegion();
return true;
}

if (child_)
{
const bool clear = child_->updateChainEntry(region_);
if (clear)
region_ = UpdatedRegion();
return clear;
}
return false;
}
void setBaseMapChain()
{
generateCSpaceTemplate(map_->info);
Expand All @@ -210,6 +309,7 @@ class Costmap3dLayerBase
}
void gemerateCSpace(CSpace3DMsg::Ptr map, const nav_msgs::OccupancyGrid &msg, bool overlay = false)
{
ROS_ASSERT(ang_grid_ > 0);
const int ox = lroundf((msg.info.origin.position.x - map->info.origin.position.x) / map->info.linear_resolution);
const int oy = lroundf((msg.info.origin.position.y - map->info.origin.position.y) / map->info.linear_resolution);
// Clear travelable area in OVERWRITE mode
Expand Down Expand Up @@ -282,64 +382,6 @@ class Costmap3dLayerBase
}
}
}
CSpace3DUpdate generateUpdateMsg(
CSpace3DMsg::Ptr map, const int &x, const int &y, const int &yaw,
const int &width, const int &height, const int &angle,
const ros::Time &stamp)
{
CSpace3DUpdate update;
update.header = map->header;
map->header.stamp = stamp;
int update_x = x - range_max_;
int update_y = y - range_max_;
int update_width = width + range_max_ * 2;
int update_height = height + range_max_ * 2;
if (update_x < 0)
{
update_width += update_x;
update_x = 0;
}
if (update_y < 0)
{
update_height += update_y;
update_y = 0;
}
if (update_x + update_width > static_cast<int>(map->info.width))
{
update_width = map->info.width - update_x;
}
if (update_y + update_height > static_cast<int>(map->info.height))
{
update_height = map->info.height - update_y;
}
update.x = update_x;
update.y = update_y;
update.width = update_width;
update.height = update_height;
update.yaw = yaw;
update.angle = angle;
update.data.resize(update.width * update.height * update.angle);

for (int i = 0; i < static_cast<int>(update.width); i++)
{
for (int j = 0; j < static_cast<int>(update.height); j++)
{
for (int k = 0; k < static_cast<int>(update.angle); k++)
{
const int x2 = update.x + i;
const int y2 = update.y + j;
const int yaw2 = yaw + k;

const auto &m = map->getCost(x2, y2, yaw2);
const size_t addr = (k * update.height + j) * update.width + i;
ROS_ASSERT(addr < update.data.size());
auto &up = update.data[addr];
up = m;
}
}
}
return update;
}
};
} // namespace costmap_cspace

Expand Down
6 changes: 6 additions & 0 deletions costmap_cspace/include/costmap_3d_layer_footprint.h
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Expand Up @@ -119,6 +119,12 @@ class Costmap3dLayerFootprint : public Costmap3dLayerBase
{
return footprint_radius_;
}

protected:
bool updateChain()
{
return false;
}
};
} // namespace costmap_cspace

Expand Down
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