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layered_costmap.cpp
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layered_costmap.cpp
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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/footprint.h>
#include <cstdio>
#include <string>
#include <algorithm>
#include <vector>
using std::vector;
namespace costmap_2d
{
LayeredCostmap::LayeredCostmap(std::string global_frame, bool rolling_window, bool track_unknown) :
costmap_(),
global_frame_(global_frame),
rolling_window_(rolling_window),
current_(false),
minx_(0.0),
miny_(0.0),
maxx_(0.0),
maxy_(0.0),
bx0_(0),
bxn_(0),
by0_(0),
byn_(0),
initialized_(false),
size_locked_(false),
circumscribed_radius_(1.0),
inscribed_radius_(0.1)
{
if (track_unknown)
costmap_.setDefaultValue(255);
else
costmap_.setDefaultValue(0);
}
LayeredCostmap::~LayeredCostmap()
{
while (plugins_.size() > 0)
{
plugins_.pop_back();
}
}
void LayeredCostmap::resizeMap(unsigned int size_x, unsigned int size_y, double resolution, double origin_x,
double origin_y, bool size_locked)
{
boost::unique_lock<Costmap2D::mutex_t> lock(*(costmap_.getMutex()));
size_locked_ = size_locked;
costmap_.resizeMap(size_x, size_y, resolution, origin_x, origin_y);
for (vector<boost::shared_ptr<Layer> >::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
(*plugin)->matchSize();
}
}
void LayeredCostmap::updateMap(double robot_x, double robot_y, double robot_yaw)
{
// Lock for the remainder of this function, some plugins (e.g. VoxelLayer)
// implement thread unsafe updateBounds() functions.
boost::unique_lock<Costmap2D::mutex_t> lock(*(costmap_.getMutex()));
// if we're using a rolling buffer costmap... we need to update the origin using the robot's position
if (rolling_window_)
{
double new_origin_x = robot_x - costmap_.getSizeInMetersX() / 2;
double new_origin_y = robot_y - costmap_.getSizeInMetersY() / 2;
costmap_.updateOrigin(new_origin_x, new_origin_y);
}
if (plugins_.size() == 0)
return;
minx_ = miny_ = 1e30;
maxx_ = maxy_ = -1e30;
for (vector<boost::shared_ptr<Layer> >::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
double prev_minx = minx_;
double prev_miny = miny_;
double prev_maxx = maxx_;
double prev_maxy = maxy_;
(*plugin)->updateBounds(robot_x, robot_y, robot_yaw, &minx_, &miny_, &maxx_, &maxy_);
if (minx_ > prev_minx || miny_ > prev_miny || maxx_ < prev_maxx || maxy_ < prev_maxy)
{
ROS_WARN_THROTTLE(1.0, "Illegal bounds change, was [tl: (%f, %f), br: (%f, %f)], but "
"is now [tl: (%f, %f), br: (%f, %f)]. The offending layer is %s",
prev_minx, prev_miny, prev_maxx , prev_maxy,
minx_, miny_, maxx_ , maxy_,
(*plugin)->getName().c_str());
}
}
int x0, xn, y0, yn;
costmap_.worldToMapEnforceBounds(minx_, miny_, x0, y0);
costmap_.worldToMapEnforceBounds(maxx_, maxy_, xn, yn);
x0 = std::max(0, x0);
xn = std::min(int(costmap_.getSizeInCellsX()), xn + 1);
y0 = std::max(0, y0);
yn = std::min(int(costmap_.getSizeInCellsY()), yn + 1);
ROS_DEBUG("Updating area x: [%d, %d] y: [%d, %d]", x0, xn, y0, yn);
if (xn < x0 || yn < y0)
return;
costmap_.resetMap(x0, y0, xn, yn);
for (vector<boost::shared_ptr<Layer> >::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
(*plugin)->updateCosts(costmap_, x0, y0, xn, yn);
}
bx0_ = x0;
bxn_ = xn;
by0_ = y0;
byn_ = yn;
initialized_ = true;
}
bool LayeredCostmap::isCurrent()
{
current_ = true;
for (vector<boost::shared_ptr<Layer> >::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
current_ = current_ && (*plugin)->isCurrent();
}
return current_;
}
void LayeredCostmap::setFootprint(const std::vector<geometry_msgs::Point>& footprint_spec)
{
footprint_ = footprint_spec;
costmap_2d::calculateMinAndMaxDistances(footprint_spec, inscribed_radius_, circumscribed_radius_);
for (vector<boost::shared_ptr<Layer> >::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
(*plugin)->onFootprintChanged();
}
}
} // namespace costmap_2d