[Personalrobots-commit] SF.net SVN: personalrobots:[2483] pkg/trunk

[<ge...@us...>]

Revision: 2483
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=2483&view=rev
Author:   gerkey
Date:     2008-08-02 00:55:51 +0000 (Sat, 02 Aug 2008)

Log Message:
-----------
Rearranged modeling components into world_models.

Added sketch interface for costmap_2d.

Added Paths:
-----------
    pkg/trunk/world_models/
    pkg/trunk/world_models/costmap_2d/
    pkg/trunk/world_models/costmap_2d/include/
    pkg/trunk/world_models/costmap_2d/include/costmap_2d/
    pkg/trunk/world_models/costmap_2d/include/costmap_2d/costmap_2d.h
    pkg/trunk/world_models/costmap_2d/manifest.xml
    pkg/trunk/world_models/map_server/
    pkg/trunk/world_models/world_3d_map/

Removed Paths:
-------------
    pkg/trunk/mapping/world_3d_map/
    pkg/trunk/nav/map_server/
    pkg/trunk/nav/sim/

Added: pkg/trunk/world_models/costmap_2d/include/costmap_2d/costmap_2d.h
===================================================================
--- pkg/trunk/world_models/costmap_2d/include/costmap_2d/costmap_2d.h	                        (rev 0)
+++ pkg/trunk/world_models/costmap_2d/include/costmap_2d/costmap_2d.h	2008-08-02 00:55:51 UTC (rev 2483)
@@ -0,0 +1,120 @@
+/*
+ * Copyright (c) 2008, 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 the 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: E. Gil Jones
+ */
+
+#ifndef COSTMAP_2D_COSTMAP_2D_H
+#define COSTMAP_2D_COSTMAP_2D_H
+
+/**
+
+@mainpage 
+
+@htmlinclude manifest.html
+
+This library provides functionality for maintaining a 2D cost map.  The primary inputs are:
+  - a priori 2-D occupancy grid map
+  - obstacle data
+This library is initialized with the a priori map, and thereafter updated 
+with obstacle data.  A sliding window model of persistence is used, in which
+obstacle data lives in the map for a fixed (but configurable) amount of time
+before being discarded.  The static map lives forever.
+
+*/
+
+// For time support
+#include "ros/time.h"
+
+// For point clouds
+#include "std_msgs/PointCloudFloat32.h"
+
+// A bunch of x,y points, with a timestamp
+typedef struct
+{
+  double* pts;
+  size_t pts_num;
+  double ts;
+} ObstaclePts;
+
+class CostMap2D
+{
+  public:
+    /**
+     * @brief Constructor.
+     *
+     * @param window_length how long to hold onto obstacle data [sec]
+     */
+    CostMap2D(double window_length);
+
+    /**
+     * @brief Destructor.
+     */
+    ~CostMap2D();
+
+    /** 
+     * @brief Initialize with a static map.
+     *
+     * @param width width of map [cells]
+     * @param height height of map [cells]
+     * @param resolution resolution of map [m/cell]
+     * @data row-major obstacle data, each value in the range [0,100] to
+     *       indicate probability of occupancy, -1 to indicate no
+     *       information
+     */
+    void setStaticMap(size_t width, size_t height, 
+                      double resolution, unsigned char* data);
+
+    /**
+     * @brief Add dynamic obstacles to the map.
+     *
+     * Updates the map to contain the new dynamic obstacles, in addition to
+     * any previously added obstacles (but only those that are still within
+     * the window_length).
+     */
+    void addObstacles(std_msg::PointCloudFloat32* cloud);
+
+    /**
+     * @brief A hook to allow time-based maintenance to occur (e.g.,
+     * removing stale obstacles, in the case that addObstacles() doesn't
+     * get called that often).
+     *
+     * @param ts current time
+     */
+    void update(ros::Time ts);
+
+    /**
+     * @brief Get pointer into the obstacle map (which contains both static
+     * and dynamic obstacles)
+     */
+    unsigned char* getMap();
+};
+
+
+
+#endif

Added: pkg/trunk/world_models/costmap_2d/manifest.xml
===================================================================
--- pkg/trunk/world_models/costmap_2d/manifest.xml	                        (rev 0)
+++ pkg/trunk/world_models/costmap_2d/manifest.xml	2008-08-02 00:55:51 UTC (rev 2483)
@@ -0,0 +1,5 @@
+<package>
+<description>2D cost map maintenance library</description>
+<author>Willow Garage</author>
+<license>BSD</license>
+</package>


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