void Costmap2D::copyCostmapWindow(const Costmap2D& map, double win_origin_x, double win_origin_y, double win_size_x, double win_size_y){
//check for self windowing
if(this == &map){
ROS_ERROR("Cannot convert this costmap into a window of itself");
return;
}
//clean up old data
deleteMaps();
deleteKernels();
//compute the bounds of our new map
unsigned int lower_left_x, lower_left_y, upper_right_x, upper_right_y;
if(!map.worldToMap(win_origin_x, win_origin_y, lower_left_x, lower_left_y)
|| ! map.worldToMap(win_origin_x + win_size_x, win_origin_y + win_size_y, upper_right_x, upper_right_y)){
ROS_ERROR("Cannot window a map that the window bounds don't fit inside of");
return;
}
size_x_ = upper_right_x - lower_left_x;
size_y_ = upper_right_y - lower_left_y;
resolution_ = map.resolution_;
origin_x_ = win_origin_x;
origin_y_ = win_origin_y;
ROS_DEBUG("ll(%d, %d), ur(%d, %d), size(%d, %d), origin(%.2f, %.2f)",
lower_left_x, lower_left_y, upper_right_x, upper_right_y, size_x_, size_y_, origin_x_, origin_y_);
//initialize our various maps and reset markers for inflation
initMaps(size_x_, size_y_);
//copy the window of the static map and the costmap that we're taking
copyMapRegion(map.costmap_, lower_left_x, lower_left_y, map.size_x_, costmap_, 0, 0, size_x_, size_x_, size_y_);
copyMapRegion(map.static_map_, lower_left_x, lower_left_y, map.size_x_, static_map_, 0, 0, size_x_, size_x_, size_y_);
max_obstacle_range_ = map.max_obstacle_range_;
max_obstacle_height_ = map.max_obstacle_height_;
max_raytrace_range_ = map.max_raytrace_range_;
inscribed_radius_ = map.inscribed_radius_;
circumscribed_radius_ = map.circumscribed_radius_;
inflation_radius_ = map.inflation_radius_;
cell_inscribed_radius_ = map.cell_inscribed_radius_;
cell_circumscribed_radius_ = map.cell_circumscribed_radius_;
cell_inflation_radius_ = map.cell_inflation_radius_;
//set the cost for the circumscribed radius of the robot
circumscribed_cost_lb_ = map.circumscribed_cost_lb_;
weight_ = map.weight_;
//copy the cost and distance kernels
copyKernels(map, cell_inflation_radius_);
}
unsigned int worldToIndex(Costmap2D& map, double wx, double wy){
unsigned int mx, my;
map.worldToMap(wx, wy, mx, my);
return map.getIndex(mx, my);
}
