bool BinaryConnection::update()
{
if (mIsConnected == false)
{
return false;
}
return deleteMaps() && updateMaps();
}
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_);
}
bool SQLitePersister::resetState (Campaign* campaign)
{
Transaction t(*this);
const int lives = INITIAL_LIVES;
if (saveLives(lives, campaign->getId()) && deleteMaps(campaign) && activateCampaign(campaign)) {
campaign->setLives(lives);
getSystem().syncFiles();
return true;
}
Log::error(LOG_CAMPAIGN, "error reseting the state");
return false;
}
void Costmap2D::replaceFullMap(double win_origin_x, double win_origin_y,
unsigned int data_size_x, unsigned int data_size_y,
const std::vector<unsigned char>& static_data){
//delete our old maps
deleteMaps();
//update the origin and size of the new map
size_x_ = data_size_x;
size_y_ = data_size_y;
origin_x_ = win_origin_x;
origin_y_ = win_origin_y;
//initialize our various maps
initMaps(size_x_, size_y_);
//make sure the inflation queue is empty at the beginning of the cycle (should always be true)
ROS_ASSERT_MSG(inflation_queue_.empty(), "The inflation queue must be empty at the beginning of inflation");
unsigned int index = 0;
unsigned char* costmap_index = costmap_;
std::vector<unsigned char>::const_iterator static_data_index = static_data.begin();
//copy static data into the costmap
for(unsigned int i = 0; i < size_y_; ++i){
for(unsigned int j = 0; j < size_x_; ++j){
//check if the static value is above the unknown or lethal thresholds
if(track_unknown_space_ && unknown_cost_value_ > 0 && *static_data_index == unknown_cost_value_)
*costmap_index = NO_INFORMATION;
else if(*static_data_index >= lethal_threshold_)
*costmap_index = LETHAL_OBSTACLE;
else
*costmap_index = FREE_SPACE;
if(*costmap_index == LETHAL_OBSTACLE){
unsigned int mx, my;
indexToCells(index, mx, my);
enqueue(index, mx, my, mx, my, inflation_queue_);
}
++costmap_index;
++static_data_index;
++index;
}
}
//now... let's inflate the obstacles
inflateObstacles(inflation_queue_);
//we also want to keep a copy of the current costmap as the static map
memcpy(static_map_, costmap_, size_x_ * size_y_ * sizeof(unsigned char));
}
Costmap2D& Costmap2D::operator=(const Costmap2D& map) {
//check for self assignement
if(this == &map)
return *this;
//clean up old data
deleteMaps();
deleteKernels();
size_x_ = map.size_x_;
size_y_ = map.size_y_;
resolution_ = map.resolution_;
origin_x_ = map.origin_x_;
origin_y_ = map.origin_y_;
//initialize our various maps
initMaps(size_x_, size_y_);
//copy the static map
memcpy(static_map_, map.static_map_, size_x_ * size_y_ * sizeof(unsigned char));
//copy the cost map
memcpy(costmap_, map.costmap_, size_x_ * size_y_ * sizeof(unsigned char));
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_);
return *this;
}
void Costmap2D::reshapeStaticMap(double win_origin_x, double win_origin_y,
unsigned int data_size_x, unsigned int data_size_y, const std::vector<unsigned char>& static_data){
int m_ox, m_oy;
worldToMapNoBounds(win_origin_x, win_origin_y, m_ox, m_oy);
//compute the bounds for the size of our new map
int bl_x = std::min(m_ox, 0);
int bl_y = std::min(m_oy, 0);
int ur_x = std::max(m_ox + data_size_x, size_x_);
int ur_y = std::max(m_oy + data_size_y, size_y_);
//create a temporary map to hold our static data and copy the old static map into it
unsigned char* static_map_copy = new unsigned char[size_x_ * size_y_];
memcpy(static_map_copy, static_map_, size_x_ * size_y_ * sizeof(unsigned char));
//delete our old maps... the user will lose any
//cost information not stored in the static map when reshaping a map
deleteMaps();
//update the origin and sizes, and cache data we'll need
double old_origin_x = origin_x_;
double old_origin_y = origin_y_;
unsigned int old_size_x = size_x_;
unsigned int old_size_y = size_y_;
size_x_ = ur_x - bl_x;
size_y_ = ur_y - bl_y;
origin_x_ = std::min(origin_x_, win_origin_x);
origin_y_ = std::min(origin_y_, win_origin_y);
//initialize our various maps
initMaps(size_x_, size_y_);
//reset our maps to be full of unknown space if appropriate
resetMaps();
//now, copy the old static map into the new costmap
unsigned int start_x, start_y;
worldToMap(old_origin_x, old_origin_y, start_x, start_y);
copyMapRegion(static_map_copy, 0, 0, old_size_x, costmap_, start_x, start_y, size_x_, old_size_x, old_size_y);
delete[] static_map_copy;
//now we want to update the map with the new static map data
replaceStaticMapWindow(win_origin_x, win_origin_y, data_size_x, data_size_y, static_data);
}
Costmap2D::~Costmap2D(){
deleteMaps();
deleteKernels();
}
