static Location enemy_random_location (void) { Location location; location.x = get_random_location ().x; location.y = random_in_range (25, 100); return location; }
visualization_msgs::MarkerArray test_dsh_collision_map(std::default_random_engine& generator) { sdf_tools::COLLISION_CELL default_cell(0.0); sdf_tools::COLLISION_CELL filled_cell(1.0); sdf_tools::DynamicSpatialHashedCollisionMapGrid test_col_map("test_voxel_grid", 1.0, 5, 5, 5, default_cell); // Add a bunch of random data for (int idx = 0; idx < 500; idx++) { // Get a random location in +-10m Eigen::Vector3d random_location = get_random_location(generator, -20.0, -20.0, -20.0, 20.0, 20.0, 20.0); // Get a random bool to choose between cell/chunk bool use_cell = get_random_bool(generator); // Update the col map if (use_cell) { test_col_map.SetCell(random_location, filled_cell); } else { test_col_map.SetChunk(random_location, filled_cell); } } // Get the Rviz markers std_msgs::ColorRGBA filled_color; filled_color.a = 1.0; filled_color.b = 0.0; filled_color.g = 0.0; filled_color.r = 1.0; std_msgs::ColorRGBA free_color; free_color.a = 0.1; free_color.b = 0.0; free_color.g = 1.0; free_color.r = 0.0; std_msgs::ColorRGBA unknown_color; unknown_color.a = 0.5; unknown_color.b = 1.0; unknown_color.g = 0.0; unknown_color.r = 0.0; std::vector<visualization_msgs::Marker> display_markers = test_col_map.ExportForDisplay(filled_color, free_color, unknown_color); visualization_msgs::MarkerArray display_rep; display_rep.markers = display_markers; return display_rep; }