/home/runner/work/beluga/beluga/beluga_ros/include/beluga_ros/occupancy_grid.hpp Source File

/home/runner/work/beluga/beluga/beluga_ros/include/beluga_ros/occupancy_grid.hpp Source File#

Beluga ROS: /home/runner/work/beluga/beluga/beluga_ros/include/beluga_ros/occupancy_grid.hpp Source File
Beluga ROS
 // Copyright 2022-2023 Ekumen, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
 // You may obtain a copy of the License at
 //
 //     http://www.apache.org/licenses/LICENSE-2.0
 //
 // Unless required by applicable law or agreed to in writing, software
 // distributed under the License is distributed on an "AS IS" BASIS,
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
  
 #ifndef BELUGA_ROS_OCCUPANCY_GRID_HPP
 #define BELUGA_ROS_OCCUPANCY_GRID_HPP
  
 #include <cmath>
 #include <memory>
 #include <utility>
 #include <vector>
  
 #include <sophus/se2.hpp>
 #include <sophus/so2.hpp>
  
 #include <tf2/utils.hpp>
  
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
  
 #include <beluga/sensor/data/occupancy_grid.hpp>
  
 #include <nav_msgs/msg/occupancy_grid.hpp>
  
 namespace beluga_ros {
  
 class OccupancyGrid : public beluga::BaseOccupancyGrid2<OccupancyGrid> {
  public:
  
   struct ValueTraits {
     static constexpr std::int8_t kFreeValue = 0;
     static constexpr std::int8_t kUnknownValue = -1;
     static constexpr std::int8_t kOccupiedValue = 100;
  
     [[nodiscard]] static bool is_free(std::int8_t value) { return value == kFreeValue; }
  
     [[nodiscard]] static bool is_unknown(std::int8_t value) { return value == kUnknownValue; }
  
     [[nodiscard]] static bool is_occupied(std::int8_t value) { return value == kOccupiedValue; }
   };
  
   explicit OccupancyGrid(nav_msgs::msg::OccupancyGrid::ConstSharedPtr grid)
       : grid_(std::move(grid)), origin_(make_origin_transform(grid_->info.origin)) {}
  
   [[nodiscard]] const Sophus::SE2d& origin() const { return origin_; }
  
   [[nodiscard]] std::size_t size() const { return grid_->data.size(); }
  
   [[nodiscard]] const auto& data() const { return grid_->data; }
  
   [[nodiscard]] std::size_t width() const { return grid_->info.width; }
  
   [[nodiscard]] std::size_t height() const { return grid_->info.height; }
  
   [[nodiscard]] double resolution() const { return grid_->info.resolution; }
  
   [[nodiscard]] static auto value_traits() { return ValueTraits{}; }
  
  private:
   nav_msgs::msg::OccupancyGrid::ConstSharedPtr grid_;
   Sophus::SE2d origin_;
  
   static Sophus::SE2d make_origin_transform(const geometry_msgs::msg::Pose& origin) {
     const auto rotation = Sophus::SO2d{tf2::getYaw(origin.orientation)};
     const auto translation = Eigen::Vector2d{origin.position.x, origin.position.y};
     return Sophus::SE2d{rotation, translation};
   }
 };
  
 }  // namespace beluga_ros
  
 #endif  // BELUGA_ROS_OCCUPANCY_GRID_HPP