occupancy_grid.hpp

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// 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.h>
 
#if BELUGA_ROS_VERSION == 2
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#elif BELUGA_ROS_VERSION == 1
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#else
#error BELUGA_ROS_VERSION is not defined or invalid
#endif
 
#include <beluga/sensor/data/occupancy_grid.hpp>
#include <beluga_ros/messages.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(beluga_ros::msg::OccupancyGridConstSharedPtr 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:
  beluga_ros::msg::OccupancyGridConstSharedPtr grid_;
  Sophus::SE2d origin_;
 
  static Sophus::SE2d make_origin_transform(const beluga_ros::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