152 lines
5.1 KiB
C++
152 lines
5.1 KiB
C++
/**
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* dynamicEDT3D:
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* A library for incrementally updatable Euclidean distance transforms in 3D.
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* @author C. Sprunk, B. Lau, W. Burgard, University of Freiburg, Copyright (C) 2011.
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* @see http://octomap.sourceforge.net/
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* License: New BSD License
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*/
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/*
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* Copyright (c) 2011-2012, C. Sprunk, B. Lau, W. Burgard, University of Freiburg
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the University of Freiburg nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef _DYNAMICEDT3D_H_
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#define _DYNAMICEDT3D_H_
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#include <limits.h>
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#include <queue>
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#include "bucketedqueue.h"
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//! A DynamicEDT3D object computes and updates a 3D distance map.
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class DynamicEDT3D {
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public:
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DynamicEDT3D(int _maxdist_squared);
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~DynamicEDT3D();
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//! Initialization with an empty map
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void initializeEmpty(int _sizeX, int _sizeY, int sizeZ, bool initGridMap=true);
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//! Initialization with a given binary map (false==free, true==occupied)
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void initializeMap(int _sizeX, int _sizeY, int sizeZ, bool*** _gridMap);
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//! add an obstacle at the specified cell coordinate
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void occupyCell(int x, int y, int z);
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//! remove an obstacle at the specified cell coordinate
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void clearCell(int x, int y, int z);
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//! remove old dynamic obstacles and add the new ones
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void exchangeObstacles(std::vector<INTPOINT3D> newObstacles);
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//! update distance map to reflect the changes
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virtual void update(bool updateRealDist=true);
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//! returns the obstacle distance at the specified location
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float getDistance( int x, int y, int z ) const;
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//! gets the closest occupied cell for that location
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INTPOINT3D getClosestObstacle( int x, int y, int z ) const;
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//! returns the squared obstacle distance in cell units at the specified location
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int getSQCellDistance( int x, int y, int z ) const;
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//! checks whether the specficied location is occupied
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bool isOccupied(int x, int y, int z) const;
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//! returns the x size of the workspace/map
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unsigned int getSizeX() const {return sizeX;}
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//! returns the y size of the workspace/map
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unsigned int getSizeY() const {return sizeY;}
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//! returns the z size of the workspace/map
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unsigned int getSizeZ() const {return sizeZ;}
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typedef enum {invalidObstData = INT_MAX} ObstDataState;
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///distance value returned when requesting distance for a cell outside the map
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static float distanceValue_Error;
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///distance value returned when requesting distance in cell units for a cell outside the map
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static int distanceInCellsValue_Error;
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protected:
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struct dataCell {
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float dist;
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int obstX;
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int obstY;
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int obstZ;
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int sqdist;
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char queueing;
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bool needsRaise;
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};
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typedef enum {free=0, occupied=1} State;
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typedef enum {fwNotQueued=1, fwQueued=2, fwProcessed=3, bwQueued=4, bwProcessed=1} QueueingState;
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// methods
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inline void raiseCell(INTPOINT3D &p, dataCell &c, bool updateRealDist);
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inline void propagateCell(INTPOINT3D &p, dataCell &c, bool updateRealDist);
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inline void inspectCellRaise(int &nx, int &ny, int &nz, bool updateRealDist);
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inline void inspectCellPropagate(int &nx, int &ny, int &nz, dataCell &c, bool updateRealDist);
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void setObstacle(int x, int y, int z);
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void removeObstacle(int x, int y, int z);
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private:
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void commitAndColorize(bool updateRealDist=true);
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inline bool isOccupied(int &x, int &y, int &z, dataCell &c);
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// queues
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BucketPrioQueue<INTPOINT3D> open;
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std::vector<INTPOINT3D> removeList;
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std::vector<INTPOINT3D> addList;
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std::vector<INTPOINT3D> lastObstacles;
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// maps
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protected:
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int sizeX;
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int sizeY;
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int sizeZ;
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int sizeXm1;
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int sizeYm1;
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int sizeZm1;
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dataCell*** data;
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bool*** gridMap;
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// parameters
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int padding;
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double doubleThreshold;
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double sqrt2;
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double maxDist;
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int maxDist_squared;
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};
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#endif
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