MapShape.hh

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/*
 * Copyright (C) 2012-2016 Open Source Robotics Foundation
 *
 * 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.
 *
*/
/* Desc: Occupancy grid collision
 * Author: Nate Koenig
*/

#ifndef _MAPSHAPE_HH_
#define _MAPSHAPE_HH_

#include <deque>
#include <string>

#include "gazebo/common/CommonTypes.hh"

#include "gazebo/physics/Collision.hh"
#include "gazebo/physics/Shape.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {
    class SpaceTree;
    class QuadNode;


    class GZ_PHYSICS_VISIBLE MapShape : public Shape
    {
      public: explicit MapShape(CollisionPtr _parent);

      public: virtual ~MapShape();

      public: void Update();

      public: virtual void Load(sdf::ElementPtr _sdf);

      public: virtual void Init();

      public: void FillMsg(msgs::Geometry &_msg);

      public: virtual void ProcessMsg(const msgs::Geometry &_msg);

      public: std::string GetURI() const;

      public: void SetScale(const math::Vector3 &_scale);

      public: virtual math::Vector3 GetScale() const;

      public: int GetThreshold() const;

      public: double GetHeight() const;

      public: int GetGranularity() const;

      private: void BuildTree(QuadNode *_node);

      private: void GetPixelCount(unsigned int _xStart, unsigned int _yStart,
                                  unsigned int _width, unsigned int _height,
                                  unsigned int &_freePixels,
                                  unsigned int &_occPixels);

      private: void ReduceTree(QuadNode *_node);

      private: void Merge(QuadNode *_nodeA, QuadNode *_nodeB);

      private: void CreateBox();

      private: void CreateBoxes(QuadNode *_node);

      private: common::Image *mapImage;

      private: QuadNode *root;

      private: bool merged;

      private: static unsigned int collisionCounter;
    };


    class GZ_PHYSICS_VISIBLE QuadNode
    {
      public: QuadNode(QuadNode *_parent)
              : x(0), y(0), width(0), height(0)
              {
                parent = _parent;
                occupied = false;
                leaf = true;
                valid = true;
              }

      public: ~QuadNode()
              {
                std::deque<QuadNode*>::iterator iter;
                for (iter = children.begin(); iter != children.end(); ++iter)
                    delete (*iter);
              }

      public: void Print(std::string _space)
              {
                std::deque<QuadNode*>::iterator iter;

                printf("%sXY[%d %d] WH[%d %d] O[%d] L[%d] V[%d]\n",
                    _space.c_str(), x, y, width, height, occupied, leaf, valid);
                _space += "  ";
                for (iter = children.begin(); iter != children.end(); ++iter)
                  if ((*iter)->occupied)
                    (*iter)->Print(_space);
              }

      public: uint32_t x, y;

      public: uint32_t width, height;

      public: QuadNode *parent;

      public: std::deque<QuadNode*> children;

      public: bool occupied;

      public: bool leaf;

      public: bool valid;
    };

  }
}
#endif