propagation_distance_field.h

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/* Author: Mrinal Kalakrishnan, Ken Anderson */
 
#pragma once
 
#include <moveit/distance_field/voxel_grid.h>
#include <moveit/distance_field/distance_field.h>
#include <vector>
#include <Eigen/Core>
#include <set>
#include <octomap/octomap.h>
#include <rclcpp/rclcpp.hpp>
 
namespace EigenSTL
{
typedef std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i>> vector_Vector3i;
}
 
namespace distance_field
{
struct CompareEigenVector3i
{
  bool operator()(const Eigen::Vector3i& loc_1, const Eigen::Vector3i& loc_2) const
  {
    if (loc_1.z() != loc_2.z())
      return (loc_1.z() < loc_2.z());
    else if (loc_1.y() != loc_2.y())
      return (loc_1.y() < loc_2.y());
    else if (loc_1.x() != loc_2.x())
      return (loc_1.x() < loc_2.x());
    return false;
  }
};
 
struct PropDistanceFieldVoxel
{
  PropDistanceFieldVoxel();
 
  PropDistanceFieldVoxel(int distance_sq_positive, int distance_sq_negative);
 
  int distance_square_;                    
  int negative_distance_square_;           
  Eigen::Vector3i closest_point_;          
  Eigen::Vector3i closest_negative_point_; 
  int update_direction_; 
  int negative_update_direction_; 
  static const int UNINITIALIZED = -1; 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
class PropagationDistanceField : public DistanceField
{
public:
  PropagationDistanceField(double size_x, double size_y, double size_z, double resolution, double origin_x,
                           double origin_y, double origin_z, double max_distance,
                           bool propagate_negative_distances = false);
 
  PropagationDistanceField(const octomap::OcTree& octree, const octomap::point3d& bbx_min,
                           const octomap::point3d& bbx_max, double max_distance,
                           bool propagate_negative_distances = false);
 
  PropagationDistanceField(std::istream& stream, double max_distance, bool propagate_negative_distances = false);
  ~PropagationDistanceField() override
  {
  }
 
  void addPointsToField(const EigenSTL::vector_Vector3d& points) override;
 
  void removePointsFromField(const EigenSTL::vector_Vector3d& points) override;
 
  void updatePointsInField(const EigenSTL::vector_Vector3d& old_points,
                           const EigenSTL::vector_Vector3d& new_points) override;
 
  void reset() override;
 
  double getDistance(double x, double y, double z) const override;
 
  double getDistance(int x, int y, int z) const override;
 
  bool isCellValid(int x, int y, int z) const override;
  int getXNumCells() const override;
  int getYNumCells() const override;
  int getZNumCells() const override;
  bool gridToWorld(int x, int y, int z, double& world_x, double& world_y, double& world_z) const override;
  bool worldToGrid(double world_x, double world_y, double world_z, int& x, int& y, int& z) const override;
 
  bool writeToStream(std::ostream& stream) const override;
 
  bool readFromStream(std::istream& stream) override;
 
  // passthrough docs to DistanceField
  double getUninitializedDistance() const override
  {
    return max_distance_;
  }
 
  const PropDistanceFieldVoxel& getCell(int x, int y, int z) const
  {
    return voxel_grid_->getCell(x, y, z);
  }
 
  const PropDistanceFieldVoxel* getNearestCell(int x, int y, int z, double& dist, Eigen::Vector3i& pos) const
  {
    const PropDistanceFieldVoxel* cell = &voxel_grid_->getCell(x, y, z);
    if (cell->distance_square_ > 0)
    {
      dist = sqrt_table_[cell->distance_square_];
      pos = cell->closest_point_;
      const PropDistanceFieldVoxel* ncell = &voxel_grid_->getCell(pos.x(), pos.y(), pos.z());
      return ncell == cell ? nullptr : ncell;
    }
    if (cell->negative_distance_square_ > 0)
    {
      dist = -sqrt_table_[cell->negative_distance_square_];
      pos = cell->closest_negative_point_;
      const PropDistanceFieldVoxel* ncell = &voxel_grid_->getCell(pos.x(), pos.y(), pos.z());
      return ncell == cell ? nullptr : ncell;
    }
    dist = 0.0;
    pos.x() = x;
    pos.y() = y;
    pos.z() = z;
    return nullptr;
  }
 
  int getMaximumDistanceSquared() const
  {
    return max_distance_sq_;
  }
 
private:
  typedef std::set<Eigen::Vector3i, CompareEigenVector3i, Eigen::aligned_allocator<Eigen::Vector3i>> VoxelSet;
  void initialize();
 
  void addNewObstacleVoxels(const EigenSTL::vector_Vector3i& voxel_points);
 
  void removeObstacleVoxels(const EigenSTL::vector_Vector3i& voxel_points);
 
  void propagatePositive();
 
  void propagateNegative();
 
  virtual double getDistance(const PropDistanceFieldVoxel& object) const;
 
  int getDirectionNumber(int dx, int dy, int dz) const;
 
  Eigen::Vector3i getLocationDifference(int directionNumber) const;
 
  void initNeighborhoods();
 
  void print(const VoxelSet& set);
 
  void print(const EigenSTL::vector_Vector3d& points);
 
  bool propagate_negative_; 
  VoxelGrid<PropDistanceFieldVoxel>::Ptr voxel_grid_; 
  std::vector<EigenSTL::vector_Vector3i> bucket_queue_; 
  std::vector<EigenSTL::vector_Vector3i> negative_bucket_queue_; 
  double max_distance_; 
  int max_distance_sq_; 
  std::vector<double> sqrt_table_; 
  std::vector<std::vector<EigenSTL::vector_Vector3i>> neighborhoods_;
 
  EigenSTL::vector_Vector3i direction_number_to_direction_; 
};
 
 
inline PropDistanceFieldVoxel::PropDistanceFieldVoxel(int distance_square, int negative_distance_squared)
  : distance_square_(distance_square), negative_distance_square_(negative_distance_squared)
{
  closest_point_.x() = PropDistanceFieldVoxel::UNINITIALIZED;
  closest_point_.y() = PropDistanceFieldVoxel::UNINITIALIZED;
  closest_point_.z() = PropDistanceFieldVoxel::UNINITIALIZED;
  closest_negative_point_.x() = PropDistanceFieldVoxel::UNINITIALIZED;
  closest_negative_point_.y() = PropDistanceFieldVoxel::UNINITIALIZED;
  closest_negative_point_.z() = PropDistanceFieldVoxel::UNINITIALIZED;
}
 
inline PropDistanceFieldVoxel::PropDistanceFieldVoxel()
{
}
 
inline double PropagationDistanceField::getDistance(const PropDistanceFieldVoxel& object) const
{
  return sqrt_table_[object.distance_square_] - sqrt_table_[object.negative_distance_square_];
}
}  // namespace distance_field