OccupancyGridMap.h

/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2026  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
 
#pragma once
 
#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CSinCosLookUpTableFor2DScans.h>
#include <mrpt/opengl/CPointCloud.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/poses/CPose2D.h>
#include <mvsim/WorldElements/WorldElementBase.h>
 
#include <mutex>
 
namespace mvsim
{
class OccupancyGridMap : public WorldElementBase
{
    DECLARES_REGISTER_WORLD_ELEMENT(OccupancyGridMap)
   public:
    OccupancyGridMap(World* parent, const rapidxml::xml_node<char>* root);
    virtual ~OccupancyGridMap();
 
    void doLoadConfigFrom(const rapidxml::xml_node<char>* root);
 
    virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) override
    {
        doLoadConfigFrom(root);
    }
 
    virtual void simul_pre_timestep(const TSimulContext& context) override;
 
    const mrpt::maps::COccupancyGridMap2D& getOccGrid() const { return grid_; }
    mrpt::maps::COccupancyGridMap2D& getOccGrid() { return grid_; }
 
   protected:
    virtual void internalGuiUpdate(
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical, bool childrenOnly) override;
 
    mrpt::maps::COccupancyGridMap2D grid_;
 
    bool gui_uptodate_;  
    mrpt::opengl::CSetOfObjects::Ptr gl_grid_;
 
    struct TFixturePtr
    {
        TFixturePtr() = default;
        b2Fixture* fixture = nullptr;
    };
 
    struct TInfoPerCollidableobj
    {
        TInfoPerCollidableobj() = default;
 
        mrpt::poses::CPose2D pose;
        b2Body* collide_body = nullptr;
        mrpt::obs::CObservation2DRangeScan::Ptr scan;
        std::vector<TFixturePtr> collide_fixtures;
        float max_obstacles_ranges = 0;
    };
 
    std::vector<TInfoPerCollidableobj> obstacles_for_each_obj_;
    std::vector<mrpt::opengl::CSetOfObjects::Ptr> gl_obs_clouds_;
 
    std::mutex gl_obs_clouds_buffer_cs_;
    std::vector<mrpt::opengl::CPointCloud::Ptr> gl_obs_clouds_buffer_;
 
    mrpt::obs::CSinCosLookUpTableFor2DScans sincos_lut_;
 
    bool show_grid_collision_points_;
    double restitution_;  
    double lateral_friction_;  
};
}  // namespace mvsim