OccupancyGrid.hh

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/*
 * Copyright (C) 2025 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.
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*/
#ifndef GZ_MATH_OCCUPANCY_GRID_HH_
#define GZ_MATH_OCCUPANCY_GRID_HH_
 
#include <cstdint>
#include <vector>
 
#include <gz/math/Helpers.hh>
#include <gz/utils/ImplPtr.hh>
 
namespace gz::math
{
inline namespace GZ_MATH_VERSION_NAMESPACE {
 
enum class OccupancyCellState
{
  Free,
  Occupied,
  Unknown
};
 
class GZ_MATH_VISIBLE OccupancyGrid
{
  public: OccupancyGrid(double _resolutionMeters, int _widthCells,
    int _heightCells, double _originX = 0.0, double _originY = 0.0);
 
  // be false if resolution is set to zero.
  public: bool WorldToGrid(double _worldX, double _worldY, int &_gridX,
                           int &_gridY) const;
 
  public: void GridToWorld(int _gridX, int _gridY, double &_worldX,
                           double &_worldY) const;
 
  public: bool IsValidGridCoordinate(int _gridX, int _gridY) const;
 
  public: OccupancyCellState CellState(int _gridX, int _gridY) const;
 
  public: void CellState(int _gridX, int _gridY, OccupancyCellState _state);
 
  public: int CalculateIGain(int _x0, int _y0, int _x1, int _y1);
 
  public: void MarkLine(int _x0, int _y0, int _x1, int _y1,
    OccupancyCellState _state);
 
  public: bool MarkOccupied(double _worldX, double _worldY);
 
  public: bool MarkFree(double _worldX0, double _worldY0, double _worldX1,
                        double _worldY1);
 
  public: void ExportToRGBImage(std::vector<uint8_t> &_pixels) const;
 
  public: void RawOccupancy(std::vector<int8_t> &_data) const;
 
  public: double Resolution() const;
 
  public: int Width() const;
 
  public: int Height() const;
 
  public: double OriginX() const;
 
  public: double OriginY() const;
 
  GZ_UTILS_IMPL_PTR(dataPtr)
};
}
}  // namespace gz::math
 
#endif