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 *
 * Software License Agreement (BSD License)
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 * Author: Eitan Marder-Eppstein
 *         David V. Lu!!
 *********************************************************************/
#ifndef COSTMAP_2D_VOXEL_LAYER_H_
#define COSTMAP_2D_VOXEL_LAYER_H_

#include <ros/ros.h>
#include <costmap_2d/layer.h>
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/observation_buffer.h>
#include <costmap_2d/VoxelGrid.h>
#include <nav_msgs/OccupancyGrid.h>
#include <sensor_msgs/LaserScan.h>
#include <laser_geometry/laser_geometry.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud_conversion.h>
#include <message_filters/subscriber.h>
#include <dynamic_reconfigure/server.h>
#include <costmap_2d/VoxelPluginConfig.h>
#include <costmap_2d/obstacle_layer.h>
#include <voxel_grid/voxel_grid.h>

namespace costmap_2d
{

class VoxelLayer : public ObstacleLayer
{
public:
  VoxelLayer() :
      voxel_grid_(0, 0, 0)
  {
    costmap_ = NULL;  // this is the unsigned char* member of parent class's parent class Costmap2D.
  }

  virtual ~VoxelLayer();

  virtual void onInitialize();
  virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
                            double* max_x, double* max_y);

  void updateOrigin(double new_origin_x, double new_origin_y);
  bool isDiscretized()
  {
    return true;
  }
  virtual void matchSize();
  virtual void reset();


protected:
  virtual void setupDynamicReconfigure(ros::NodeHandle& nh);

  virtual void resetMaps();

private:
  void reconfigureCB(costmap_2d::VoxelPluginConfig &config, uint32_t level);
  void clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info);
  virtual void raytraceFreespace(const costmap_2d::Observation& clearing_observation, double* min_x, double* min_y,
                                 double* max_x, double* max_y);

  dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig> *voxel_dsrv_;

  bool publish_voxel_;
  ros::Publisher voxel_pub_;
  voxel_grid::VoxelGrid voxel_grid_;
  double z_resolution_, origin_z_;
  unsigned int unknown_threshold_, mark_threshold_, size_z_;
  ros::Publisher clearing_endpoints_pub_;
  sensor_msgs::PointCloud clearing_endpoints_;

  inline bool worldToMap3DFloat(double wx, double wy, double wz, double& mx, double& my, double& mz)
  {
    if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_)
      return false;
    mx = ((wx - origin_x_) / resolution_);
    my = ((wy - origin_y_) / resolution_);
    mz = ((wz - origin_z_) / z_resolution_);
    if (mx < size_x_ && my < size_y_ && mz < size_z_)
      return true;

    return false;
  }

  inline bool worldToMap3D(double wx, double wy, double wz, unsigned int& mx, unsigned int& my, unsigned int& mz)
  {
    if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_)
      return false;

    mx = (int)((wx - origin_x_) / resolution_);
    my = (int)((wy - origin_y_) / resolution_);
    mz = (int)((wz - origin_z_) / z_resolution_);

    if (mx < size_x_ && my < size_y_ && mz < size_z_)
      return true;

    return false;
  }

  inline void mapToWorld3D(unsigned int mx, unsigned int my, unsigned int mz, double& wx, double& wy, double& wz)
  {
    // returns the center point of the cell
    wx = origin_x_ + (mx + 0.5) * resolution_;
    wy = origin_y_ + (my + 0.5) * resolution_;
    wz = origin_z_ + (mz + 0.5) * z_resolution_;
  }

  inline double dist(double x0, double y0, double z0, double x1, double y1, double z1)
  {
    return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0));
  }
};

}  // namespace costmap_2d

#endif  // COSTMAP_2D_VOXEL_LAYER_H_
