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 * Author: Eitan Marder-Eppstein
 *         David V. Lu!!
 *********************************************************************/
#ifndef COSTMAP_2D_OBSTACLE_LAYER_H_
#define COSTMAP_2D_OBSTACLE_LAYER_H_

#include <ros/ros.h>
#include <costmap_2d/costmap_layer.h>
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/observation_buffer.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 <tf2_ros/message_filter.h>
#include <message_filters/subscriber.h>
#include <dynamic_reconfigure/server.h>
#include <costmap_2d/ObstaclePluginConfig.h>
#include <costmap_2d/footprint.h>

namespace costmap_2d
{

class ObstacleLayer : public CostmapLayer
{
public:
  ObstacleLayer()
  {
    costmap_ = NULL;  // this is the unsigned char* member of parent class Costmap2D.
  }

  virtual ~ObstacleLayer();
  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);
  virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);

  virtual void activate();
  virtual void deactivate();
  virtual void reset();

  /**
   * @brief  A callback to handle buffering LaserScan messages
   * @param message The message returned from a message notifier
   * @param buffer A pointer to the observation buffer to update
   */
  void laserScanCallback(const sensor_msgs::LaserScanConstPtr& message,
                         const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);

   /**
    * @brief A callback to handle buffering LaserScan messages which need filtering to turn Inf values into range_max.
    * @param message The message returned from a message notifier
    * @param buffer A pointer to the observation buffer to update
    */
  void laserScanValidInfCallback(const sensor_msgs::LaserScanConstPtr& message,
                                 const boost::shared_ptr<ObservationBuffer>& buffer);

  /**
   * @brief  A callback to handle buffering PointCloud messages
   * @param message The message returned from a message notifier
   * @param buffer A pointer to the observation buffer to update
   */
  void pointCloudCallback(const sensor_msgs::PointCloudConstPtr& message,
                          const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);

  /**
   * @brief  A callback to handle buffering PointCloud2 messages
   * @param message The message returned from a message notifier
   * @param buffer A pointer to the observation buffer to update
   */
  void pointCloud2Callback(const sensor_msgs::PointCloud2ConstPtr& message,
                           const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);

  // for testing purposes
  void addStaticObservation(costmap_2d::Observation& obs, bool marking, bool clearing);
  void clearStaticObservations(bool marking, bool clearing);

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

  /**
   * @brief  Get the observations used to mark space
   * @param marking_observations A reference to a vector that will be populated with the observations
   * @return True if all the observation buffers are current, false otherwise
   */
  bool getMarkingObservations(std::vector<costmap_2d::Observation>& marking_observations) const;

  /**
   * @brief  Get the observations used to clear space
   * @param clearing_observations A reference to a vector that will be populated with the observations
   * @return True if all the observation buffers are current, false otherwise
   */
  bool getClearingObservations(std::vector<costmap_2d::Observation>& clearing_observations) const;

  /**
   * @brief  Clear freespace based on one observation
   * @param clearing_observation The observation used to raytrace
   * @param min_x
   * @param min_y
   * @param max_x
   * @param max_y
   */
  virtual void raytraceFreespace(const costmap_2d::Observation& clearing_observation, double* min_x, double* min_y,
                                 double* max_x, double* max_y);

  void updateRaytraceBounds(double ox, double oy, double wx, double wy, double range, double* min_x, double* min_y,
                            double* max_x, double* max_y);

  std::vector<geometry_msgs::Point> transformed_footprint_;
  bool footprint_clearing_enabled_;
  void updateFootprint(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, 
                       double* max_x, double* max_y);

  std::string global_frame_;  ///< @brief The global frame for the costmap
  double max_obstacle_height_;  ///< @brief Max Obstacle Height

  laser_geometry::LaserProjection projector_;  ///< @brief Used to project laser scans into point clouds

  std::vector<boost::shared_ptr<message_filters::SubscriberBase> > observation_subscribers_;  ///< @brief Used for the observation message filters
  std::vector<boost::shared_ptr<tf2_ros::MessageFilterBase> > observation_notifiers_;  ///< @brief Used to make sure that transforms are available for each sensor
  std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > observation_buffers_;  ///< @brief Used to store observations from various sensors
  std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > marking_buffers_;  ///< @brief Used to store observation buffers used for marking obstacles
  std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > clearing_buffers_;  ///< @brief Used to store observation buffers used for clearing obstacles

  // Used only for testing purposes
  std::vector<costmap_2d::Observation> static_clearing_observations_, static_marking_observations_;

  bool rolling_window_;
  dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig> *dsrv_;

  int combination_method_;

private:
  void reconfigureCB(costmap_2d::ObstaclePluginConfig &config, uint32_t level);
};

}  // namespace costmap_2d

#endif  // COSTMAP_2D_OBSTACLE_LAYER_H_
