include/architecture/slam/mapdata/gridMapInterface.h

/*
*
* Author: Miguel Julia <mjulia@umh.es> 
* 
* Date:   2009
* 
* Class gridMapInterface
*

*
*/

#pragma once
#ifndef __GRID__MAP__ITERFACE__
#define __GRID__MAP__ITERFACE__

#include "binMap.h"
#include "robotTypes.h"
#include "matFuns.h"
#include "rangeSensorData.h"
#include <opencv2/opencv.hpp>
#include <loki/Factory.h>
#include <loki/Typelist.h>
#include <loki/Functor.h>

/**
* @brief Interface to grid map algorithm class
*
*/

class gridMapInterface
{
///////////////////////////////////////////////////////////////////////
//-------------------------  Methods  --------------------------------
///////////////////////////////////////////////////////////////////////

public:

        virtual ~gridMapInterface(){};

        /// Initializes with size in meters and related to real coordinates
        virtual void initialize(float width, float height, float resolution, float xorigin, float yorigin)=0;
        /// clone method
        virtual gridMapInterface* clone() const=0;
        /// assigment operator
        virtual gridMapInterface& operator=(const gridMapInterface&)=0;

        /// return the occupancy probability of the cell
        virtual float getValue(int x, int y) const=0;
        /// return the occupancy probability of the cell
        virtual float getValue(int x, int y, int range) const=0;
        /// Resets the occupation probability for the total map
        virtual void reset()=0;
        /// Updates the occupancy grid using the new data
        virtual void update(const rangeSensorData& rsData, const pose& rpos, float disp)=0;

        /// sets the x real coordinates of pixel(0,0)
        virtual void setXOrigin(float xori)=0;
        /// sets the y real coordinates of pixel(0,0)
        virtual void setYOrigin(float yori)=0;
        /// sets the grid map resolution in meters
        virtual void setResolution(float res)=0;
        
        /// returns the width of the grid map
        virtual int getWidth() const=0;
        /// returns the height of the grid map
        virtual int getHeight() const=0;
        /// returns the width of the grid map
        virtual float getRealWidth() const=0;
        /// returns the height of the grid map
        virtual float getRealHeight() const=0;
        /// returns the x real coordinates of pixel(0,0)
        virtual float getXOrigin() const=0;
        /// returns the y real coordinates of pixel(0,0)
        virtual float getYOrigin() const=0;
        /// returns the grid map resolution in meters
        virtual float getResolution() const=0;
        
        /// Returns a binMap of the frontiers
        virtual int frontiers(binMap& frontiers) const=0;
        /// Returns a binMap of the frontiers inside the given zone
        virtual int frontiersIn(const binMap& zone, binMap& frontiers) const=0;
        /// Evaluates the expected safe zone viewed from a given point
        virtual void esz(int x, int y, binMap& esz, int dilaterad, int size) const=0;
        /// Looks for gateways in a given zone
        virtual void gateways(const binMap& esz, binMap& gateways) const=0;
        virtual void clearUnconnect(binMap& vz,int x, int y) const=0;
        /// Return the occupied cells
        virtual void occupiedCells(binMap& occupied, int dilateRad = 1) const=0;
        
        /// true if the cell is free
        virtual bool isfree(int x, int y) const=0;
        /// true if the cell is occupied
        virtual bool isoccupied(int x, int y) const=0;
        /// true if the cell is unknown
        virtual bool isunknown(int x, int y) const=0;
        /// true if the cell is frontier
        virtual bool isfrontier(int x, int y) const=0;
        
        /// true if all cells in a given square mask of radius rad are free (Totally free)
        virtual bool isfree(int x, int y, int rad) const=0;     
        /// true if all cells in a diamond 1px mask of radius rad are free (Totally free)
        virtual bool isfreeD(int x, int y) const=0;     
        /// true if a cell in a given square mask of radius rad is occupied (Partially occupied)
        virtual bool isoccupied(int x, int y, int rad) const=0;
        /// true if a cell in a given square mask of radius rad is unknown (Partially unknown)
        virtual bool isunknown(int x, int y, int size) const=0;
        
        /// Save function
        virtual void saveMapAsImage(const char* file) const=0;
        /// Get the map as a new opencv image
        virtual IplImage* getMapAsImage() const=0;
        /// Show binMap
        virtual void showMap(const char* windowname)const =0;

        /// returns an array of points of size points for a line that joins point (x1,y1) and point x2,y2)
        virtual point* getLine(int x1, int y1, int x2, int y2, int& points) const=0;

        /// save a map to disk
        virtual int saveMapToFile(const char* file) const = 0;
        /// load a map from disk
        virtual int loadMapFromFile(const char* file) = 0;

        virtual int countAccessible(const point* p, int numpoints, binMap& accessible) const=0;

        virtual point toCell(float x, float y) const=0;
        virtual pointf toCoords(int x, int y) const=0;
//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////
};

typedef Loki::Functor<gridMapInterface*, LOKI_TYPELIST_5(float,float,float,float,float)> gridMapCreator;
typedef Loki::SingletonHolder< Loki::Factory< gridMapInterface, int, LOKI_TYPELIST_5(float,float,float,float,float)> > gridMapFactory;


#endif