field.h

Go to the documentation of this file.

#pragma once
 
#include <vector>
#include <ros/ros.h>
 
#include "roborts_msgs/BuffZoneStatus.h"
#include "../../roborts_common/math/geometry.h"
 
#include "blackboard_common.h"
 
namespace roborts_decision {
class Field {
 public:
  Field(const ros::NodeHandle &nh = ros::NodeHandle("~"));
  Field(const Field&) = delete;
  Field(Field &&) = delete;
 
  static std::shared_ptr<Field> GetField();
 
  // 获得障碍物、墙的信息
  const std::vector<std::pair<BuffZoneStatus, roborts_common::Zone>> &GetBuffZoneStatus() const;
  const std::vector<roborts_common::Zone> &getObstacles() const;
  const std::vector<roborts_common::Zone> &getWalls() const;
  static std::vector<roborts_common::Polygon2D> TurnRectangulars(const std::vector<roborts_common::Zone> &zones) ;
 
  int IsZoneActive(BuffStatus buff_status);
 
  //获取我方机器人与敌方机器人之间障碍物
  std::vector<roborts_common::Polygon2D>
  GetObstaclesBetweenTwoRobots(const roborts_common::Point2D point1, const roborts_common::Point2D point2);
 
  // 获取坐标点到障碍物的最短距离是否合适
  bool GetDisToObstacleSuitable(const roborts_common::Point2D &point);
 
 private:
 
  static std::shared_ptr<Field> field_;
  ros::NodeHandle nh_;
  ros::Subscriber buff_zone_sub_;
 
  std::vector<std::pair<BuffZoneStatus, roborts_common::Zone>> vec_buff_zone_status_;
  std::vector<roborts_common::Zone> obstacles_;
  std::vector<roborts_common::Zone> walls_;
 
  void buffZoneStatusCallback(const roborts_msgs::BuffZoneStatus::ConstPtr &msg);
};
}