traversability.orogen

name "traversability"
# Optionally declare the version number
# version "0.1"

import_types_from "base"
import_types_from "envire"

using_library "envire"
import_types_from "envire/operators/SimpleTraversability.hpp"
import_types_from "envire/operators/TraversabilityGrassfire.hpp"

task_context "Common" do
    abstract
    
    property("mls_id", "std/string", "/slam/mls").
        doc "the map ID of the input MLS map. This value is only used, if more than one map is received"

    property("env_name", "std/string", "/traversability/").
        doc "the envire prefix that should be used to create new maps"

    property("env_save_path", "std/string").
        doc "if set to a non-empty string, save each generated environment under env_save_path/<seq number>/"

    input_port('mls_map', ro_ptr('std/vector</envire/BinaryEvent>')).
        doc("Current map")

    output_port('traversability_map', ro_ptr('std/vector</envire/BinaryEvent>')).
        doc('Traversability map').
        keep_last_written_value(false)

    operation("addCircle").
        doc("Adds a Circle with the griven parameters to the obstacle map. 
        The traversability will be lowered to the given level. Spots with 
        lower traversability inside the circle will not be modified").
        argument("positionMap", "base::Vector3d").
        argument("radius", "double").
        argument("traversability", "double").
        returns("int")

    operation("removeObject").
        doc("removes a object that was added using the addX operation.").
        argument('objectId', 'int')
        
    operation("removeAllObject").
        doc("removes all object that was added using the addX operation.")
        
    port_driven
end

task_context "Simple" do
    subclasses("Common")
    needs_configuration

    
    property("map_extents", "/std/vector<base/Vector2d>").
        doc "If necessary the size of the input map will be extended, such that the output always contains the provided points in world coordinates."

    property("map_max_extent", "/int", 1000).
        doc "Number of maximum patches per dimension x/y."
        
    property("required_measurements_per_patch", "/int", 0).
        doc "Number of required points per patch, can be used to remove mismeasurements (>0)"
		
    property("window_size", "/int", 1).
        doc "Size of the window used to calculate traversability of a cell."

    property("traversability_conf", "/envire/SimpleTraversabilityConfig").
        doc "configuration parameters for the traversability transformation"

    port_driven
end

task_context "Grassfire" do
    subclasses("Common")
    needs_configuration

    property("config", "/envire/TraversabilityGrassfire/Config").
        doc "configuration parameters for the traversability transformation"

    property("growTerrainRadius", "double", 0.0).
        doc "If this number is bigger than 0, all terrains will be grown by this value. Terrains with better traversabilty will be overwritten by terrains with with worse terrains"

    transformer do
        transformation("body_center", "mls_map")
        max_latency(0.1)
    end

    port_driven
end