navfn: navfn_ros.h Source File

00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2008, Willow Garage, Inc.
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00008 *  Redistribution and use in source and binary forms, with or without
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef NAVFN_NAVFN_ROS_H_
00038 #define NAVFN_NAVFN_ROS_H_
00039 
00040 #include <ros/ros.h>
00041 #include <navfn/navfn.h>
00042 #include <costmap_2d/costmap_2d_ros.h>
00043 #include <geometry_msgs/PoseStamped.h>
00044 #include <geometry_msgs/Point.h>
00045 #include <nav_msgs/Path.h>
00046 #include <tf/transform_datatypes.h>
00047 #include <vector>
00048 #include <nav_core/base_global_planner.h>
00049 #include <nav_msgs/GetPlan.h>
00050 #include <navfn/potarr_point.h>
00051 #include <pcl_ros/publisher.h>
00052 
00053 namespace navfn {
00058   class NavfnROS : public nav_core::BaseGlobalPlanner {
00059     public:
00063       NavfnROS();
00064 
00070       NavfnROS(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
00071 
00077       void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
00078 
00086       bool makePlan(const geometry_msgs::PoseStamped& start, 
00087           const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan);
00088 
00097       bool makePlan(const geometry_msgs::PoseStamped& start, 
00098           const geometry_msgs::PoseStamped& goal, double tolerance, std::vector<geometry_msgs::PoseStamped>& plan);
00099 
00105       bool computePotential(const geometry_msgs::Point& world_point);
00106 
00113       bool getPlanFromPotential(const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan);
00114 
00120       double getPointPotential(const geometry_msgs::Point& world_point);
00121 
00127       bool validPointPotential(const geometry_msgs::Point& world_point);
00128 
00135       bool validPointPotential(const geometry_msgs::Point& world_point, double tolerance);
00136 
00140       void publishPlan(const std::vector<geometry_msgs::PoseStamped>& path, double r, double g, double b, double a);
00141 
00142       ~NavfnROS(){delete costmap_publisher_;}
00143 
00144       bool makePlanService(nav_msgs::GetPlan::Request& req, nav_msgs::GetPlan::Response& resp);
00145 
00146     protected:
00147 
00151       virtual void getCostmap(costmap_2d::Costmap2D& costmap); 
00152       costmap_2d::Costmap2DROS* costmap_ros_;
00153       boost::shared_ptr<NavFn> planner_;
00154       double inscribed_radius_, circumscribed_radius_, inflation_radius_;
00155       ros::Publisher plan_pub_;
00156       pcl_ros::Publisher<PotarrPoint> potarr_pub_;
00157       bool initialized_, allow_unknown_, visualize_potential_;
00158 
00159 
00160     private:
00161       inline double sq_distance(const geometry_msgs::PoseStamped& p1, const geometry_msgs::PoseStamped& p2){
00162         double dx = p1.pose.position.x - p2.pose.position.x;
00163         double dy = p1.pose.position.y - p2.pose.position.y;
00164         return dx*dx +dy*dy;
00165       }
00166 
00167       void mapToWorld(double mx, double my, double& wx, double& wy);
00168       void clearRobotCell(const tf::Stamped<tf::Pose>& global_pose, unsigned int mx, unsigned int my);
00169       costmap_2d::Costmap2D costmap_;
00170       double planner_window_x_, planner_window_y_, default_tolerance_;
00171       costmap_2d::Costmap2DPublisher* costmap_publisher_;
00172       std::string tf_prefix_;
00173       boost::mutex mutex_;
00174       ros::ServiceServer make_plan_srv_;
00175   };
00176 };
00177 
00178 #endif