goal_functions.h

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* Author: Eitan Marder-Eppstein
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#ifndef BASE_LOCAL_PLANNER_GOAL_FUNCTIONS_H_
#define BASE_LOCAL_PLANNER_GOAL_FUNCTIONS_H_

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>
#include <tf/transform_listener.h>

#include <string>
#include <cmath>

#include <angles/angles.h>
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/costmap_2d_ros.h>

namespace iri_ackermann_local_planner {
  double distance(double x1, double y1, double x2, double y2);

  bool goalPositionReached(const tf::Stamped<tf::Pose>& global_pose, double goal_x, double goal_y, double xy_goal_tolerance);

  bool goalOrientationReached(const tf::Stamped<tf::Pose>& global_pose, double goal_th, double yaw_goal_tolerance);

  void publishPlan(const std::vector<geometry_msgs::PoseStamped>& path, const ros::Publisher& pub, double r, double g, double b, double a);

  void prunePlan(const tf::Stamped<tf::Pose>& global_pose, std::vector<geometry_msgs::PoseStamped>& plan, std::vector<geometry_msgs::PoseStamped>& global_plan);

  bool transformGlobalPlan(const tf::TransformListener& tf, const std::vector<geometry_msgs::PoseStamped>& global_plan, 
      const costmap_2d::Costmap2DROS& costmap, const std::string& global_frame, 
      std::vector<geometry_msgs::PoseStamped>& transformed_plan);

  bool isGoalReached(const tf::TransformListener& tf, const std::vector<geometry_msgs::PoseStamped>& global_plan, 
      const costmap_2d::Costmap2DROS& costmap_ros, const std::string& global_frame, 
      const nav_msgs::Odometry& base_odom, double rot_stopped_vel, double trans_stopped_vel,
      double xy_goal_tolerance, double yaw_goal_tolerance);

  bool stopped(const nav_msgs::Odometry& base_odom, 
      const double& rot_stopped_velocity, const double& trans_stopped_velocity);
};
#endif