trajectory_planner.h

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#ifndef TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_H_
#define TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_H_

#include <vector>
#include <string>
#include <sstream>
#include <math.h>
#include <ros/console.h>
#include <angles/angles.h>

//for creating a local cost grid
#include <map_cell.h>
#include <map_grid.h>

//for obstacle data access
#include <costmap_2d/costmap_2d.h>
#include <world_model.h>

#include <trajectory.h>

//we'll take in a path as a vector of poses
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Twist.h>
#include <iri_ackermann_local_planner/Position2DInt.h>

//for computing path distance
#include <queue>

//for some datatypes
#include <tf/transform_datatypes.h>

#include <iri_ackermann_local_planner/AckermannLocalPlannerConfig.h>
#include <boost/algorithm/string.hpp>

namespace iri_ackermann_local_planner {
  class TrajectoryPlanner{
    friend class TrajectoryPlannerTest; //Need this for gtest to work
    public:
      TrajectoryPlanner(WorldModel& world_model, 
          const costmap_2d::Costmap2D& costmap, 
          std::vector<geometry_msgs::Point> footprint_spec,
          double max_acc = 1.0, double max_vel = 0.3, double min_vel = -0.3,
          double max_steer_acc = 1.0, double max_steer_vel = 0.5, double min_steer_vel = -0.5,
          double max_steer_angle = 0.35, double min_steer_angle = -0.35, double axis_distance = 1.65,
          double sim_time = 10.0, double sim_granularity = 0.025, 
          int vx_samples = 20, int vtheta_samples = 20,
          double pdist_scale = 0.6, double gdist_scale = 0.8, double occdist_scale = 0.01, double hdiff_scale = 1.0,
          bool simple_attractor = false, double angular_sim_granularity = 0.025,int heading_points = 8, double xy_goal_tol = 0.5);

      ~TrajectoryPlanner();

      void reconfigure(AckermannLocalPlannerConfig &cfg);

      Trajectory findBestPath(tf::Stamped<tf::Pose> global_pose, tf::Stamped<tf::Pose> global_vel,
          tf::Stamped<tf::Pose>& drive_velocities,geometry_msgs::Twist &ackermann_state);

      void updatePlan(const std::vector<geometry_msgs::PoseStamped>& new_plan, bool compute_dists = false);

      void getLocalGoal(double& x, double& y);

      bool checkTrajectory(double x, double y, double theta, double vx, double vy, 
          double vtheta, double vx_samp, double vy_samp, double vtheta_samp);

      double scoreTrajectory(double x, double y, double theta, double vx, double vy, 
          double vtheta, double vx_samp, double vy_samp, double vtheta_samp);

      bool getCellCosts(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost);
    private:
      Trajectory createTrajectories(double x, double y, double theta, double vx, double vy, double vtheta, 
          double acc_x, double acc_y, double acc_theta);

      void generateTrajectory(double x, double y, double theta, double vx, double vy, 
          double vtheta, double vx_samp, double vy_samp, double vtheta_samp, double acc_x, double acc_y,
          double acc_theta, double impossible_cost, Trajectory& traj);

      double footprintCost(double x_i, double y_i, double theta_i);

      std::vector<iri_ackermann_local_planner::Position2DInt> getFootprintCells(double x_i, double y_i, double theta_i, bool fill);

      void getLineCells(int x0, int x1, int y0, int y1, std::vector<iri_ackermann_local_planner::Position2DInt>& pts);

      void getFillCells(std::vector<iri_ackermann_local_planner::Position2DInt>& footprint);

      MapGrid map_; 
      const costmap_2d::Costmap2D& costmap_; 
      WorldModel& world_model_; 

      std::vector<geometry_msgs::Point> footprint_spec_; 

      std::vector<geometry_msgs::PoseStamped> global_plan_; 

      double goal_x_,goal_y_; 

      double sim_time_; 
      double sim_granularity_; 
      double angular_sim_granularity_; 

      int vx_samples_; 
      int vtheta_samples_; 

      double pdist_scale_, gdist_scale_, occdist_scale_,hdiff_scale_; 

      Trajectory traj_one, traj_two; 


      /* ackerman parameters */
      double steering_speed_;
      /* ackerman reconfigure parameters */
      double ack_acc_max_;
      double ack_vel_min_;
      double ack_vel_max_;
      double ack_steer_acc_max_;
      double ack_steer_speed_max_;
      double ack_steer_speed_min_;
      double ack_steer_angle_max_;
      double ack_steer_angle_min_;
      double ack_axis_distance_;

      bool simple_attractor_;  
      int heading_points_;
      double xy_goal_tol_;

      boost::mutex configuration_mutex_;

      double lineCost(int x0, int x1, int y0, int y1);
      double pointCost(int x, int y);
      double headingDiff(int cell_x, int cell_y, double x, double y, double heading);
  };
};

#endif