Program Listing for File smac_planner_2d.hpp
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// Copyright (c) 2020, Samsung Research America
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License. Reserved.
#ifndef NAV2_SMAC_PLANNER__SMAC_PLANNER_2D_HPP_
#define NAV2_SMAC_PLANNER__SMAC_PLANNER_2D_HPP_
#include <memory>
#include <vector>
#include <string>
#include <mutex>
#include "nav2_smac_planner/a_star.hpp"
#include "nav2_smac_planner/smoother.hpp"
#include "nav2_smac_planner/utils.hpp"
#include "nav2_smac_planner/costmap_downsampler.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "nav2_core/global_planner.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_costmap_2d/costmap_2d.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_util/node_utils.hpp"
#include "tf2/utils.h"
#include "rcl_interfaces/msg/set_parameters_result.hpp"
namespace nav2_smac_planner
{
class SmacPlanner2D : public nav2_core::GlobalPlanner
{
public:
SmacPlanner2D();
~SmacPlanner2D();
void configure(
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
void cleanup() override;
void activate() override;
void deactivate() override;
nav_msgs::msg::Path createPlan(
const geometry_msgs::msg::PoseStamped & start,
const geometry_msgs::msg::PoseStamped & goal) override;
protected:
rcl_interfaces::msg::SetParametersResult
dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
std::unique_ptr<AStarAlgorithm<Node2D>> _a_star;
GridCollisionChecker _collision_checker;
std::unique_ptr<Smoother> _smoother;
nav2_costmap_2d::Costmap2D * _costmap;
std::unique_ptr<CostmapDownsampler> _costmap_downsampler;
rclcpp::Clock::SharedPtr _clock;
rclcpp::Logger _logger{rclcpp::get_logger("SmacPlanner2D")};
std::string _global_frame, _name;
float _tolerance;
int _downsampling_factor;
bool _downsample_costmap;
rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>::SharedPtr _raw_plan_publisher;
double _max_planning_time;
bool _allow_unknown;
int _max_iterations;
int _max_on_approach_iterations;
bool _use_final_approach_orientation;
SearchInfo _search_info;
std::string _motion_model_for_search;
MotionModel _motion_model;
std::mutex _mutex;
rclcpp_lifecycle::LifecycleNode::WeakPtr _node;
// Dynamic parameters handler
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr _dyn_params_handler;
};
} // namespace nav2_smac_planner
#endif // NAV2_SMAC_PLANNER__SMAC_PLANNER_2D_HPP_