world_model.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2008, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of the Willow Garage nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef TRAJECTORY_ROLLOUT_WORLD_MODEL_H_
00038 #define TRAJECTORY_ROLLOUT_WORLD_MODEL_H_
00039 
00040 #include <vector>
00041 #include <costmap_2d/observation.h>
00042 #include <costmap_2d/footprint.h>
00043 #include <geometry_msgs/Point.h>
00044 #include <base_local_planner/planar_laser_scan.h>
00045 
00046 namespace base_local_planner {
00052   class WorldModel{
00053     public:
00062       virtual double footprintCost(const geometry_msgs::Point& position, const std::vector<geometry_msgs::Point>& footprint,
00063           double inscribed_radius, double circumscribed_radius) = 0;
00064 
00065       double footprintCost(double x, double y, double theta, const std::vector<geometry_msgs::Point>& footprint_spec, double inscribed_radius = 0.0, double circumscribed_radius=0.0){
00066 
00067         double cos_th = cos(theta);
00068         double sin_th = sin(theta);
00069         std::vector<geometry_msgs::Point> oriented_footprint;
00070         for(unsigned int i = 0; i < footprint_spec.size(); ++i){
00071           geometry_msgs::Point new_pt;
00072           new_pt.x = x + (footprint_spec[i].x * cos_th - footprint_spec[i].y * sin_th);
00073           new_pt.y = y + (footprint_spec[i].x * sin_th + footprint_spec[i].y * cos_th);
00074           oriented_footprint.push_back(new_pt);
00075         }
00076 
00077         geometry_msgs::Point robot_position;
00078         robot_position.x = x;
00079         robot_position.y = y;
00080 
00081         if(inscribed_radius==0.0){
00082           costmap_2d::calculateMinAndMaxDistances(footprint_spec, inscribed_radius, circumscribed_radius);
00083         }
00084 
00085         return footprintCost(robot_position, oriented_footprint, inscribed_radius, circumscribed_radius);
00086       }
00087 
00096       double footprintCost(const geometry_msgs::Point& position, const std::vector<geometry_msgs::Point>& footprint,
00097           double inscribed_radius, double circumscribed_radius, double extra) {
00098         return footprintCost(position, footprint, inscribed_radius, circumscribed_radius); 
00099       }
00100 
00104       virtual ~WorldModel(){}
00105 
00106     protected:
00107       WorldModel(){}
00108   };
00109 
00110 };
00111 #endif


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:07:08