dt_planner_ros.h

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#ifndef DT_LOCAL_PLANNER_DT_PLANNER_ROS_H_
#define DT_LOCAL_PLANNER_DT_PLANNER_ROS_H_

// SHUT UP BOOST SIGNALS
#define BOOST_SIGNALS_NO_DEPRECATION_WARNING

#include <boost/shared_ptr.hpp>
#include <boost/thread.hpp>

#include <tf/transform_listener.h>

#include <dynamic_reconfigure/server.h>
#include <dt_local_planner/DTPlannerConfig.h>

#include <angles/angles.h>

#include <nav_msgs/Odometry.h>

#include <costmap_2d/costmap_2d_ros.h>
#include <nav_core/base_local_planner.h>
#include <base_local_planner/latched_stop_rotate_controller.h>

#include <base_local_planner/odometry_helper_ros.h>

namespace dt_local_planner {
  class DTPlannerROS : public nav_core::BaseLocalPlanner {
    public:
      DTPlannerROS();

      virtual void initialize(std::string name, tf::TransformListener* tf,
          costmap_2d::Costmap2DROS* costmap_ros);

      virtual ~DTPlannerROS();

      virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel);

      virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan);

      virtual bool isGoalReached();

    private:
      bool isInitialized() {
        return initialized_;
      }

      void reconfigureCB(DTPlannerConfig &config, uint32_t level);

      tf::TransformListener* tf_; 

      // for visualisation, publishers of global and local plan
      ros::Publisher g_plan_pub_, l_plan_pub_;

      costmap_2d::Costmap2DROS* costmap_ros_;

      // TODO(hendrix): shared pointer?
      dynamic_reconfigure::Server<DTPlannerConfig> *dsrv_;

      bool initialized_;

      base_local_planner::OdometryHelperRos odom_helper_;

      std::vector<geometry_msgs::PoseStamped> plan_;
      double goal_x_ ;
      double goal_y_;

      std::vector<double> aCoeff_x_;
      std::vector<double> aCoeff_y_;
      
      int nPolyGrad_;
      int planSize_;
      double start_time_;
      double lastCall_time_;
      double vel_dest0_;
      double gamma_dest0_;

      //controller params
      double K_p_;
      double K_d_;

      // Limits
      double max_vel_;
      double max_ang_;
      double max_vel_deltaT0_;
      int stepCnt_max_vel_;


      // configuration
      bool move_;
      bool firstComputeVelocityCommands_;

      // transient data

      bool goal_reached_;
  };

  // Helper functions that don't need class context

  bool isForwards(geometry_msgs::PoseStamped &start,
      geometry_msgs::PoseStamped &end);

  double dist(geometry_msgs::PoseStamped &start,
      geometry_msgs::PoseStamped &end);

};
#endif