hector_exploration_planner.h

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//=================================================================================================
// Copyright (c) 2012, Mark Sollweck, Stefan Kohlbrecher, TU Darmstadt
// All rights reserved.

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// modification, are permitted provided that the following conditions are met:
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//     * Redistributions in binary form must reproduce the above copyright
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//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

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#ifndef HECTOR_EXPLORATION_PLANNER_H___
#define HECTOR_EXPLORATION_PLANNER_H___

#include <ros/ros.h>
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <geometry_msgs/PoseStamped.h>

#include <dynamic_reconfigure/server.h>

#include <hector_exploration_planner/exploration_transform_vis.h>

#include <boost/shared_array.hpp>

namespace hector_exploration_planner{

class ExplorationPlannerConfig;

class HectorExplorationPlanner {
public:
  HectorExplorationPlanner();
  ~HectorExplorationPlanner();
  HectorExplorationPlanner(std::string name,costmap_2d::Costmap2DROS *costmap_ros);
  void initialize(std::string name,costmap_2d::Costmap2DROS *costmap_ros);

  void dynRecParamCallback(hector_exploration_planner::ExplorationPlannerConfig &config, uint32_t level);

  bool makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &original_goal, std::vector<geometry_msgs::PoseStamped> &plan);

  bool doExploration(const geometry_msgs::PoseStamped &start,std::vector<geometry_msgs::PoseStamped> &plan);

  bool doInnerExploration(const geometry_msgs::PoseStamped &start, std::vector<geometry_msgs::PoseStamped> &plan);

  bool getObservationPose(const geometry_msgs::PoseStamped& observation_pose, const double desired_distance, geometry_msgs::PoseStamped& new_observation_pose);

  bool doAlternativeExploration(const geometry_msgs::PoseStamped &start,std::vector<geometry_msgs::PoseStamped> &plan, std::vector<geometry_msgs::PoseStamped> &oldplan);
  bool findFrontiers(std::vector<geometry_msgs::PoseStamped> &frontiers, std::vector<geometry_msgs::PoseStamped> &noFrontiers);
  bool findFrontiersCloseToPath(std::vector<geometry_msgs::PoseStamped> &frontiers);
  bool findFrontiers(std::vector<geometry_msgs::PoseStamped> &frontiers);
  bool findInnerFrontier(std::vector<geometry_msgs::PoseStamped> &innerFrontier);
  
  float angleDifferenceWall(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal);
  bool exploreWalls(const geometry_msgs::PoseStamped &start, std::vector<geometry_msgs::PoseStamped> &goals);

private:

  enum LastMode{
    FRONTIER_EXPLORE,
    INNER_EXPLORE
  } last_mode_;

  void setupMapData();
  void deleteMapData();
  bool buildobstacle_trans_array_(bool use_inflated_obstacles);
  bool buildexploration_trans_array_(const geometry_msgs::PoseStamped &start, std::vector<geometry_msgs::PoseStamped> goals,bool useAnglePenalty, bool use_cell_danger = true);
  bool getTrajectory(const geometry_msgs::PoseStamped &start, std::vector<geometry_msgs::PoseStamped> goals, std::vector<geometry_msgs::PoseStamped> &plan);
  bool recoveryMakePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal,std::vector<geometry_msgs::PoseStamped> &plan);
  unsigned int cellDanger(int point);
  unsigned int angleDanger(float angle);

  void saveMaps(std::string path);
  void resetMaps();
  void clearFrontiers();
  bool isValid(int point);
  bool isFree(int point);
  bool isFreeFrontiers(int point);
  bool isFrontier(int point);
  float angleDifference(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal);
  float getDistanceWeight(const geometry_msgs::PoseStamped &point1, const geometry_msgs::PoseStamped &point2);
  double getYawToUnknown(int point);
  bool isFrontierReached(int point);
  bool isSameFrontier(int frontier_point1,int frontier_point2);

  void getStraightPoints(int point, int points[]);
  void getDiagonalPoints(int point, int points[]);
  void getAdjacentPoints(int point, int points[]);
  int left(int point);
  int upleft(int point);
  int up(int point);
  int upright(int point);
  int right(int point);
  int downright(int point);
  int down(int point);
  int downleft(int point);

  ros::Publisher observation_pose_pub_;
  ros::Publisher goal_pose_pub_;

  ros::Publisher visualization_pub_;
  ros::ServiceClient path_service_client_;
  costmap_2d::Costmap2DROS* costmap_ros_;
  costmap_2d::Costmap2D* costmap_;

  const unsigned char* occupancy_grid_array_;
  boost::shared_array<unsigned int> exploration_trans_array_;
  boost::shared_array<unsigned int> obstacle_trans_array_;
  boost::shared_array<int> frontier_map_array_;
  boost::shared_array<bool> is_goal_array_;

  bool initialized_;
  int previous_goal_;

  std::string name;
  unsigned int map_width_;
  unsigned int map_height_;
  unsigned int num_map_cells_;

  // Parameters
  bool p_plan_in_unknown_;
  bool p_explore_close_to_path_;
  bool p_use_inflated_obs_;
  int p_goal_angle_penalty_;
  int p_min_obstacle_dist_;
  int p_min_frontier_size_;
  double p_alpha_;
  double p_dist_for_goal_reached_;
  double p_same_frontier_dist_;
  double p_obstacle_cutoff_dist_;
  double p_cos_of_allowed_observation_pose_angle_;
  double p_close_to_path_target_distance_;

  boost::shared_ptr<dynamic_reconfigure::Server<hector_exploration_planner::ExplorationPlannerConfig> > dyn_rec_server_;

  boost::shared_ptr<ExplorationTransformVis> vis_;
  boost::shared_ptr<ExplorationTransformVis> close_path_vis_;
  boost::shared_ptr<ExplorationTransformVis> inner_vis_;
  boost::shared_ptr<ExplorationTransformVis> obstacle_vis_;

};
}

#endif