map_grid_cost_function.h

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#ifndef MAP_GRID_COST_FUNCTION_H_
#define MAP_GRID_COST_FUNCTION_H_

#include <base_local_planner/trajectory_cost_function.h>

#include <costmap_2d/costmap_2d.h>
#include <base_local_planner/map_grid.h>

namespace base_local_planner {

enum CostAggregationType { Last, Sum, Product};

class MapGridCostFunction: public base_local_planner::TrajectoryCostFunction {
public:
  MapGridCostFunction(costmap_2d::Costmap2D* costmap,
      double xshift = 0.0,
      double yshift = 0.0,
      bool is_local_goal_function = false,
      CostAggregationType aggregationType = Last);

  ~MapGridCostFunction() {}

  void setTargetPoses(std::vector<geometry_msgs::PoseStamped> target_poses);

  void setXShift(double xshift) {xshift_ = xshift;}
  void setYShift(double yshift) {yshift_ = yshift;}

  void setStopOnFailure(bool stop_on_failure) {stop_on_failure_ = stop_on_failure;}

  bool prepare();

  double scoreTrajectory(Trajectory &traj);

  double obstacleCosts() {
    return map_.obstacleCosts();
  }

  double unreachableCellCosts() {
    return map_.unreachableCellCosts();
  }

  // used for easier debugging
  double getCellCosts(unsigned int cx, unsigned int cy);

private:
  std::vector<geometry_msgs::PoseStamped> target_poses_;
  costmap_2d::Costmap2D* costmap_;

  base_local_planner::MapGrid map_;
  CostAggregationType aggregationType_;
  // ooints of robots than center, like fron or back
  // this can help with alignment or keeping specific
  // wheels on tracks both default to 0
  double xshift_;
  double yshift_;
  // if true, we look for a suitable local goal on path, else we use the full path for costs
  bool is_local_goal_function_;
  bool stop_on_failure_;
};

} /* namespace base_local_planner */
#endif /* MAP_GRID_COST_FUNCTION_H_ */