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 Willow Garage, Inc. 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; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: TKruse 00036 *********************************************************************/ 00037 00038 #ifndef OBSTACLE_COST_FUNCTION_H_ 00039 #define OBSTACLE_COST_FUNCTION_H_ 00040 00041 #include <base_local_planner/trajectory_cost_function.h> 00042 00043 #include <base_local_planner/costmap_model.h> 00044 #include <costmap_2d/costmap_2d.h> 00045 00046 namespace base_local_planner { 00047 00053 class ObstacleCostFunction : public TrajectoryCostFunction { 00054 00055 public: 00056 ObstacleCostFunction(costmap_2d::Costmap2D* costmap); 00057 ~ObstacleCostFunction(); 00058 00059 bool prepare(); 00060 double scoreTrajectory(Trajectory &traj); 00061 00062 void setSumScores(bool score_sums){ sum_scores_=score_sums; } 00063 00064 void setParams(double max_trans_vel, double max_scaling_factor, double scaling_speed); 00065 void setFootprint(std::vector<geometry_msgs::Point> footprint_spec); 00066 00067 // helper functions, made static for easy unit testing 00068 static double getScalingFactor(Trajectory &traj, double scaling_speed, double max_trans_vel, double max_scaling_factor); 00069 static double footprintCost( 00070 const double& x, 00071 const double& y, 00072 const double& th, 00073 double scale, 00074 std::vector<geometry_msgs::Point> footprint_spec, 00075 costmap_2d::Costmap2D* costmap, 00076 base_local_planner::WorldModel* world_model); 00077 00078 private: 00079 costmap_2d::Costmap2D* costmap_; 00080 std::vector<geometry_msgs::Point> footprint_spec_; 00081 base_local_planner::WorldModel* world_model_; 00082 double max_trans_vel_; 00083 bool sum_scores_; 00084 //footprint scaling with velocity; 00085 double max_scaling_factor_, scaling_speed_; 00086 }; 00087 00088 } /* namespace base_local_planner */ 00089 #endif /* OBSTACLE_COST_FUNCTION_H_ */