00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2018, Locus Robotics 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the copyright holder nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef DLUX_PLUGINS_GRADIENT_PATH_H 00036 #define DLUX_PLUGINS_GRADIENT_PATH_H 00037 00038 #include <dlux_global_planner/traceback.h> 00039 #include <nav_grid/vector_nav_grid.h> 00040 00041 namespace dlux_plugins 00042 { 00047 class GradientPath: public dlux_global_planner::Traceback 00048 { 00049 public: 00050 // Main Traceback interface 00051 void initialize(ros::NodeHandle& private_nh, dlux_global_planner::CostInterpreter::Ptr cost_interpreter) override; 00052 nav_2d_msgs::Path2D getPath(const dlux_global_planner::PotentialGrid& potential_grid, 00053 const geometry_msgs::Pose2D& start, const geometry_msgs::Pose2D& goal, 00054 double& path_cost) override; 00055 protected: 00056 bool shouldGridStep(const dlux_global_planner::PotentialGrid& potential_grid, const nav_grid::Index& index); 00057 nav_grid::Index gridStep(const dlux_global_planner::PotentialGrid& potential_grid, const nav_grid::Index& index); 00058 inline void calculateGradient(const dlux_global_planner::PotentialGrid& potential_grid, const nav_grid::Index& index); 00059 00060 double step_size_; 00061 double lethal_cost_; 00062 double iteration_factor_; 00063 bool grid_step_near_high_; 00064 nav_grid::VectorNavGrid<double> gradx_, grady_; 00065 }; 00066 } // namespace dlux_plugins 00067 00068 #endif // DLUX_PLUGINS_GRADIENT_PATH_H