dwa_planner.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, 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,
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00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef DWA_LOCAL_PLANNER_DWA_PLANNER_H_
00038 #define DWA_LOCAL_PLANNER_DWA_PLANNER_H_
00039 
00040 #include <vector>
00041 #include <Eigen/Core>
00042 
00043 
00044 #include <dwa_local_planner/DWAPlannerConfig.h>
00045 
00046 //for creating a local cost grid
00047 #include <base_local_planner/map_grid_visualizer.h>
00048 #include <pcl_ros/publisher.h>
00049 
00050 //for obstacle data access
00051 #include <costmap_2d/costmap_2d.h>
00052 
00053 #include <base_local_planner/trajectory.h>
00054 #include <base_local_planner/local_planner_limits.h>
00055 #include <base_local_planner/local_planner_util.h>
00056 #include <base_local_planner/simple_trajectory_generator.h>
00057 
00058 #include <base_local_planner/oscillation_cost_function.h>
00059 #include <base_local_planner/map_grid_cost_function.h>
00060 #include <base_local_planner/obstacle_cost_function.h>
00061 #include <base_local_planner/simple_scored_sampling_planner.h>
00062 
00063 #include <nav_msgs/Path.h>
00064 
00065 namespace dwa_local_planner {
00070   class DWAPlanner {
00071     public:
00078       DWAPlanner(std::string name, base_local_planner::LocalPlannerUtil *planner_util);
00079 
00083       ~DWAPlanner() {if(traj_cloud_) delete traj_cloud_;}
00084 
00088       void reconfigure(DWAPlannerConfig &cfg);
00089 
00097       bool checkTrajectory(
00098           const Eigen::Vector3f pos,
00099           const Eigen::Vector3f vel,
00100           const Eigen::Vector3f vel_samples);
00101 
00109       base_local_planner::Trajectory findBestPath(
00110           tf::Stamped<tf::Pose> global_pose,
00111           tf::Stamped<tf::Pose> global_vel,
00112           tf::Stamped<tf::Pose>& drive_velocities);
00113 
00125       void updatePlanAndLocalCosts(tf::Stamped<tf::Pose> global_pose,
00126           const std::vector<geometry_msgs::PoseStamped>& new_plan,
00127           const std::vector<geometry_msgs::Point>& footprint_spec);
00128 
00133       double getSimPeriod() { return sim_period_; }
00134 
00145       bool getCellCosts(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost);
00146 
00150       bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan);
00151 
00152     private:
00153 
00154       base_local_planner::LocalPlannerUtil *planner_util_;
00155 
00156       double stop_time_buffer_; 
00157       double pdist_scale_, gdist_scale_, occdist_scale_;
00158       Eigen::Vector3f vsamples_;
00159 
00160       double sim_period_;
00161       base_local_planner::Trajectory result_traj_;
00162 
00163       double forward_point_distance_;
00164 
00165       std::vector<geometry_msgs::PoseStamped> global_plan_;
00166 
00167       boost::mutex configuration_mutex_;
00168       pcl::PointCloud<base_local_planner::MapGridCostPoint>* traj_cloud_;
00169       pcl_ros::Publisher<base_local_planner::MapGridCostPoint> traj_cloud_pub_;
00170       bool publish_cost_grid_pc_; 
00171       bool publish_traj_pc_;
00172 
00173       double cheat_factor_;
00174 
00175       base_local_planner::MapGridVisualizer map_viz_; 
00176 
00177       // see constructor body for explanations
00178       base_local_planner::SimpleTrajectoryGenerator generator_;
00179       base_local_planner::OscillationCostFunction oscillation_costs_;
00180       base_local_planner::ObstacleCostFunction obstacle_costs_;
00181       base_local_planner::MapGridCostFunction path_costs_;
00182       base_local_planner::MapGridCostFunction goal_costs_;
00183       base_local_planner::MapGridCostFunction goal_front_costs_;
00184       base_local_planner::MapGridCostFunction alignment_costs_;
00185 
00186       base_local_planner::SimpleScoredSamplingPlanner scored_sampling_planner_;
00187   };
00188 };
00189 #endif


dwa_local_planner
Author(s): Eitan Marder-Eppstein, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:46