planner_core.h
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00001 #ifndef _PLANNERCORE_H
00002 #define _PLANNERCORE_H
00003 /*********************************************************************
00004  *
00005  * Software License Agreement (BSD License)
00006  *
00007  *  Copyright (c) 2008, 2013, Willow Garage, Inc.
00008  *  All rights reserved.
00009  *
00010  *  Redistribution and use in source and binary forms, with or without
00011  *  modification, are permitted provided that the following conditions
00012  *  are met:
00013  *
00014  *   * Redistributions of source code must retain the above copyright
00015  *     notice, this list of conditions and the following disclaimer.
00016  *   * Redistributions in binary form must reproduce the above
00017  *     copyright notice, this list of conditions and the following
00018  *     disclaimer in the documentation and/or other materials provided
00019  *     with the distribution.
00020  *   * Neither the name of Willow Garage, Inc. nor the names of its
00021  *     contributors may be used to endorse or promote products derived
00022  *     from this software without specific prior written permission.
00023  *
00024  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00025  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00026  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00027  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00028  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00029  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00030  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00031  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00033  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00034  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00035  *  POSSIBILITY OF SUCH DAMAGE.
00036  *
00037  * Author: Eitan Marder-Eppstein
00038  *         David V. Lu!!
00039  *********************************************************************/
00040 #define POT_HIGH 1.0e10        // unassigned cell potential
00041 #include <ros/ros.h>
00042 #include <costmap_2d/costmap_2d.h>
00043 #include <geometry_msgs/PoseStamped.h>
00044 #include <geometry_msgs/Point.h>
00045 #include <nav_msgs/Path.h>
00046 #include <tf/transform_datatypes.h>
00047 #include <vector>
00048 #include <nav_core/base_global_planner.h>
00049 #include <nav_msgs/GetPlan.h>
00050 #include <dynamic_reconfigure/server.h>
00051 #include <global_planner/potential_calculator.h>
00052 #include <global_planner/expander.h>
00053 #include <global_planner/traceback.h>
00054 #include <global_planner/orientation_filter.h>
00055 #include <global_planner/GlobalPlannerConfig.h>
00056 
00057 namespace global_planner {
00058 
00059 class Expander;
00060 class GridPath;
00061 
00067 class GlobalPlanner : public nav_core::BaseGlobalPlanner {
00068     public:
00072         GlobalPlanner();
00073 
00080         GlobalPlanner(std::string name, costmap_2d::Costmap2D* costmap, std::string frame_id);
00081 
00085         ~GlobalPlanner();
00086 
00092         void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
00093 
00094         void initialize(std::string name, costmap_2d::Costmap2D* costmap, std::string frame_id);
00095 
00103         bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal,
00104                       std::vector<geometry_msgs::PoseStamped>& plan);
00105 
00114         bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, double tolerance,
00115                       std::vector<geometry_msgs::PoseStamped>& plan);
00116 
00122         bool computePotential(const geometry_msgs::Point& world_point);
00123 
00134         bool getPlanFromPotential(double start_x, double start_y, double end_x, double end_y,
00135                                   const geometry_msgs::PoseStamped& goal,
00136                                   std::vector<geometry_msgs::PoseStamped>& plan);
00137 
00143         double getPointPotential(const geometry_msgs::Point& world_point);
00144 
00150         bool validPointPotential(const geometry_msgs::Point& world_point);
00151 
00158         bool validPointPotential(const geometry_msgs::Point& world_point, double tolerance);
00159 
00163         void publishPlan(const std::vector<geometry_msgs::PoseStamped>& path);
00164 
00165         bool makePlanService(nav_msgs::GetPlan::Request& req, nav_msgs::GetPlan::Response& resp);
00166 
00167     protected:
00168 
00172         costmap_2d::Costmap2D* costmap_;
00173         std::string frame_id_;
00174         ros::Publisher plan_pub_;
00175         bool initialized_, allow_unknown_, visualize_potential_;
00176 
00177     private:
00178         void mapToWorld(double mx, double my, double& wx, double& wy);
00179         bool worldToMap(double wx, double wy, double& mx, double& my);
00180         void clearRobotCell(const tf::Stamped<tf::Pose>& global_pose, unsigned int mx, unsigned int my);
00181         void publishPotential(float* potential);
00182 
00183         double planner_window_x_, planner_window_y_, default_tolerance_;
00184         std::string tf_prefix_;
00185         boost::mutex mutex_;
00186         ros::ServiceServer make_plan_srv_;
00187 
00188         PotentialCalculator* p_calc_;
00189         Expander* planner_;
00190         Traceback* path_maker_;
00191         OrientationFilter* orientation_filter_;
00192 
00193         bool publish_potential_;
00194         ros::Publisher potential_pub_;
00195         int publish_scale_;
00196 
00197         void outlineMap(unsigned char* costarr, int nx, int ny, unsigned char value);
00198         unsigned char* cost_array_;
00199         float* potential_array_;
00200         unsigned int start_x_, start_y_, end_x_, end_y_;
00201 
00202         bool old_navfn_behavior_;
00203         float convert_offset_;
00204 
00205         dynamic_reconfigure::Server<global_planner::GlobalPlannerConfig> *dsrv_;
00206         void reconfigureCB(global_planner::GlobalPlannerConfig &config, uint32_t level);
00207 
00208 };
00209 
00210 } //end namespace global_planner
00211 
00212 #endif


global_planner
Author(s): David Lu!!
autogenerated on Sun Mar 3 2019 03:46:53