stepback_and_steerturn_recovery.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef STEPBACK_AND_STEERTURN_RECOVERY_H
#define STEPBACK_AND_STEERTURN_RECOVERY_H

#include <nav_core/recovery_behavior.h>
#include <base_local_planner/costmap_model.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <geometry_msgs/Pose2D.h>
#include <std_msgs/Bool.h>

namespace gm=geometry_msgs;
namespace cmap=costmap_2d;
namespace blp=base_local_planner;
using std::vector;
using std::max;

namespace stepback_and_steerturn_recovery
{

class StepBackAndSteerTurnRecovery : public nav_core::RecoveryBehavior
{
public:
  
  StepBackAndSteerTurnRecovery();

  ~StepBackAndSteerTurnRecovery();

  void initialize (std::string n, tf::TransformListener* tf,
                   costmap_2d::Costmap2DROS* global_costmap,
                   costmap_2d::Costmap2DROS* local_costmap);

  void runBehavior();

private:
  enum COSTMAP_SEARCH_MODE
  {
    FORWARD,
    FORWARD_LEFT,
    FORWARD_RIGHT,
    BACKWARD
  };

  enum TURN_DIRECTION
  {
    LEFT,
    RIGHT,
  };

  enum TURN_NO
  {
    FIRST_TURN = 0,
    SECOND_TURN = 1,
  };
  static const int CNT_TURN = 2;

  gm::Twist TWIST_STOP;

  gm::Pose2D getCurrentLocalPose () const;
  gm::Twist scaleGivenAccelerationLimits (const gm::Twist& twist, const double time_remaining) const;
  gm::Pose2D getPoseToObstacle (const gm::Pose2D& current, const gm::Twist& twist) const;
  double normalizedPoseCost (const gm::Pose2D& pose) const;
  gm::Twist transformTwist (const gm::Pose2D& pose) const;
  void moveSpacifiedLength (const gm::Twist twist, const double length, const COSTMAP_SEARCH_MODE mode = FORWARD) const;
  double getCurrentDiff(const gm::Pose2D initialPose, const COSTMAP_SEARCH_MODE mode = FORWARD) const;
  double getCurrentDistDiff(const gm::Pose2D initialPose, const double distination, const COSTMAP_SEARCH_MODE mode = FORWARD) const;
  double getMinimalDistanceToObstacle(const COSTMAP_SEARCH_MODE mode) const;
  int determineTurnDirection();
  double getDistBetweenTwoPoints(const gm::Pose2D pose1, const gm::Pose2D pose2) const;


  ros::NodeHandle nh_;
  costmap_2d::Costmap2DROS* global_costmap_;
  costmap_2d::Costmap2DROS* local_costmap_;
  costmap_2d::Costmap2D costmap_; // Copy of local_costmap_, used by world model
  std::string name_;
  tf::TransformListener* tf_;
  ros::Publisher cmd_vel_pub_;
  ros::Publisher recover_run_pub_;
  bool initialized_;

  // Memory owned by this object
  // Mutable because footprintCost is not declared const
  mutable base_local_planner::CostmapModel* world_model_;

  gm::Twist base_frame_twist_;
  
  double duration_;
  double linear_speed_limit_;
  double angular_speed_limit_;
  double linear_acceleration_limit_;
  double angular_acceleration_limit_;
  double controller_frequency_;
  double simulation_frequency_;
  double simulation_inc_;

  bool only_single_steering_;
  int trial_times_;
  double obstacle_patience_;
  double obstacle_check_frequency_;
  double sim_angle_resolution_;
  //-- back
  double linear_vel_back_;
  double step_back_length_;
  double step_back_timeout_;
  //-- steer
  double linear_vel_steer_;
  double angular_speed_steer_;
  double turn_angle_;
  double steering_timeout_;
  //-- forward
  double linear_vel_forward_;
  double step_forward_length_;
  double step_forward_timeout_;

};

} // namespace stepback_and_steerturn_recovery

#endif // include guard