Program Listing for File collision_checker.hpp

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// Copyright (c) 2022 Samsung Research America
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__COLLISION_CHECKER_HPP_
#define NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__COLLISION_CHECKER_HPP_

#include <string>
#include <vector>
#include <memory>
#include <algorithm>
#include <mutex>

#include "rclcpp/rclcpp.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_costmap_2d/footprint_collision_checker.hpp"
#include "nav2_util/odometry_utils.hpp"
#include "geometry_msgs/msg/pose2_d.hpp"
#include "nav2_regulated_pure_pursuit_controller/parameter_handler.hpp"

#include "nav2_core/controller_exceptions.hpp"
#include "nav2_util/node_utils.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "nav2_costmap_2d/costmap_filters/filter_values.hpp"

namespace nav2_regulated_pure_pursuit_controller
{

class CollisionChecker
{
public:
  CollisionChecker(
    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros, Parameters * params);

  ~CollisionChecker() = default;

  bool isCollisionImminent(
    const geometry_msgs::msg::PoseStamped &,
    const double &, const double &,
    const double &);

  bool inCollision(
    const double & x,
    const double & y,
    const double & theta);

  double costAtPose(const double & x, const double & y);

protected:
  rclcpp::Logger logger_ {rclcpp::get_logger("RPPCollisionChecker")};
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  nav2_costmap_2d::Costmap2D * costmap_;
  std::unique_ptr<nav2_costmap_2d::FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>>
  footprint_collision_checker_;
  Parameters * params_;
  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> carrot_arc_pub_;
  rclcpp::Clock::SharedPtr clock_;
};

}  // namespace nav2_regulated_pure_pursuit_controller

#endif  // NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__COLLISION_CHECKER_HPP_