trajectory_planner.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2008, 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 the Willow Garage 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
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_H_
00038 #define TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_H_
00039 
00040 #include <vector>
00041 #include <cmath>
00042 
00043 //for obstacle data access
00044 #include <costmap_2d/costmap_2d.h>
00045 #include <costmap_2d/cost_values.h>
00046 #include <base_local_planner/footprint_helper.h>
00047 
00048 #include <base_local_planner/world_model.h>
00049 #include <base_local_planner/trajectory.h>
00050 #include <base_local_planner/Position2DInt.h>
00051 #include <base_local_planner/BaseLocalPlannerConfig.h>
00052 
00053 //we'll take in a path as a vector of poses
00054 #include <geometry_msgs/PoseStamped.h>
00055 #include <geometry_msgs/Point.h>
00056 
00057 //for some datatypes
00058 #include <tf/transform_datatypes.h>
00059 
00060 //for creating a local cost grid
00061 #include <base_local_planner/map_cell.h>
00062 #include <base_local_planner/map_grid.h>
00063 
00064 namespace base_local_planner {
00069   class TrajectoryPlanner{
00070     friend class TrajectoryPlannerTest; //Need this for gtest to work
00071     public:
00108       TrajectoryPlanner(WorldModel& world_model, 
00109           const costmap_2d::Costmap2D& costmap, 
00110           std::vector<geometry_msgs::Point> footprint_spec,
00111           double acc_lim_x = 1.0, double acc_lim_y = 1.0, double acc_lim_theta = 1.0,
00112           double sim_time = 1.0, double sim_granularity = 0.025, 
00113           int vx_samples = 20, int vtheta_samples = 20,
00114           double pdist_scale = 0.6, double gdist_scale = 0.8, double occdist_scale = 0.2,
00115           double heading_lookahead = 0.325, double oscillation_reset_dist = 0.05, 
00116           double escape_reset_dist = 0.10, double escape_reset_theta = M_PI_2,
00117           bool holonomic_robot = true,
00118           double max_vel_x = 0.5, double min_vel_x = 0.1, 
00119           double max_vel_th = 1.0, double min_vel_th = -1.0, double min_in_place_vel_th = 0.4,
00120           double backup_vel = -0.1,
00121           bool dwa = false, bool heading_scoring = false, double heading_scoring_timestep = 0.1,
00122           bool meter_scoring = true,
00123           bool simple_attractor = false,
00124           std::vector<double> y_vels = std::vector<double>(0),
00125           double stop_time_buffer = 0.2,
00126           double sim_period = 0.1, double angular_sim_granularity = 0.025);
00127 
00131       ~TrajectoryPlanner();
00132 
00136       void reconfigure(BaseLocalPlannerConfig &cfg);
00137 
00145       Trajectory findBestPath(tf::Stamped<tf::Pose> global_pose, tf::Stamped<tf::Pose> global_vel,
00146           tf::Stamped<tf::Pose>& drive_velocities);
00147 
00153       void updatePlan(const std::vector<geometry_msgs::PoseStamped>& new_plan, bool compute_dists = false);
00154 
00160       void getLocalGoal(double& x, double& y);
00161 
00175       bool checkTrajectory(double x, double y, double theta, double vx, double vy, 
00176           double vtheta, double vx_samp, double vy_samp, double vtheta_samp);
00177 
00191       double scoreTrajectory(double x, double y, double theta, double vx, double vy, 
00192           double vtheta, double vx_samp, double vy_samp, double vtheta_samp);
00193 
00204       bool getCellCosts(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost);
00205 
00207       void setFootprint( std::vector<geometry_msgs::Point> footprint ) { footprint_spec_ = footprint; }
00208 
00210       geometry_msgs::Polygon getFootprintPolygon() const { return costmap_2d::toPolygon(footprint_spec_); }
00211       std::vector<geometry_msgs::Point> getFootprint() const { return footprint_spec_; }
00212 
00213     private:
00227       Trajectory createTrajectories(double x, double y, double theta, double vx, double vy, double vtheta, 
00228           double acc_x, double acc_y, double acc_theta);
00229 
00247       void generateTrajectory(double x, double y, double theta, double vx, double vy, 
00248           double vtheta, double vx_samp, double vy_samp, double vtheta_samp, double acc_x, double acc_y,
00249           double acc_theta, double impossible_cost, Trajectory& traj);
00250 
00258       double footprintCost(double x_i, double y_i, double theta_i);
00259 
00260       base_local_planner::FootprintHelper footprint_helper_;
00261     
00262       MapGrid path_map_; 
00263       MapGrid goal_map_; 
00264       const costmap_2d::Costmap2D& costmap_; 
00265       WorldModel& world_model_; 
00266 
00267       std::vector<geometry_msgs::Point> footprint_spec_; 
00268 
00269       std::vector<geometry_msgs::PoseStamped> global_plan_; 
00270 
00271       bool stuck_left, stuck_right; 
00272       bool rotating_left, rotating_right; 
00273 
00274       bool stuck_left_strafe, stuck_right_strafe; 
00275       bool strafe_right, strafe_left; 
00276 
00277       bool escaping_; 
00278       bool meter_scoring_;
00279 
00280       double goal_x_,goal_y_; 
00281 
00282       double final_goal_x_, final_goal_y_; 
00283       bool final_goal_position_valid_; 
00284 
00285       double sim_time_; 
00286       double sim_granularity_; 
00287       double angular_sim_granularity_; 
00288 
00289       int vx_samples_; 
00290       int vtheta_samples_; 
00291 
00292       double pdist_scale_, gdist_scale_, occdist_scale_; 
00293       double acc_lim_x_, acc_lim_y_, acc_lim_theta_; 
00294 
00295       double prev_x_, prev_y_; 
00296       double escape_x_, escape_y_, escape_theta_; 
00297 
00298       Trajectory traj_one, traj_two; 
00299 
00300       double heading_lookahead_; 
00301       double oscillation_reset_dist_; 
00302       double escape_reset_dist_, escape_reset_theta_; 
00303       bool holonomic_robot_; 
00304       
00305       double max_vel_x_, min_vel_x_, max_vel_th_, min_vel_th_, min_in_place_vel_th_; 
00306 
00307       double backup_vel_; 
00308 
00309       bool dwa_;  
00310       bool heading_scoring_; 
00311       double heading_scoring_timestep_; 
00312       bool simple_attractor_;  
00313 
00314       std::vector<double> y_vels_; 
00315 
00316       double stop_time_buffer_; 
00317       double sim_period_; 
00318 
00319       double inscribed_radius_, circumscribed_radius_;
00320 
00321       boost::mutex configuration_mutex_;
00322 
00332       inline double computeNewXPosition(double xi, double vx, double vy, double theta, double dt){
00333         return xi + (vx * cos(theta) + vy * cos(M_PI_2 + theta)) * dt;
00334       }
00335 
00345       inline double computeNewYPosition(double yi, double vx, double vy, double theta, double dt){
00346         return yi + (vx * sin(theta) + vy * sin(M_PI_2 + theta)) * dt;
00347       }
00348 
00356       inline double computeNewThetaPosition(double thetai, double vth, double dt){
00357         return thetai + vth * dt;
00358       }
00359 
00360       //compute velocity based on acceleration
00369       inline double computeNewVelocity(double vg, double vi, double a_max, double dt){
00370         if((vg - vi) >= 0) {
00371           return std::min(vg, vi + a_max * dt);
00372         }
00373         return std::max(vg, vi - a_max * dt);
00374       }
00375 
00376       void getMaxSpeedToStopInTime(double time, double& vx, double& vy, double& vth){
00377         vx = acc_lim_x_ * std::max(time, 0.0);
00378         vy = acc_lim_y_ * std::max(time, 0.0);
00379         vth = acc_lim_theta_ * std::max(time, 0.0);
00380       }
00381 
00382       double lineCost(int x0, int x1, int y0, int y1);
00383       double pointCost(int x, int y);
00384       double headingDiff(int cell_x, int cell_y, double x, double y, double heading);
00385   };
00386 };
00387 
00388 #endif


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Wed Aug 2 2017 03:12:38