dwa_planner.h

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* Author: Eitan Marder-Eppstein
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#ifndef DWA_LOCAL_PLANNER_DWA_PLANNER_H_
#define DWA_LOCAL_PLANNER_DWA_PLANNER_H_

#include <vector>
#include <Eigen/Core>


#include <dwa_local_planner/DWAPlannerConfig.h>

//for creating a local cost grid
#include <base_local_planner/map_grid_visualizer.h>
#include <pcl_ros/publisher.h>

//for obstacle data access
#include <costmap_2d/costmap_2d.h>

#include <base_local_planner/trajectory.h>
#include <base_local_planner/local_planner_limits.h>
#include <base_local_planner/local_planner_util.h>
#include <base_local_planner/simple_trajectory_generator.h>

#include <base_local_planner/oscillation_cost_function.h>
#include <base_local_planner/map_grid_cost_function.h>
#include <base_local_planner/obstacle_cost_function.h>
#include <base_local_planner/simple_scored_sampling_planner.h>

#include <nav_msgs/Path.h>

namespace dwa_local_planner {
  class DWAPlanner {
    public:
      DWAPlanner(std::string name, base_local_planner::LocalPlannerUtil *planner_util);

      ~DWAPlanner() {if(traj_cloud_) delete traj_cloud_;}

      void reconfigure(DWAPlannerConfig &cfg);

      bool checkTrajectory(
          const Eigen::Vector3f pos,
          const Eigen::Vector3f vel,
          const Eigen::Vector3f vel_samples);

      base_local_planner::Trajectory findBestPath(
          tf::Stamped<tf::Pose> global_pose,
          tf::Stamped<tf::Pose> global_vel,
          tf::Stamped<tf::Pose>& drive_velocities,
          std::vector<geometry_msgs::Point> footprint_spec);

      void updatePlanAndLocalCosts(tf::Stamped<tf::Pose> global_pose,
          const std::vector<geometry_msgs::PoseStamped>& new_plan);

      double getSimPeriod() { return sim_period_; }

      bool getCellCosts(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost);

      bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan);

    private:

      base_local_planner::LocalPlannerUtil *planner_util_;

      double stop_time_buffer_; 
      double pdist_scale_, gdist_scale_, occdist_scale_;
      Eigen::Vector3f vsamples_;

      double sim_period_;
      base_local_planner::Trajectory result_traj_;

      double forward_point_distance_;

      std::vector<geometry_msgs::PoseStamped> global_plan_;

      boost::mutex configuration_mutex_;
      pcl::PointCloud<base_local_planner::MapGridCostPoint>* traj_cloud_;
      pcl_ros::Publisher<base_local_planner::MapGridCostPoint> traj_cloud_pub_;
      bool publish_cost_grid_pc_; 
      bool publish_traj_pc_;

      double cheat_factor_;

      base_local_planner::MapGridVisualizer map_viz_; 

      // see constructor body for explanations
      base_local_planner::SimpleTrajectoryGenerator generator_;
      base_local_planner::OscillationCostFunction oscillation_costs_;
      base_local_planner::ObstacleCostFunction obstacle_costs_;
      base_local_planner::MapGridCostFunction path_costs_;
      base_local_planner::MapGridCostFunction goal_costs_;
      base_local_planner::MapGridCostFunction goal_front_costs_;
      base_local_planner::MapGridCostFunction alignment_costs_;

      base_local_planner::SimpleScoredSamplingPlanner scored_sampling_planner_;
  };
};
#endif