edge_dynamic_obstacle.h

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 *
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 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 * Notes:
 * The following class is derived from a class defined by the
 * g2o-framework. g2o is licensed under the terms of the BSD License.
 * Refer to the base class source for detailed licensing information.
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 * Author: Christoph Rösmann
 *********************************************************************/

#ifndef EDGE_DYNAMICOBSTACLE_H
#define EDGE_DYNAMICOBSTACLE_H

#include <teb_local_planner/g2o_types/vertex_pose.h>
#include <teb_local_planner/g2o_types/vertex_timediff.h>
#include <teb_local_planner/g2o_types/penalties.h>
#include <teb_local_planner/obstacles.h>
#include <teb_local_planner/teb_config.h>

#include "g2o/core/base_binary_edge.h"

namespace teb_local_planner
{
  
class EdgeDynamicObstacle : public g2o::BaseBinaryEdge<1, const Obstacle*, VertexPose, VertexTimeDiff>
{
public:
  
  EdgeDynamicObstacle() : vert_idx_(0)
  {
    _vertices[0] = _vertices[1] = NULL;
  }
  
  EdgeDynamicObstacle(size_t vert_idx) : vert_idx_(vert_idx)
  {
    _vertices[0] = _vertices[1] = NULL;
  }
  
  virtual ~EdgeDynamicObstacle() 
  {
    if(_vertices[0]) _vertices[0]->edges().erase(this);
    if(_vertices[1]) _vertices[1]->edges().erase(this);
  }

  void computeError()
  {
    ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeDynamicObstacle()");
    const VertexPose* bandpt = static_cast<const VertexPose*>(_vertices[0]);
    const VertexTimeDiff* dt_vertex = static_cast<const VertexTimeDiff*>(_vertices[1]);
    
    // WARNING: vert_idx_*dt is just an approximation for the total time, since we don't have a uniform dt at the moment!
    Eigen::Vector2d pred_obst_point = _measurement->getCentroid() + double(vert_idx_)*dt_vertex->estimate()*_measurement->getCentroidVelocity();
    double dist = (pred_obst_point - bandpt->position()).norm();
    /*
    // get point in x-y-t
    Eigen::Vector3d point(bandpt->estimate().coeffRef(0), bandpt->estimate().coeffRef(1), _vert_idx*dt_vertex->estimate());
    
    // calc distance of that point to the obstacle trajectory in x-y-t predicted with a constant velocity
    Eigen::Vector3d robot_point;
    robot_point.head(2) = _measurement->getCentroid();
    robot_point.coeffRef(2) = 0;
    Eigen::Vector3d robot_vel;
    robot_vel.head(2) = _measurement->getCentroidVelocity();
    robot_vel.coeffRef(2) = 1;
    double dist = 0; //calcDistancePointToLine<Eigen::Vector3d>(point, robot_point, robot_vel);   
    */ 
    
    _error[0] = penaltyBoundFromBelow(dist, cfg_->obstacles.min_obstacle_dist, cfg_->optim.penalty_epsilon);

    ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeDynamicObstacle::computeError() _error[0]=%f _error[1]=%f\n",_error[0],_error[1]);      
  }

  ErrorVector& getError()
  {
    computeError();
    return _error;
  }
  
  virtual bool read(std::istream& is)
  {
    //  is >> _measurement[0];
    return true;
  }

  virtual bool write(std::ostream& os) const
  {
    //  os << information()(0,0) << " Error: " << _error[0] << ", Measurement X: " << _measurement[0] << ", Measurement Y: " << _measurement[1];
    return os.good();
  }
  
  void setVertexIdx(size_t vert_idx)
  {
    vert_idx_ = vert_idx;
  }
  
  void setObstacle(const Obstacle* obstacle)
  {
    _measurement = obstacle;
  }
  
  void setTebConfig(const TebConfig& cfg)
  {
    cfg_ = &cfg;
  }

protected:
  
  const TebConfig* cfg_; 
  size_t vert_idx_; 
  
public: 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

};
    
 
    

} // end namespace

#endif