edge_velocity.h

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 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2016,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
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 *     from this software without specific prior written permission.
 *
 *  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_VELOCITY_H
#define EDGE_VELOCITY_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/teb_config.h>

#include <g2o/core/base_multi_edge.h>

#include <iostream>

namespace teb_local_planner
{

  
class EdgeVelocity : public g2o::BaseMultiEdge<2, double>
{
public:
  
  EdgeVelocity()
  {
    this->resize(3); // Since we derive from a g2o::BaseMultiEdge, set the desired number of vertices
    for(unsigned int i=0;i<3;i++) _vertices[i] = NULL;
  }
  
  virtual ~EdgeVelocity()
  {
    for(unsigned int i=0;i<3;i++)
    {
      if(_vertices[i])
        _vertices[i]->edges().erase(this);
    }
  }

  void computeError()
  {
    ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeVelocity()");
    const VertexPose* conf1 = static_cast<const VertexPose*>(_vertices[0]);
    const VertexPose* conf2 = static_cast<const VertexPose*>(_vertices[1]);
    const VertexTimeDiff* deltaT = static_cast<const VertexTimeDiff*>(_vertices[2]);
    Eigen::Vector2d deltaS = conf2->estimate().position() - conf1->estimate().position();
    double vel = deltaS.norm() / deltaT->estimate();
//     vel *= g2o::sign(deltaS[0]*cos(conf1->theta()) + deltaS[1]*sin(conf1->theta())); // consider direction
    vel *= fast_sigmoid( 100 * (deltaS.x()*cos(conf1->theta()) + deltaS.y()*sin(conf1->theta())) ); // consider direction
    
    double omega = g2o::normalize_theta(conf2->theta() - conf1->theta()) / deltaT->estimate();
  
    _error[0] = penaltyBoundToInterval(vel, -cfg_->robot.max_vel_x_backwards, cfg_->robot.max_vel_x,cfg_->optim.penalty_epsilon);
    _error[1] = penaltyBoundToInterval(omega, cfg_->robot.max_vel_theta,cfg_->optim.penalty_epsilon);

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

#ifdef USE_ANALYTIC_JACOBI
#if 0 //TODO the hardcoded jacobian does not include the changing direction (just the absolute value)
      // Change accordingly...

  void linearizeOplus()
  {
    ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeVelocity()");
    const VertexPose* conf1 = static_cast<const VertexPose*>(_vertices[0]);
    const VertexPose* conf2 = static_cast<const VertexPose*>(_vertices[1]);
    const VertexTimeDiff* deltaT = static_cast<const VertexTimeDiff*>(_vertices[2]);
    
    Eigen::Vector2d deltaS = conf2->position() - conf1->position();
    double dist = deltaS.norm();
    double aux1 = dist*deltaT->estimate();
    double aux2 = 1/deltaT->estimate();
    
    double vel = dist * aux2;
    double omega = g2o::normalize_theta(conf2->theta() - conf1->theta()) * aux2;
    
    double dev_border_vel = penaltyBoundToIntervalDerivative(vel, -cfg_->robot.max_vel_x_backwards, cfg_->robot.max_vel_x,cfg_->optim.penalty_epsilon);
    double dev_border_omega = penaltyBoundToIntervalDerivative(omega, cfg_->robot.max_vel_theta,cfg_->optim.penalty_epsilon);
    
    _jacobianOplus[0].resize(2,3); // conf1
    _jacobianOplus[1].resize(2,3); // conf2
    _jacobianOplus[2].resize(2,1); // deltaT
    
//  if (aux1==0) aux1=1e-6;
//  if (aux2==0) aux2=1e-6;
    
    if (dev_border_vel!=0)
    {
      double aux3 = dev_border_vel / aux1;
      _jacobianOplus[0](0,0) = -deltaS[0] * aux3; // vel x1
      _jacobianOplus[0](0,1) = -deltaS[1] * aux3; // vel y1     
      _jacobianOplus[1](0,0) = deltaS[0] * aux3; // vel x2
      _jacobianOplus[1](0,1) = deltaS[1] * aux3; // vel y2
      _jacobianOplus[2](0,0) = -vel * aux2 * dev_border_vel; // vel deltaT
    }
    else
    {
      _jacobianOplus[0](0,0) = 0; // vel x1
      _jacobianOplus[0](0,1) = 0; // vel y1     
      _jacobianOplus[1](0,0) = 0; // vel x2
      _jacobianOplus[1](0,1) = 0; // vel y2     
      _jacobianOplus[2](0,0) = 0; // vel deltaT
    }
    
    if (dev_border_omega!=0)
    {
      double aux4 = aux2 * dev_border_omega;
      _jacobianOplus[2](1,0) = -omega * aux4; // omega deltaT
      _jacobianOplus[0](1,2) = -aux4; // omega angle1
      _jacobianOplus[1](1,2) = aux4; // omega angle2
    }
    else
    {
      _jacobianOplus[2](1,0) = 0; // omega deltaT
      _jacobianOplus[0](1,2) = 0; // omega angle1
      _jacobianOplus[1](1,2) = 0; // omega angle2                       
    }

    _jacobianOplus[0](1,0) = 0; // omega x1
    _jacobianOplus[0](1,1) = 0; // omega y1
    _jacobianOplus[1](1,0) = 0; // omega x2
    _jacobianOplus[1](1,1) = 0; // omega y2
    _jacobianOplus[0](0,2) = 0; // vel angle1
    _jacobianOplus[1](0,2) = 0; // vel angle2
  }
#endif
#endif
 
  ErrorVector& getError()
  {
    computeError();
    return _error;
  }

  virtual bool read(std::istream& is)
  {
    is >> _measurement;
    is >> information()(0,0);
    return true;
  }

  virtual bool write(std::ostream& os) const
  {
    //os << measurement() << " ";
    os << information()(0,0) << " Error Vel: " << _error[0] << ", Error Omega: " << _error[1];
    return os.good();
  }

  void setTebConfig(const TebConfig& cfg)
  {
    cfg_ = &cfg;
  }

protected:
  
  const TebConfig* cfg_; 
  
  
public:
  
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

};

} // end namespace

#endif