terrain_model.h
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00001 //=================================================================================================
00002 // Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Simulation, Systems Optimization and Robotics
00013 //       group, TU Darmstadt nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef VIGIR_FOOTSTEP_PLANNING_TERRAIN_MODEL_H__
00030 #define VIGIR_FOOTSTEP_PLANNING_TERRAIN_MODEL_H__
00031 
00032 #include <ros/ros.h>
00033 
00034 #include <boost/thread/mutex.hpp>
00035 
00036 #include <pcl/point_cloud.h>
00037 
00038 #include <vigir_footstep_planning_lib/modeling/state.h>
00039 
00040 #include <vigir_footstep_planning_plugins/plugins/terrain_model_plugin.h>
00041 
00042 #include <vigir_terrain_classifier/terrain_model.h>
00043 
00044 
00045 
00046 namespace vigir_footstep_planning
00047 {
00048 class TerrainModel
00049   : public TerrainModelPlugin
00050 {
00051 public:
00052   TerrainModel(const std::string& name = "terrain_model");
00053 
00054   bool initialize(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;
00055 
00056   bool loadParams(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;
00057 
00058   void reset();
00059 
00060   bool isAccessible(const State& s) const override;
00061   bool isAccessible(const State& next, const State& current) const override;
00062 
00063   bool isTerrainModelAvailable() const override;
00064 
00065   void setTerrainModel(const vigir_terrain_classifier::TerrainModelMsg::ConstPtr& terrain_model);
00066 
00067   double getResolution() const override;
00068 
00069   bool getPointWithNormal(const pcl::PointNormal& p_search, pcl::PointNormal& p_result) const override;
00070   bool getHeight(double x, double y, double& height) const override;
00071   bool getFootContactSupport(const geometry_msgs::Pose& p, double& support, pcl::PointCloud<pcl::PointXYZI>::Ptr checked_positions = pcl::PointCloud<pcl::PointXYZI>::Ptr()) const override;
00072   bool getFootContactSupport(const tf::Pose& p, double& support, pcl::PointCloud<pcl::PointXYZI>::Ptr checked_positions = pcl::PointCloud<pcl::PointXYZI>::Ptr()) const;
00073 
00074   bool update3DData(geometry_msgs::Pose& p) const override;
00075   bool update3DData(State& s) const override;
00076 
00077   // typedefs
00078   typedef boost::shared_ptr<TerrainModel> Ptr;
00079   typedef boost::shared_ptr<TerrainModel> ConstPtr;
00080 
00081 protected:
00082   bool getFootContactSupport(const tf::Pose& p, double &support, unsigned int sampling_steps_x, unsigned int sampling_steps_y, pcl::PointCloud<pcl::PointXYZI>::Ptr checked_positions = pcl::PointCloud<pcl::PointXYZI>::Ptr()) const;
00083 
00084   // subscribers
00085   ros::Subscriber terrain_model_sub;
00086 
00087   // mutex
00088   mutable boost::shared_mutex terrain_model_shared_mutex;
00089 
00090   vigir_terrain_classifier::TerrainModel::Ptr terrain_model;
00091 
00092   // ground contact support estimation parameters
00093   unsigned int min_sampling_steps_x;  // min number of sampling steps in y
00094   unsigned int min_sampling_steps_y;  // min number of sampling steps in y
00095   unsigned int max_sampling_steps_x;  // max number of sampling steps in y
00096   unsigned int max_sampling_steps_y;  // max number of sampling steps in y
00097   double max_intrusion_z;             // how deep the foot may intrude into other objects (z axis only)#
00098   double max_ground_clearance;        // maximal distance before a point is treated as "in the air"
00099   double minimal_support;             // minimal percentage of foot sole area which must touch ground
00100 
00101   // robot params
00102   geometry_msgs::Vector3 foot_size;
00103 };
00104 }
00105 
00106 #endif


vigir_footstep_planning_default_plugins
Author(s): Alexander Stumpf
autogenerated on Fri Apr 7 2017 02:59:40