Program Listing for File trajectory_critic.hpp
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#ifndef DWB_CORE__TRAJECTORY_CRITIC_HPP_
#define DWB_CORE__TRAJECTORY_CRITIC_HPP_
#include <string>
#include <vector>
#include <memory>
#include <utility>
#include "rclcpp/rclcpp.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "geometry_msgs/msg/pose2_d.hpp"
#include "nav_2d_msgs/msg/twist2_d.hpp"
#include "nav_2d_msgs/msg/path2_d.hpp"
#include "dwb_msgs/msg/trajectory2_d.hpp"
#include "sensor_msgs/msg/point_cloud.hpp"
#include "nav2_util/lifecycle_node.hpp"
namespace dwb_core
{
class TrajectoryCritic
{
public:
using Ptr = std::shared_ptr<dwb_core::TrajectoryCritic>;
virtual ~TrajectoryCritic() {}
void initialize(
const nav2_util::LifecycleNode::SharedPtr & nh,
const std::string & name,
const std::string & ns,
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
{
node_ = nh;
name_ = name;
costmap_ros_ = costmap_ros;
dwb_plugin_name_ = ns;
if (!nh->has_parameter(dwb_plugin_name_ + "." + name_ + ".scale")) {
nh->declare_parameter(
dwb_plugin_name_ + "." + name_ + ".scale",
rclcpp::ParameterValue(1.0));
}
nh->get_parameter(dwb_plugin_name_ + "." + name_ + ".scale", scale_);
onInit();
}
virtual void onInit() {}
virtual void reset() {}
virtual bool prepare(
const geometry_msgs::msg::Pose2D &, const nav_2d_msgs::msg::Twist2D &,
const geometry_msgs::msg::Pose2D &,
const nav_2d_msgs::msg::Path2D &)
{
return true;
}
virtual double scoreTrajectory(const dwb_msgs::msg::Trajectory2D & traj) = 0;
virtual void debrief(const nav_2d_msgs::msg::Twist2D &) {}
virtual void addCriticVisualization(std::vector<std::pair<std::string, std::vector<float>>> &) {}
std::string getName()
{
return name_;
}
virtual double getScale() const {return scale_;}
void setScale(const double scale) {scale_ = scale;}
protected:
std::string name_;
std::string dwb_plugin_name_;
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
double scale_;
rclcpp_lifecycle::LifecycleNode::WeakPtr node_;
};
} // namespace dwb_core
#endif // DWB_CORE__TRAJECTORY_CRITIC_HPP_