Program Listing for File polygon.hpp
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// Copyright (c) 2022 Samsung R&D Institute Russia
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef NAV2_COLLISION_MONITOR__POLYGON_HPP_
#define NAV2_COLLISION_MONITOR__POLYGON_HPP_
#include <memory>
#include <string>
#include <vector>
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/polygon_stamped.hpp"
#include "tf2/time.h"
#include "tf2_ros/buffer.h"
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_costmap_2d/footprint_subscriber.hpp"
#include "nav2_collision_monitor/types.hpp"
namespace nav2_collision_monitor
{
class Polygon
{
public:
Polygon(
const nav2_util::LifecycleNode::WeakPtr & node,
const std::string & polygon_name,
const std::shared_ptr<tf2_ros::Buffer> tf_buffer,
const std::string & base_frame_id,
const tf2::Duration & transform_tolerance);
virtual ~Polygon();
bool configure();
void activate();
void deactivate();
std::string getName() const;
ActionType getActionType() const;
bool getEnabled() const;
int getMinPoints() const;
double getSlowdownRatio() const;
double getLinearLimit() const;
double getAngularLimit() const;
double getTimeBeforeCollision() const;
virtual void getPolygon(std::vector<Point> & poly) const;
virtual bool isShapeSet();
virtual void updatePolygon(const Velocity & /*cmd_vel_in*/);
virtual int getPointsInside(const std::vector<Point> & points) const;
double getCollisionTime(
const std::vector<Point> & collision_points,
const Velocity & velocity) const;
void publish();
protected:
bool getCommonParameters(
std::string & polygon_sub_topic,
std::string & polygon_pub_topic,
std::string & footprint_topic,
bool use_dynamic_sub = false);
virtual bool getParameters(
std::string & polygon_sub_topic,
std::string & polygon_pub_topic,
std::string & footprint_topic);
virtual void createSubscription(std::string & polygon_sub_topic);
void updatePolygon(geometry_msgs::msg::PolygonStamped::ConstSharedPtr msg);
void polygonCallback(geometry_msgs::msg::PolygonStamped::ConstSharedPtr msg);
rcl_interfaces::msg::SetParametersResult dynamicParametersCallback(
std::vector<rclcpp::Parameter> parameters);
bool isPointInside(const Point & point) const;
bool getPolygonFromString(std::string & poly_string, std::vector<Point> & polygon);
// ----- Variables -----
nav2_util::LifecycleNode::WeakPtr node_;
rclcpp::Logger logger_{rclcpp::get_logger("collision_monitor")};
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
// Basic parameters
std::string polygon_name_;
ActionType action_type_;
int min_points_;
double slowdown_ratio_;
double linear_limit_;
double angular_limit_;
double time_before_collision_;
double simulation_time_step_;
bool enabled_;
bool polygon_subscribe_transient_local_;
rclcpp::Subscription<geometry_msgs::msg::PolygonStamped>::SharedPtr polygon_sub_;
std::unique_ptr<nav2_costmap_2d::FootprintSubscriber> footprint_sub_;
// Global variables
std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
std::string base_frame_id_;
tf2::Duration transform_tolerance_;
// Visualization
bool visualize_;
geometry_msgs::msg::PolygonStamped polygon_;
rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PolygonStamped>::SharedPtr polygon_pub_;
std::vector<Point> poly_;
}; // class Polygon
} // namespace nav2_collision_monitor
#endif // NAV2_COLLISION_MONITOR__POLYGON_HPP_