Program Listing for File types.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__TYPES_HPP_
#define NAV2_COLLISION_MONITOR__TYPES_HPP_
#include <string>
namespace nav2_collision_monitor
{
struct Velocity
{
double x; // x-component of linear velocity
double y; // y-component of linear velocity
double tw; // z-component of angular twist
inline bool operator<(const Velocity & second) const
{
const double first_vel = x * x + y * y + tw * tw;
const double second_vel = second.x * second.x + second.y * second.y + second.tw * second.tw;
// This comparison includes rotations in place, where linear velocities are equal to zero
return first_vel < second_vel;
}
inline Velocity operator*(const double & mul) const
{
return {x * mul, y * mul, tw * mul};
}
inline bool isZero() const
{
return x == 0.0 && y == 0.0 && tw == 0.0;
}
};
struct Point
{
double x; // x-coordinate of point
double y; // y-coordinate of point
};
struct Pose
{
double x; // x-coordinate of pose
double y; // y-coordinate of pose
double theta; // rotation angle of pose
};
enum ActionType
{
DO_NOTHING = 0, // No action
STOP = 1, // Stop the robot
SLOWDOWN = 2, // Slowdown in percentage from current operating speed
APPROACH = 3, // Keep constant time interval before collision
LIMIT = 4 // Limit absolute velocity from current operating speed
};
struct Action
{
ActionType action_type;
Velocity req_vel;
std::string polygon_name;
};
} // namespace nav2_collision_monitor
#endif // NAV2_COLLISION_MONITOR__TYPES_HPP_