Program Listing for File collision_checker.hpp
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// Copyright (c) 2020, Samsung Research America
//
// 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. Reserved.
#include <vector>
#include <memory>
#include "nav2_costmap_2d/footprint_collision_checker.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_smac_planner/constants.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#ifndef NAV2_SMAC_PLANNER__COLLISION_CHECKER_HPP_
#define NAV2_SMAC_PLANNER__COLLISION_CHECKER_HPP_
namespace nav2_smac_planner
{
class GridCollisionChecker
: public nav2_costmap_2d::FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>
{
public:
GridCollisionChecker(
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap,
unsigned int num_quantizations,
rclcpp_lifecycle::LifecycleNode::SharedPtr node);
// GridCollisionChecker(
// nav2_costmap_2d::Costmap2D * costmap,
// std::vector<float> & angles);
void setFootprint(
const nav2_costmap_2d::Footprint & footprint,
const bool & radius,
const double & possible_collision_cost);
bool inCollision(
const float & x,
const float & y,
const float & theta,
const bool & traverse_unknown);
bool inCollision(
const unsigned int & i,
const bool & traverse_unknown);
float getCost();
std::vector<float> & getPrecomputedAngles()
{
return angles_;
}
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> getCostmapROS() {return costmap_ros_;}
private:
bool outsideRange(const unsigned int & max, const float & value);
protected:
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
std::vector<nav2_costmap_2d::Footprint> oriented_footprints_;
nav2_costmap_2d::Footprint unoriented_footprint_;
float footprint_cost_;
bool footprint_is_radius_;
std::vector<float> angles_;
float possible_collision_cost_{-1};
rclcpp::Logger logger_{rclcpp::get_logger("SmacPlannerCollisionChecker")};
rclcpp::Clock::SharedPtr clock_;
};
} // namespace nav2_smac_planner
#endif // NAV2_SMAC_PLANNER__COLLISION_CHECKER_HPP_