Program Listing for File savitzky_golay_smoother.hpp
↰ Return to documentation for file (include/nav2_smoother/savitzky_golay_smoother.hpp
)
// Copyright (c) 2022, 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.
#ifndef NAV2_SMOOTHER__SAVITZKY_GOLAY_SMOOTHER_HPP_
#define NAV2_SMOOTHER__SAVITZKY_GOLAY_SMOOTHER_HPP_
#include <cmath>
#include <vector>
#include <string>
#include <iostream>
#include <memory>
#include <queue>
#include <utility>
#include "nav2_core/smoother.hpp"
#include "nav2_smoother/smoother_utils.hpp"
#include "nav2_costmap_2d/costmap_2d.hpp"
#include "nav2_costmap_2d/cost_values.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "nav2_util/node_utils.hpp"
#include "nav_msgs/msg/path.hpp"
#include "angles/angles.h"
#include "tf2/utils.h"
namespace nav2_smoother
{
class SavitzkyGolaySmoother : public nav2_core::Smoother
{
public:
SavitzkyGolaySmoother() = default;
~SavitzkyGolaySmoother() override = default;
void configure(
const rclcpp_lifecycle::LifecycleNode::WeakPtr &,
std::string name, std::shared_ptr<tf2_ros::Buffer>,
std::shared_ptr<nav2_costmap_2d::CostmapSubscriber>,
std::shared_ptr<nav2_costmap_2d::FootprintSubscriber>) override;
void cleanup() override {}
void activate() override {}
void deactivate() override {}
bool smooth(
nav_msgs::msg::Path & path,
const rclcpp::Duration & max_time) override;
protected:
bool smoothImpl(
nav_msgs::msg::Path & path,
bool & reversing_segment);
bool do_refinement_;
int refinement_num_;
rclcpp::Logger logger_{rclcpp::get_logger("SGSmoother")};
};
} // namespace nav2_smoother
#endif // NAV2_SMOOTHER__SAVITZKY_GOLAY_SMOOTHER_HPP_