Program Listing for File cp_square_shape_bondary.hpp
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// Copyright 2021 RobosoftAI Inc.
//
// 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.
/*****************************************************************************************************************
*
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
#pragma once
#include <math.h>
#include <smacc2/smacc.hpp>
#include <nav2z_client/components/pose/cp_pose.hpp>
namespace sm_dance_bot_warehouse
{
namespace cl_nav2z
{
using namespace std::chrono_literals;
// computes the distance to move forward inside a square region
// if the robot is located in the center of it
class CpSquareShapeBoundary : public smacc2::ISmaccComponent
{
public:
float squareLenghtMeters_;
::cl_nav2z::Pose* robotPose_;
CpSquareShapeBoundary(float squareLenghtMeters)
: squareLenghtMeters_(squareLenghtMeters)
{
}
void onInitialize() override
{
requiresComponent(robotPose_);
}
float getForwardDistance()
{
float currentAngle = robotPose_->getYaw();
// warp 0 to 2pi
while(currentAngle < 0)
{
currentAngle+=2*M_PI;
}
float side = squareLenghtMeters_/2.0;
// float maxraysize = sqrt(2*side*side);
// float radius = maxraysize;
float fwdist = -1;
float x,y;
if((currentAngle > 0 && currentAngle < M_PI/4 ) // rightside
|| (currentAngle > 7*M_PI/4 && currentAngle <= 2*M_PI) // rightside
|| (currentAngle > 3*M_PI/4 && currentAngle <= 5*M_PI/4) // leftside
)
{
float m = tan(currentAngle);
x = side;
y = m*x;
fwdist = sqrt(x*x + y*y);
}
else if((currentAngle > M_PI/4 && currentAngle <= 3*M_PI/4) // top side
|| (currentAngle > 5*M_PI/4 && currentAngle <= 7*M_PI/4)) // bottom side
{
float cotan = cos(currentAngle)/sin(currentAngle);
y = side;
x = cotan*y;
fwdist = sqrt(x*x + y*y);
}
else
{
RCLCPP_FATAL_STREAM(getLogger(), "[" << getName() << " ] not implemented case");
}
RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << " ] distance for yaw angle: " << currentAngle << " and square size: "<< squareLenghtMeters_ << " -- dist: " << fwdist <<"(x: "<< x <<" y:" << y <<")");
return fwdist;
}
};
} // namespace cl_lidar
} // namespace sm_dance_bot_strikes_back