goal_dist.cpp

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#include <dwb_critics/goal_dist.h>
#include <nav_grid/coordinate_conversion.h>
#include <pluginlib/class_list_macros.h>
#include <nav_2d_utils/path_ops.h>
#include <vector>

namespace dwb_critics
{
bool GoalDistCritic::prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
                             const geometry_msgs::Pose2D& goal,
                             const nav_2d_msgs::Path2D& global_plan)
{
  reset();

  unsigned int local_goal_x, local_goal_y;
  if (!getLastPoseOnCostmap(global_plan, local_goal_x, local_goal_y))
  {
    return false;
  }

  // Enqueue just the last pose
  cell_values_.setValue(local_goal_x, local_goal_y, 0.0);
  queue_->enqueueCell(local_goal_x, local_goal_y);

  propogateManhattanDistances();

  return true;
}

bool GoalDistCritic::getLastPoseOnCostmap(const nav_2d_msgs::Path2D& global_plan, unsigned int& x, unsigned int& y)
{
  const nav_core2::Costmap& costmap = *costmap_;
  const nav_grid::NavGridInfo& info = costmap.getInfo();
  nav_2d_msgs::Path2D adjusted_global_plan = nav_2d_utils::adjustPlanResolution(global_plan, info.resolution);
  bool started_path = false;

  // skip global path points until we reach the border of the local map
  for (unsigned int i = 0; i < adjusted_global_plan.poses.size(); ++i)
  {
    double g_x = adjusted_global_plan.poses[i].x;
    double g_y = adjusted_global_plan.poses[i].y;
    unsigned int map_x, map_y;
    if (worldToGridBounded(info, g_x, g_y, map_x, map_y) && costmap(map_x, map_y) != costmap.NO_INFORMATION)
    {
      // Still on the costmap. Continue.
      x = map_x;
      y = map_y;
      started_path = true;
    }
    else if (started_path)
    {
      // Off the costmap after being on the costmap. Return the last saved indices.
      return true;
    }
    // else, we have not yet found a point on the costmap, so we just continue
  }

  if (started_path)
  {
    return true;
  }
  else
  {
    ROS_ERROR_NAMED("GoalDistCritic", "None of the points of the global plan were in the local costmap.");
    return false;
  }
}

}  // namespace dwb_critics

PLUGINLIB_EXPORT_CLASS(dwb_critics::GoalDistCritic, dwb_local_planner::TrajectoryCritic)