dwb_local_planner.h

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#ifndef DWB_LOCAL_PLANNER_DWB_LOCAL_PLANNER_H
#define DWB_LOCAL_PLANNER_DWB_LOCAL_PLANNER_H

#include <dwb_local_planner/trajectory_generator.h>
#include <dwb_local_planner/goal_checker.h>
#include <dwb_local_planner/trajectory_critic.h>
#include <dwb_local_planner/publisher.h>
#include <nav_core2/local_planner.h>
#include <pluginlib/class_loader.h>
#include <memory>
#include <string>
#include <vector>

namespace dwb_local_planner
{

class DWBLocalPlanner: public nav_core2::LocalPlanner
{
public:
  DWBLocalPlanner();

  virtual ~DWBLocalPlanner() {}

  void initialize(const ros::NodeHandle& parent, const std::string& name,
                  TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override;

  void setGoalPose(const nav_2d_msgs::Pose2DStamped& goal_pose) override;

  void setPlan(const nav_2d_msgs::Path2D& path) override;

  nav_2d_msgs::Twist2DStamped computeVelocityCommands(const nav_2d_msgs::Pose2DStamped& pose,
                                                      const nav_2d_msgs::Twist2D& velocity) override;

  bool isGoalReached(const nav_2d_msgs::Pose2DStamped& pose, const nav_2d_msgs::Twist2D& velocity) override;

  virtual dwb_msgs::TrajectoryScore scoreTrajectory(const dwb_msgs::Trajectory2D& traj, double best_score = -1);

  virtual nav_2d_msgs::Twist2DStamped computeVelocityCommands(const nav_2d_msgs::Pose2DStamped& pose,
                                                              const nav_2d_msgs::Twist2D& velocity,
                                                              std::shared_ptr<dwb_msgs::LocalPlanEvaluation>& results);


protected:
  virtual void prepare(const nav_2d_msgs::Pose2DStamped& pose, const nav_2d_msgs::Twist2D& velocity);

  virtual dwb_msgs::TrajectoryScore coreScoringAlgorithm(const geometry_msgs::Pose2D& pose,
                                                         const nav_2d_msgs::Twist2D velocity,
                                                         std::shared_ptr<dwb_msgs::LocalPlanEvaluation>& results);

  virtual nav_2d_msgs::Path2D transformGlobalPlan(const nav_2d_msgs::Pose2DStamped& pose);

  geometry_msgs::Pose2D transformPoseToLocal(const nav_2d_msgs::Pose2DStamped& pose);

  nav_2d_msgs::Path2D global_plan_;  
  nav_2d_msgs::Pose2DStamped goal_pose_;  
  bool prune_plan_;
  double prune_distance_;
  bool debug_trajectory_details_;
  bool short_circuit_trajectory_evaluation_;

  // Plugin handling
  pluginlib::ClassLoader<TrajectoryGenerator> traj_gen_loader_;
  TrajectoryGenerator::Ptr traj_generator_;
  pluginlib::ClassLoader<GoalChecker> goal_checker_loader_;
  GoalChecker::Ptr goal_checker_;
  pluginlib::ClassLoader<TrajectoryCritic> critic_loader_;
  std::vector<TrajectoryCritic::Ptr> critics_;

  std::string resolveCriticClassName(std::string base_name);

  virtual void loadCritics(const std::string name);

  std::vector<std::string> default_critic_namespaces_;

  nav_core2::Costmap::Ptr costmap_;
  bool update_costmap_before_planning_;
  TFListenerPtr tf_;
  DWBPublisher pub_;

  ros::NodeHandle planner_nh_;
};

}  // namespace dwb_local_planner

#endif  // DWB_LOCAL_PLANNER_DWB_LOCAL_PLANNER_H