conversions_and_types.cpp

Go to the documentation of this file.

/*********************************************************************
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * Author: Christian Connette
 *********************************************************************/

#include <eband_local_planner/conversions_and_types.h>

namespace eband_local_planner{

  void PoseToPose2D(const geometry_msgs::Pose pose, geometry_msgs::Pose2D& pose2D)
  {
    // use tf-pkg to convert angles
    tf::Pose pose_tf;

    // convert geometry_msgs::PoseStamped to tf::Pose
    tf::poseMsgToTF(pose, pose_tf);

    // now get Euler-Angles from pose_tf
    double useless_pitch, useless_roll, yaw;
    pose_tf.getBasis().getEulerYPR(yaw, useless_pitch, useless_roll);

    // normalize angle
    yaw = angles::normalize_angle(yaw);

    // and set to pose2D
    pose2D.x = pose.position.x;
    pose2D.y = pose.position.y;
    pose2D.theta = yaw;

    return;
  }


  void Pose2DToPose(geometry_msgs::Pose& pose, const geometry_msgs::Pose2D pose2D)
  {
    // use tf-pkg to convert angles
    tf::Quaternion frame_quat;

    // transform angle from euler-angle to quaternion representation
    frame_quat = tf::createQuaternionFromYaw(pose2D.theta);

    // set position
    pose.position.x = pose2D.x;
    pose.position.y = pose2D.y;
    pose.position.z = 0.0;

    // set quaternion
    pose.orientation.x = frame_quat.x();
    pose.orientation.y = frame_quat.y();
    pose.orientation.z = frame_quat.z();
    pose.orientation.w = frame_quat.w();

    return;
  }


  bool transformGlobalPlan(const tf::TransformListener& tf, const std::vector<geometry_msgs::PoseStamped>& global_plan, 
      costmap_2d::Costmap2DROS& costmap, const std::string& global_frame, 
      std::vector<geometry_msgs::PoseStamped>& transformed_plan, std::vector<int>& start_end_counts)
  {
    const geometry_msgs::PoseStamped& plan_pose = global_plan[0];

    // initiate refernce variables
    transformed_plan.clear();

    try
    {
      if (!global_plan.size() > 0)
      {
        ROS_ERROR("Recieved plan with zero length");
        return false;
      }

      tf::StampedTransform transform;
      tf.lookupTransform(global_frame, ros::Time(), plan_pose.header.frame_id, plan_pose.header.stamp, 
          plan_pose.header.frame_id, transform);

      //let's get the pose of the robot in the frame of the plan
      tf::Stamped<tf::Pose> robot_pose;
      robot_pose.setIdentity();
      robot_pose.frame_id_ = costmap.getBaseFrameID();
      robot_pose.stamp_ = ros::Time();
      tf.transformPose(plan_pose.header.frame_id, robot_pose, robot_pose);

      //we'll keep points on the plan that are within the window that we're looking at

      double dist_threshold = std::max(
          costmap.getCostmap()->getSizeInMetersX() / 2.0,
          costmap.getCostmap()->getSizeInMetersY() / 2.0
          );

      unsigned int i = 0;
      double sq_dist_threshold = dist_threshold * dist_threshold;
      double sq_dist = DBL_MAX;

      // --- start - modification w.r.t. base_local_planner
      // initiate start_end_count
      std::vector<int> start_end_count;
      start_end_count.assign(2, 0);

      // we know only one direction and that is forward! - initiate search with previous start_end_counts
      // this is neccesserry to work with the sampling based planners - path may severall time enter and leave moving window
      ROS_ASSERT( (start_end_counts.at(0) > 0) && (start_end_counts.at(0) <= (int) global_plan.size()) );
      i = (unsigned int) global_plan.size() - (unsigned int) start_end_counts.at(0);
      // --- end - modification w.r.t. base_local_planner

      //we need to loop to a point on the plan that is within a certain distance of the robot
      while(i < (unsigned int)global_plan.size() && sq_dist > sq_dist_threshold)
      {
        double x_diff = robot_pose.getOrigin().x() - global_plan[i].pose.position.x;
        double y_diff = robot_pose.getOrigin().y() - global_plan[i].pose.position.y;
        sq_dist = x_diff * x_diff + y_diff * y_diff;

        // --- start - modification w.r.t. base_local_planner
        // not yet in reach - get next frame
        if( sq_dist > sq_dist_threshold )
          ++i;
        else
          // set counter for start of transformed intervall - from back as beginning of plan might be prunned
          start_end_count.at(0) = (int) (((unsigned int) global_plan.size()) - i);
        // --- end - modification w.r.t. base_local_planner
      }


      tf::Stamped<tf::Pose> tf_pose;
      geometry_msgs::PoseStamped newer_pose;

      //now we'll transform until points are outside of our distance threshold
      while(i < (unsigned int)global_plan.size() && sq_dist < sq_dist_threshold)
      {
        double x_diff = robot_pose.getOrigin().x() - global_plan[i].pose.position.x;
        double y_diff = robot_pose.getOrigin().y() - global_plan[i].pose.position.y;
        sq_dist = x_diff * x_diff + y_diff * y_diff;

        const geometry_msgs::PoseStamped& pose = global_plan[i];
        poseStampedMsgToTF(pose, tf_pose);
        tf_pose.setData(transform * tf_pose);
        tf_pose.stamp_ = transform.stamp_;
        tf_pose.frame_id_ = global_frame;
        poseStampedTFToMsg(tf_pose, newer_pose);

        transformed_plan.push_back(newer_pose);

        // --- start - modification w.r.t. base_local_planner
        // set counter for end of transformed intervall - from back as beginning of plan might be prunned
        start_end_count.at(1) = int (((unsigned int) global_plan.size()) - i);
        // --- end - modification w.r.t. base_local_planner

        ++i;
      }

      // --- start - modification w.r.t. base_local_planner
      // write to reference variable
      start_end_counts = start_end_count;
      // --- end - modification w.r.t. base_local_planner
    }
    catch(tf::LookupException& ex)
    {
      ROS_ERROR("No Transform available Error: %s\n", ex.what());
      return false;
    }
    catch(tf::ConnectivityException& ex)
    {
      ROS_ERROR("Connectivity Error: %s\n", ex.what());
      return false;
    }
    catch(tf::ExtrapolationException& ex)
    {
      ROS_ERROR("Extrapolation Error: %s\n", ex.what());
      if (global_plan.size() > 0)
        ROS_ERROR("Global Frame: %s Plan Frame size %d: %s\n", global_frame.c_str(), (unsigned int)global_plan.size(), global_plan[0].header.frame_id.c_str());

      return false;
    }

    return true;
  }

  double getCircumscribedRadius(costmap_2d::Costmap2DROS& costmap) {
    std::vector<geometry_msgs::Point> footprint(costmap.getRobotFootprint());
    double max_distance_sqr = 0;
    for (size_t i = 0; i < footprint.size(); ++i) {
      geometry_msgs::Point& p = footprint[i];
      double distance_sqr = p.x*p.x + p.y*p.y;
      if (distance_sqr > max_distance_sqr) {
        max_distance_sqr = distance_sqr;
      }
    }
    return sqrt(max_distance_sqr);
  }


}