collision_checker.h

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/*
 * Copyright (c) 2018, Ubiquity Robotics
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#ifndef COLLISION_CHECKER_H
#define COLLISION_CHECKER_H

#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_ros/buffer.h>
#include <sensor_msgs/Range.h>
#include <sensor_msgs/LaserScan.h>

#include <mutex>

#include "move_basic/obstacle_points.h"

class CollisionChecker
{
   std::string baseFrame;
   ros::Publisher line_pub;
   tf2_ros::Buffer& tf_buffer;
   // footprint
   float robot_width;
   float robot_front_length;
   float robot_back_length;

   float robot_width_sq;
   float robot_front_length_sq;
   float robot_back_length_sq;
   float front_diag, back_diag;

   float max_age;
   float no_obstacle_dist;
   std::mutex obstacle_mutex;

   ObstaclePoints& ob_points;

   void draw_line(const tf2::Vector3 &p1, const tf2::Vector3 &p2,
                  float r, float g, float b, int id);
   void clear_line(int id);

   void check_dist(float x, bool forward, float& min_dist) const;
   void check_angle(float theta, float x, float y,
                    bool left, float& min_dist) const;

   float degrees(float radians) const;

public:
   // Note that we take in refrences to tf_buffer and op, we expect these to outlive
   // the useful life of this class, if they don't then you have a big issue.
   //
   // We don't store the NodeHandle, so that doesn't apply to it.
   CollisionChecker(ros::NodeHandle& nh, tf2_ros::Buffer& tf_buffer, ObstaclePoints& op);

   // return distance in meters to closest obstacle
   float obstacle_dist(bool forward, float &left_dist, float &right_dist,
                       tf2::Vector3 &fl, tf2::Vector3 &fr);

   // return distance in radians to closest obstacle
   float obstacle_angle(bool left);

   float obstacle_arc_angle(double linear, double angular);

   double min_side_dist;
   double max_side_dist;
};

#endif