goal_functions.h

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* Author: Eitan Marder-Eppstein
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#ifndef BASE_LOCAL_PLANNER_GOAL_FUNCTIONS_H_
#define BASE_LOCAL_PLANNER_GOAL_FUNCTIONS_H_

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>
#include <tf/transform_listener.h>

#include <string>
#include <cmath>

#include <angles/angles.h>
#include <costmap_2d/costmap_2d.h>

namespace base_local_planner {

  double getGoalPositionDistance(const tf::Stamped<tf::Pose>& global_pose, double goal_x, double goal_y);

  double getGoalOrientationAngleDifference(const tf::Stamped<tf::Pose>& global_pose, double goal_th);

  void publishPlan(const std::vector<geometry_msgs::PoseStamped>& path, const ros::Publisher& pub);

  void prunePlan(const tf::Stamped<tf::Pose>& global_pose, std::vector<geometry_msgs::PoseStamped>& plan, std::vector<geometry_msgs::PoseStamped>& global_plan);

  bool transformGlobalPlan(const tf::TransformListener& tf,
      const std::vector<geometry_msgs::PoseStamped>& global_plan,
      const tf::Stamped<tf::Pose>& global_robot_pose,
      const costmap_2d::Costmap2D& costmap,
      const std::string& global_frame,
      std::vector<geometry_msgs::PoseStamped>& transformed_plan);

  bool getGoalPose(const tf::TransformListener& tf,
                  const std::vector<geometry_msgs::PoseStamped>& global_plan,
                  const std::string& global_frame,
                  tf::Stamped<tf::Pose> &goal_pose);

  bool isGoalReached(const tf::TransformListener& tf,
      const std::vector<geometry_msgs::PoseStamped>& global_plan,
      const costmap_2d::Costmap2D& costmap,
      const std::string& global_frame,
      tf::Stamped<tf::Pose>& global_pose,
      const nav_msgs::Odometry& base_odom,
      double rot_stopped_vel, double trans_stopped_vel,
      double xy_goal_tolerance, double yaw_goal_tolerance);

  bool stopped(const nav_msgs::Odometry& base_odom, 
      const double& rot_stopped_velocity,
      const double& trans_stopped_velocity);
};
#endif