dlux_global_planner.h

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#ifndef DLUX_GLOBAL_PLANNER_DLUX_GLOBAL_PLANNER_H
#define DLUX_GLOBAL_PLANNER_DLUX_GLOBAL_PLANNER_H

#include <nav_core2/global_planner.h>
#include <nav_core2/costmap.h>
#include <dlux_global_planner/cost_interpreter.h>
#include <dlux_global_planner/potential_calculator.h>
#include <dlux_global_planner/traceback.h>
#include <nav_2d_msgs/Pose2DStamped.h>
#include <nav_grid_pub_sub/nav_grid_publisher.h>
#include <pluginlib/class_loader.h>
#include <ros/ros.h>
#include <string>

namespace dlux_global_planner
{
class DluxGlobalPlanner: public nav_core2::GlobalPlanner
{
public:
  DluxGlobalPlanner();

  // Standard GlobalPlanner Interface
  void initialize(const ros::NodeHandle& parent, const std::string& name,
                  TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override;
  nav_2d_msgs::Path2D makePlan(const nav_2d_msgs::Pose2DStamped& start,
                               const nav_2d_msgs::Pose2DStamped& goal) override;

  virtual bool isPlanValid(const nav_2d_msgs::Path2D& path) const;

protected:
  // Path Caching Methods

  virtual bool hasValidCachedPath(const geometry_msgs::Pose2D& local_goal,
                                  unsigned int goal_x, unsigned int goal_y);

  virtual bool shouldReturnCachedPathImmediately() const;

  virtual bool shouldReturnNewPath(const nav_2d_msgs::Path2D& new_path, const double new_path_cost) const;

  // Plugins
  pluginlib::ClassLoader<PotentialCalculator> calc_loader_;
  boost::shared_ptr<PotentialCalculator> calculator_;
  pluginlib::ClassLoader<Traceback> traceback_loader_;
  boost::shared_ptr<Traceback> traceback_;

  // Key members
  nav_core2::Costmap::Ptr costmap_;
  TFListenerPtr tf_;
  PotentialGrid potential_grid_;
  CostInterpreter::Ptr cost_interpreter_;

  // Path Caching
  bool path_caching_;
  double improvement_threshold_;
  nav_2d_msgs::Path2D cached_path_;
  unsigned int cached_goal_x_, cached_goal_y_;
  double cached_path_cost_;

  // potential publishing
  nav_grid_pub_sub::ScaleGridPublisher<float> potential_pub_;

  // debug printing
  bool print_statistics_;
};
}  // namespace dlux_global_planner

#endif  // DLUX_GLOBAL_PLANNER_DLUX_GLOBAL_PLANNER_H