timed_elastic_band.h

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#ifndef TIMED_ELASTIC_BAND_H_
#define TIMED_ELASTIC_BAND_H_

#include <ros/ros.h>
#include <ros/assert.h>

#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PoseArray.h>
#include <tf/tf.h>

#include <complex>
#include <iterator>

#include <teb_local_planner/obstacles.h>

// G2O Types
#include <teb_local_planner/g2o_types/vertex_pose.h>
#include <teb_local_planner/g2o_types/vertex_timediff.h>


namespace teb_local_planner
{

typedef std::vector<VertexPose*> PoseSequence;
typedef std::vector<VertexTimeDiff*> TimeDiffSequence;


class TimedElasticBand
{
public:

  TimedElasticBand();
  
  virtual ~TimedElasticBand();

  
  
  
  PoseSequence& poses() {return pose_vec_;};
  
  const PoseSequence& poses() const {return pose_vec_;};
  
  TimeDiffSequence& timediffs() {return timediff_vec_;};
  
  const TimeDiffSequence& timediffs() const {return timediff_vec_;};  
  
  double& TimeDiff(int index)
  {
    ROS_ASSERT(index<sizeTimeDiffs()); 
    return timediff_vec_.at(index)->dt();
  }
  
  const double& TimeDiff(int index) const
  {
    ROS_ASSERT(index<sizeTimeDiffs()); 
    return timediff_vec_.at(index)->dt();
  }
  
  PoseSE2& Pose(int index) 
  {
    ROS_ASSERT(index<sizePoses());
    return pose_vec_.at(index)->pose();
  }
  
  const PoseSE2& Pose(int index) const 
  {
    ROS_ASSERT(index<sizePoses());
    return pose_vec_.at(index)->pose();
  }
  
  PoseSE2& BackPose() {return pose_vec_.back()->pose(); }
  
  const PoseSE2& BackPose() const {return pose_vec_.back()->pose();}
  
  double& BackTimeDiff() {return timediff_vec_.back()->dt(); }
  
  const double& BackTimeDiff() const {return timediff_vec_.back()->dt(); }
  
  VertexPose* PoseVertex(int index) 
  {
    ROS_ASSERT(index<sizePoses());
    return pose_vec_.at(index);
  }
  
  VertexTimeDiff* TimeDiffVertex(int index) 
  {
    ROS_ASSERT(index<sizeTimeDiffs()); 
    return timediff_vec_.at(index);
  }
  
  
  
  
  
  void addPose(const PoseSE2& pose, bool fixed=false);  

  void addPose(const Eigen::Ref<const Eigen::Vector2d>& position, double theta, bool fixed=false);
  
  void addPose(double x, double y, double theta, bool fixed=false);
  
  void addTimeDiff(double dt, bool fixed=false);
  
  void addPoseAndTimeDiff(const PoseSE2& pose, double dt);
  
  void addPoseAndTimeDiff(const Eigen::Ref<const Eigen::Vector2d>& position, double theta, double dt);
  
  void addPoseAndTimeDiff(double x, double y, double theta, double dt);
  
  


  void insertPose(int index, const PoseSE2& pose);
  
  void insertPose(int index, const Eigen::Ref<const Eigen::Vector2d>& position, double theta);
  
  void insertPose(int index, double x, double y, double theta);
  
  void insertTimeDiff(int index, double dt);
    
  void deletePose(int index);
  
  void deletePoses(int index, int number);

  void deleteTimeDiff(int index);
        
  void deleteTimeDiffs(int index, int number);
  
  
  
  
  bool initTrajectoryToGoal(const PoseSE2& start, const PoseSE2& goal, double diststep=0, double max_vel_x=0.5, int min_samples = 3, bool guess_backwards_motion = false);
  
  
  template<typename BidirIter, typename Fun>
  bool initTrajectoryToGoal(BidirIter path_start, BidirIter path_end, Fun fun_position, double max_vel_x, double max_vel_theta,
                      boost::optional<double> max_acc_x, boost::optional<double> max_acc_theta,
                      boost::optional<double> start_orientation, boost::optional<double> goal_orientation, int min_samples = 3, bool guess_backwards_motion = false);  
  
  bool initTrajectoryToGoal(const std::vector<geometry_msgs::PoseStamped>& plan, double max_vel_x, bool estimate_orient=false, int min_samples = 3, bool guess_backwards_motion = false);


  ROS_DEPRECATED bool initTEBtoGoal(const PoseSE2& start, const PoseSE2& goal, double diststep=0, double timestep=1, int min_samples = 3, bool guess_backwards_motion = false)
  {
    ROS_WARN_ONCE("initTEBtoGoal is deprecated and has been replaced by initTrajectoryToGoal. The signature has changed: timestep has been replaced by max_vel_x. \
                   this deprecated method sets max_vel_x = 1. Please update your code.");
    return initTrajectoryToGoal(start, goal, diststep, timestep, min_samples, guess_backwards_motion);
  }

  template<typename BidirIter, typename Fun>
  ROS_DEPRECATED bool initTEBtoGoal(BidirIter path_start, BidirIter path_end, Fun fun_position, double max_vel_x, double max_vel_theta,
          boost::optional<double> max_acc_x, boost::optional<double> max_acc_theta,
          boost::optional<double> start_orientation, boost::optional<double> goal_orientation, int min_samples = 3, bool guess_backwards_motion = false)
  {
    return initTrajectoryToGoal<BidirIter, Fun>(path_start, path_end, fun_position, max_vel_x, max_vel_theta,
                                                max_acc_x, max_acc_theta, start_orientation, goal_orientation, min_samples, guess_backwards_motion);
  }

  ROS_DEPRECATED bool initTEBtoGoal(const std::vector<geometry_msgs::PoseStamped>& plan, double dt, bool estimate_orient=false, int min_samples = 3, bool guess_backwards_motion = false)
  {
    ROS_WARN_ONCE("initTEBtoGoal is deprecated and has been replaced by initTrajectoryToGoal. The signature has changed: dt has been replaced by max_vel_x. \
                   this deprecated method sets max_vel = 1. Please update your code.");
    return initTrajectoryToGoal(plan, dt, estimate_orient, min_samples, guess_backwards_motion);
  }

  
  
  
  
  void updateAndPruneTEB(boost::optional<const PoseSE2&> new_start, boost::optional<const PoseSE2&> new_goal, int min_samples = 3);
  
  
  void autoResize(double dt_ref, double dt_hysteresis, int min_samples = 3, int max_samples=1000, bool fast_mode=false);

  void setPoseVertexFixed(int index, bool status);
  
  void setTimeDiffVertexFixed(int index, bool status);
  
  void clearTimedElasticBand();
  
  
  
  
  int findClosestTrajectoryPose(const Eigen::Ref<const Eigen::Vector2d>& ref_point, double* distance = NULL, int begin_idx=0) const;

  int findClosestTrajectoryPose(const Eigen::Ref<const Eigen::Vector2d>& ref_line_start, const Eigen::Ref<const Eigen::Vector2d>& ref_line_end, double* distance = NULL) const;

  int findClosestTrajectoryPose(const Point2dContainer& vertices, double* distance = NULL) const;

  int findClosestTrajectoryPose(const Obstacle& obstacle, double* distance = NULL) const;
  
  
  int sizePoses() const {return (int)pose_vec_.size();};
  
  int sizeTimeDiffs() const {return (int)timediff_vec_.size();};
  
  bool isInit() const {return !timediff_vec_.empty() && !pose_vec_.empty();}

  double getSumOfAllTimeDiffs() const;
  
  double getSumOfTimeDiffsUpToIdx(int index) const;

  double getAccumulatedDistance() const;
  
  bool detectDetoursBackwards(double threshold=0) const;
  
  bool isTrajectoryInsideRegion(double radius, double max_dist_behind_robot=-1, int skip_poses=0);
  
  
  
        
protected:
  PoseSequence pose_vec_; 
  TimeDiffSequence timediff_vec_;  
  
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

} // namespace teb_local_planner


// include template implementations / definitions
#include <teb_local_planner/timed_elastic_band.hpp>


#endif /* TIMED_ELASTIC_BAND_H_ */