trajectory_planner.h

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

#include <vector>
#include <cmath>

//for obstacle data access
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/cost_values.h>
#include <base_local_planner/footprint_helper.h>

#include <base_local_planner/world_model.h>
#include <base_local_planner/trajectory.h>
#include <base_local_planner/Position2DInt.h>
#include <base_local_planner/BaseLocalPlannerConfig.h>

//we'll take in a path as a vector of poses
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Point.h>

//for creating a local cost grid
#include <base_local_planner/map_cell.h>
#include <base_local_planner/map_grid.h>

namespace base_local_planner {
  class TrajectoryPlanner{
    friend class TrajectoryPlannerTest; //Need this for gtest to work
    public:
      TrajectoryPlanner(WorldModel& world_model, 
          const costmap_2d::Costmap2D& costmap, 
          std::vector<geometry_msgs::Point> footprint_spec,
          double acc_lim_x = 1.0, double acc_lim_y = 1.0, double acc_lim_theta = 1.0,
          double sim_time = 1.0, double sim_granularity = 0.025, 
          int vx_samples = 20, int vtheta_samples = 20,
          double path_distance_bias = 0.6, double goal_distance_bias = 0.8, double occdist_scale = 0.2,
          double heading_lookahead = 0.325, double oscillation_reset_dist = 0.05, 
          double escape_reset_dist = 0.10, double escape_reset_theta = M_PI_2,
          bool holonomic_robot = true,
          double max_vel_x = 0.5, double min_vel_x = 0.1, 
          double max_vel_th = 1.0, double min_vel_th = -1.0, double min_in_place_vel_th = 0.4,
          double backup_vel = -0.1,
          bool dwa = false, bool heading_scoring = false, double heading_scoring_timestep = 0.1,
          bool meter_scoring = true,
          bool simple_attractor = false,
          std::vector<double> y_vels = std::vector<double>(0),
          double stop_time_buffer = 0.2,
          double sim_period = 0.1, double angular_sim_granularity = 0.025);

      ~TrajectoryPlanner();

      void reconfigure(BaseLocalPlannerConfig &cfg);

      Trajectory findBestPath(const geometry_msgs::PoseStamped& global_pose,
                              geometry_msgs::PoseStamped& global_vel, geometry_msgs::PoseStamped& drive_velocities);

      void updatePlan(const std::vector<geometry_msgs::PoseStamped>& new_plan, bool compute_dists = false);

      void getLocalGoal(double& x, double& y);

      bool checkTrajectory(double x, double y, double theta, double vx, double vy, 
          double vtheta, double vx_samp, double vy_samp, double vtheta_samp);

      double scoreTrajectory(double x, double y, double theta, double vx, double vy, 
          double vtheta, double vx_samp, double vy_samp, double vtheta_samp);

      bool getCellCosts(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost);

      void setFootprint( std::vector<geometry_msgs::Point> footprint ) { footprint_spec_ = footprint; }

      geometry_msgs::Polygon getFootprintPolygon() const { return costmap_2d::toPolygon(footprint_spec_); }
      std::vector<geometry_msgs::Point> getFootprint() const { return footprint_spec_; }

    private:
      Trajectory createTrajectories(double x, double y, double theta, double vx, double vy, double vtheta, 
          double acc_x, double acc_y, double acc_theta);

      void generateTrajectory(double x, double y, double theta, double vx, double vy, 
          double vtheta, double vx_samp, double vy_samp, double vtheta_samp, double acc_x, double acc_y,
          double acc_theta, double impossible_cost, Trajectory& traj);

      double footprintCost(double x_i, double y_i, double theta_i);

      base_local_planner::FootprintHelper footprint_helper_;
    
      MapGrid path_map_; 
      MapGrid goal_map_; 
      const costmap_2d::Costmap2D& costmap_; 
      WorldModel& world_model_; 

      std::vector<geometry_msgs::Point> footprint_spec_; 

      std::vector<geometry_msgs::PoseStamped> global_plan_; 

      bool stuck_left, stuck_right; 
      bool rotating_left, rotating_right; 

      bool stuck_left_strafe, stuck_right_strafe; 
      bool strafe_right, strafe_left; 

      bool escaping_; 
      bool meter_scoring_;

      double goal_x_,goal_y_; 

      double final_goal_x_, final_goal_y_; 
      bool final_goal_position_valid_; 

      double sim_time_; 
      double sim_granularity_; 
      double angular_sim_granularity_; 

      int vx_samples_; 
      int vtheta_samples_; 

      double path_distance_bias_, goal_distance_bias_, occdist_scale_; 
      double acc_lim_x_, acc_lim_y_, acc_lim_theta_; 

      double prev_x_, prev_y_; 
      double escape_x_, escape_y_, escape_theta_; 

      Trajectory traj_one, traj_two; 

      double heading_lookahead_; 
      double oscillation_reset_dist_; 
      double escape_reset_dist_, escape_reset_theta_; 
      bool holonomic_robot_; 
      
      double max_vel_x_, min_vel_x_, max_vel_th_, min_vel_th_, min_in_place_vel_th_; 

      double backup_vel_; 

      bool dwa_;  
      bool heading_scoring_; 
      double heading_scoring_timestep_; 
      bool simple_attractor_;  

      std::vector<double> y_vels_; 

      double stop_time_buffer_; 
      double sim_period_; 

      double inscribed_radius_, circumscribed_radius_;

      boost::mutex configuration_mutex_;

      inline double computeNewXPosition(double xi, double vx, double vy, double theta, double dt){
        return xi + (vx * cos(theta) + vy * cos(M_PI_2 + theta)) * dt;
      }

      inline double computeNewYPosition(double yi, double vx, double vy, double theta, double dt){
        return yi + (vx * sin(theta) + vy * sin(M_PI_2 + theta)) * dt;
      }

      inline double computeNewThetaPosition(double thetai, double vth, double dt){
        return thetai + vth * dt;
      }

      //compute velocity based on acceleration
      inline double computeNewVelocity(double vg, double vi, double a_max, double dt){
        if((vg - vi) >= 0) {
          return std::min(vg, vi + a_max * dt);
        }
        return std::max(vg, vi - a_max * dt);
      }

      void getMaxSpeedToStopInTime(double time, double& vx, double& vy, double& vth){
        vx = acc_lim_x_ * std::max(time, 0.0);
        vy = acc_lim_y_ * std::max(time, 0.0);
        vth = acc_lim_theta_ * std::max(time, 0.0);
      }

      double lineCost(int x0, int x1, int y0, int y1);
      double pointCost(int x, int y);
      double headingDiff(int cell_x, int cell_y, double x, double y, double heading);
  };
};

#endif