eband_trajectory_controller.h

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#ifndef EBAND_TRAJECTORY_CONTROLLER_H_
#define EBAND_TRAJECTORY_CONTROLLER_H_

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

// classes which are part of this package
#include <eband_local_planner/conversions_and_types.h>
#include <eband_local_planner/eband_visualization.h>
#include <eband_local_planner/EBandPlannerConfig.h>

// geometry_msg
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Pose2D.h>
#include <geometry_msgs/Twist.h>

// nav_msgs
#include <nav_msgs/Odometry.h>

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

// PID control library
#include <control_toolbox/pid.h>

namespace eband_local_planner{

  class EBandTrajectoryCtrl{

    public:

      EBandTrajectoryCtrl();

      EBandTrajectoryCtrl(std::string name, costmap_2d::Costmap2DROS* costmap_ros);

      ~EBandTrajectoryCtrl();

      void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros);


      void reconfigure(EBandPlannerConfig& config);

      void setVisualization(boost::shared_ptr<EBandVisualization> target_visual);

      bool setBand(const std::vector<Bubble>& elastic_band);

      bool setOdometry(const nav_msgs::Odometry& odometry);

      bool getTwist(geometry_msgs::Twist& twist_cmd, bool& goal_reached);
      bool getTwistDifferentialDrive(geometry_msgs::Twist& twist_cmd, bool& goal_reached);

    private:

      // pointer to external objects (do NOT delete object)
      costmap_2d::Costmap2DROS* costmap_ros_; 
      boost::shared_ptr<EBandVisualization> target_visual_; // pointer to visualization object

      control_toolbox::Pid pid_;

      // parameters
      bool differential_drive_hack_;
      double k_p_, k_nu_, ctrl_freq_;
      double acc_max_, virt_mass_;
      double max_vel_lin_, max_vel_th_, min_vel_lin_, min_vel_th_;
      double min_in_place_vel_th_;
      double in_place_trans_vel_;
      double tolerance_trans_, tolerance_rot_;
      double acc_max_trans_, acc_max_rot_;
      double rotation_correction_threshold_; // We'll do rotation correction if we're at least this far from the goal

      // diff drive only parameters
      double bubble_velocity_multiplier_;
      double rotation_threshold_multiplier_;
      bool disallow_hysteresis_;
      bool in_final_goal_turn_;

      // flags
      bool initialized_, band_set_, visualization_;

      // data
      std::vector<Bubble> elastic_band_;
      geometry_msgs::Twist odom_vel_;
      geometry_msgs::Twist last_vel_;
      geometry_msgs::Pose ref_frame_band_;

      inline double sign(double n)
      {
        return n < 0.0 ? -1.0 : 1.0;
      }

      geometry_msgs::Twist getFrame1ToFrame2InRefFrame(const geometry_msgs::Pose& frame1, const geometry_msgs::Pose& frame2, const geometry_msgs::Pose& ref_frame);
      geometry_msgs::Twist getFrame1ToFrame2InRefFrameNew(const geometry_msgs::Pose& frame1, const geometry_msgs::Pose& frame2, const geometry_msgs::Pose& ref_frame);

      geometry_msgs::Twist transformTwistFromFrame1ToFrame2(const geometry_msgs::Twist& curr_twist, const geometry_msgs::Pose& frame1,
          const geometry_msgs::Pose& frame2);

      geometry_msgs::Twist limitTwist(const geometry_msgs::Twist& twist);

      double getBubbleTargetVel(const int& target_bub_num, const std::vector<Bubble>& band, geometry_msgs::Twist& VelDir);

  };
};
#endif