costmap_controller_execution.h

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/*
 *  Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *  3. Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  costmap_controller_execution.h
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *    Jorge Santos Simón <santos@magazino.eu>
 *
 */

#ifndef MBF_COSTMAP_NAV__COSTMAP_CONTROLLER_EXECUTION_H_
#define MBF_COSTMAP_NAV__COSTMAP_CONTROLLER_EXECUTION_H_

#include <mbf_abstract_nav/abstract_controller_execution.h>
#include <mbf_costmap_core/costmap_controller.h>

#include "mbf_costmap_nav/MoveBaseFlexConfig.h"
#include "mbf_costmap_nav/costmap_wrapper.h"


namespace mbf_costmap_nav
{
class CostmapControllerExecution : public mbf_abstract_nav::AbstractControllerExecution
{
public:

  CostmapControllerExecution(
      const std::string &controller_name,
      const mbf_costmap_core::CostmapController::Ptr &controller_ptr,
      const ros::Publisher &vel_pub,
      const ros::Publisher &goal_pub,
      const TFPtr &tf_listener_ptr,
      const CostmapWrapper::Ptr &costmap_ptr,
      const MoveBaseFlexConfig &config);

  virtual ~CostmapControllerExecution();

private:

  void preRun()
  {
    costmap_ptr_->checkActivate();
  };

  void postRun()
  {
    costmap_ptr_->checkDeactivate();
  };

  bool safetyCheck();

  virtual uint32_t computeVelocityCmd(
      const geometry_msgs::PoseStamped &robot_pose,
      const geometry_msgs::TwistStamped &robot_velocity,
      geometry_msgs::TwistStamped &vel_cmd,
      std::string &message);

  mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config);

  const CostmapWrapper::Ptr &costmap_ptr_;

  bool lock_costmap_;

  std::string controller_name_;
};

} /* namespace mbf_costmap_nav */

#endif /* MBF_COSTMAP_NAV__COSTMAP_CONTROLLER_EXECUTION_H_ */