oscillation.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Locus Robotics
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * 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.
 *   * 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.
 */
 
#ifndef DWB_CRITICS_OSCILLATION_H_
#define DWB_CRITICS_OSCILLATION_H_
 
#include <dwb_local_planner/trajectory_critic.h>
#include <vector>
#include <string>
 
namespace dwb_critics
{
 
class OscillationCritic: public dwb_local_planner::TrajectoryCritic
{
public:
  void onInit() override;
  bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
               const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override;
  double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override;
  void reset() override;
  void debrief(const nav_2d_msgs::Twist2D& cmd_vel) override;
 
protected:
  class CommandTrend
  {
  public:
    CommandTrend();
    void reset();
 
    bool update(double velocity);
 
    bool isOscillating(double velocity);
 
    bool hasSignFlipped();
 
  protected:
    // Simple Enum for Tracking
    enum class Sign { ZERO, POSITIVE, NEGATIVE };
 
    Sign sign_;
    bool positive_only_, negative_only_;
  };
 
  bool setOscillationFlags(const nav_2d_msgs::Twist2D& cmd_vel);
 
  bool resetAvailable();
 
  CommandTrend x_trend_, y_trend_, theta_trend_;
  double oscillation_reset_dist_, oscillation_reset_angle_, x_only_threshold_;
  double oscillation_reset_time_;
 
  // Cached square parameter
  double oscillation_reset_dist_sq_;
 
  // Saved positions
  geometry_msgs::Pose2D pose_, prev_stationary_pose_;
  // Saved timestamp
  ros::Time prev_reset_time_;
};
 
}  // namespace dwb_critics
#endif  // DWB_CRITICS_OSCILLATION_H_