start_pose_predictor.h

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#ifndef PLANNER_CSPACE_PLANNER_3D_START_POSE_PREDICTOR_H
#define PLANNER_CSPACE_PLANNER_3D_START_POSE_PREDICTOR_H
 
#include <vector>
 
#include <nav_msgs/Path.h>
 
#include <costmap_cspace_msgs/CSpace3D.h>
#include <planner_cspace/grid_astar.h>
#include <planner_cspace/planner_3d/grid_metric_converter.h>
#include <trajectory_tracker/path2d.h>
 
namespace planner_cspace
{
namespace planner_3d
{
 
class StartPosePredictor
{
public:
  using Astar = GridAstar<3, 2>;
 
  struct Config
  {
    double prediction_sec_;
    double switch_back_prediction_sec_;
    double dist_stop_;
    double lin_vel_;
    double ang_vel_;
  };
  void setConfig(const Config& config)
  {
    config_ = config;
    clear();
  }
  bool process(const geometry_msgs::Pose& robot_pose,
               const GridAstar<3, 2>::Gridmap<char, 0x40>& cm,
               const costmap_cspace_msgs::MapMetaData3D& map_info,
               const nav_msgs::Path& previous_path_msg,
               Astar::Vec& result_start_grid);
  void clear();
  const nav_msgs::Path& getPreservedPath() const
  {
    return preserved_path_;
  }
  const double getPreservedPathLength() const
  {
    return preserved_path_length_;
  }
 
private:
  bool removeAlreadyPassed(const geometry_msgs::Pose& robot_pose);
  double getInitialETA(
      const geometry_msgs::Pose& robot_pose, const trajectory_tracker::Pose2D& initial_path_pose) const;
  bool buildResults(const trajectory_tracker::Path2D::ConstIterator& expected_start_pose_it,
                    const geometry_msgs::Pose& start_metric,
                    const GridAstar<3, 2>::Gridmap<char, 0x40>& cm,
                    Astar::Vec& start_grid);
  bool isGridCenter(const trajectory_tracker::Pose2D& pose) const;
  bool isPathColliding(const trajectory_tracker::Path2D::ConstIterator& begin,
                       const trajectory_tracker::Path2D::ConstIterator& end,
                       const GridAstar<3, 2>::Gridmap<char, 0x40>& cm);
  trajectory_tracker::Path2D::ConstIterator getSwitchBack(const std::vector<double>& etas) const;
  trajectory_tracker::Path2D::ConstIterator getExpectedPose(const std::vector<double>& etas) const;
 
  Config config_;
  costmap_cspace_msgs::MapMetaData3D map_info_;
  trajectory_tracker::Path2D previous_path_2d_;
  nav_msgs::Path preserved_path_;
  double preserved_path_length_ = 0.0;
};
 
}  // namespace planner_3d
}  // namespace planner_cspace
 
#endif  // PLANNER_CSPACE_PLANNER_3D_START_POSE_PREDICTOR_H