edge_velocity_obstacle_ratio.h

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#pragma once
 
#include <teb_local_planner/g2o_types/base_teb_edges.h>
#include <teb_local_planner/g2o_types/vertex_timediff.h>
#include <teb_local_planner/g2o_types/vertex_pose.h>
#include <teb_local_planner/robot_footprint_model.h>
 
namespace teb_local_planner
{
 
 
class EdgeVelocityObstacleRatio : public BaseTebMultiEdge<2, const Obstacle*>
{
public:
 
  EdgeVelocityObstacleRatio()
  {
    // The three vertices are two poses and one time difference
    this->resize(3); // Since we derive from a g2o::BaseMultiEdge, set the desired number of vertices
  }
 
  void computeError()
  {
    ROS_ASSERT_MSG(cfg_ && _measurement, "You must call setTebConfig() and setObstacle() on EdgeVelocityObstacleRatio()");
    const VertexPose* conf1 = static_cast<const VertexPose*>(_vertices[0]);
    const VertexPose* conf2 = static_cast<const VertexPose*>(_vertices[1]);
    const VertexTimeDiff* deltaT = static_cast<const VertexTimeDiff*>(_vertices[2]);
 
    const Eigen::Vector2d deltaS = conf2->estimate().position() - conf1->estimate().position();
 
    double dist = deltaS.norm();
    const double angle_diff = g2o::normalize_theta(conf2->theta() - conf1->theta());
    if (cfg_->trajectory.exact_arc_length && angle_diff != 0)
    {
        double radius =  dist/(2*sin(angle_diff/2));
        dist = fabs( angle_diff * radius ); // actual arg length!
    }
    double vel = dist / deltaT->estimate();
 
    vel *= fast_sigmoid( 100 * (deltaS.x()*cos(conf1->theta()) + deltaS.y()*sin(conf1->theta())) ); // consider direction
 
    const double omega = angle_diff / deltaT->estimate();
 
    double dist_to_obstacle = cfg_->robot_model->calculateDistance(conf1->pose(), _measurement);
 
    double ratio;
    if (dist_to_obstacle < cfg_->obstacles.obstacle_proximity_lower_bound)
      ratio = 0;
    else if (dist_to_obstacle > cfg_->obstacles.obstacle_proximity_upper_bound)
      ratio = 1;
    else
      ratio = (dist_to_obstacle - cfg_->obstacles.obstacle_proximity_lower_bound) /
      (cfg_->obstacles.obstacle_proximity_upper_bound - cfg_->obstacles.obstacle_proximity_lower_bound);
    ratio *= cfg_->obstacles.obstacle_proximity_ratio_max_vel;
 
    const double max_vel_fwd = ratio * cfg_->robot.max_vel_x;
    const double max_omega = ratio * cfg_->robot.max_vel_theta;
    _error[0] = penaltyBoundToInterval(vel, max_vel_fwd, 0);
    _error[1] = penaltyBoundToInterval(omega, max_omega, 0);
 
    ROS_ASSERT_MSG(std::isfinite(_error[0]) || std::isfinite(_error[1]), "EdgeVelocityObstacleRatio::computeError() _error[0]=%f , _error[1]=%f\n",_error[0],_error[1]);
  }
 
  void setObstacle(const Obstacle* obstacle)
  {
    _measurement = obstacle;
  }
 
  void setParameters(const TebConfig& cfg, const Obstacle* obstacle)
  {
    cfg_ = &cfg;
    _measurement = obstacle;
  }
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
};
 
} // end namespace