wave_front_planner.h

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/*
 *  Copyright 2020, Sebastian Pütz
 *
 *  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.
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *
 */
 
#ifndef MESH_NAVIGATION__MESH_PLANNER_H
#define MESH_NAVIGATION__MESH_PLANNER_H
 
#include <mbf_mesh_core/mesh_planner.h>
#include <mbf_msgs/GetPathResult.h>
#include <mesh_map/mesh_map.h>
#include <wave_front_planner/WaveFrontPlannerConfig.h>
#include <nav_msgs/Path.h>
 
namespace wave_front_planner
{
class WaveFrontPlanner : public mbf_mesh_core::MeshPlanner
{
public:
  typedef boost::shared_ptr<wave_front_planner::WaveFrontPlanner> Ptr;
 
  WaveFrontPlanner();
 
  virtual ~WaveFrontPlanner();
 
  virtual uint32_t makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal,
                            double tolerance, std::vector<geometry_msgs::PoseStamped>& plan, double& cost,
                            std::string& message);
 
  virtual bool cancel();
 
  virtual bool initialize(const std::string& name, const boost::shared_ptr<mesh_map::MeshMap>& mesh_map_ptr);
 
protected:
 
  uint32_t waveFrontPropagation(const mesh_map::Vector& start, const mesh_map::Vector& goal,
                                std::list<std::pair<mesh_map::Vector, lvr2::FaceHandle>>& path);
 
  uint32_t waveFrontPropagation(const mesh_map::Vector& start, const mesh_map::Vector& goal,
                                const lvr2::DenseEdgeMap<float>& edge_weights, const lvr2::DenseVertexMap<float>& costs,
                                std::list<std::pair<mesh_map::Vector, lvr2::FaceHandle>>& path,
                                lvr2::DenseVertexMap<float>& distances,
                                lvr2::DenseVertexMap<lvr2::VertexHandle>& predecessors);
 
  inline bool waveFrontUpdateWithS(lvr2::DenseVertexMap<float>& distances,
                                   const lvr2::DenseEdgeMap<float>& edge_weights, const lvr2::VertexHandle& v1,
                                   const lvr2::VertexHandle& v2, const lvr2::VertexHandle& v3);
 
 
  inline bool waveFrontUpdate(lvr2::DenseVertexMap<float>& distances, const lvr2::DenseEdgeMap<float>& edge_weights,
                              const lvr2::VertexHandle& v1, const lvr2::VertexHandle& v2, const lvr2::VertexHandle& v3);
 
  void computeVectorMap();
 
  void reconfigureCallback(wave_front_planner::WaveFrontPlannerConfig& cfg, uint32_t level);
 
private:
 
  mesh_map::MeshMap::Ptr mesh_map;
 
  std::string name;
 
  ros::NodeHandle private_nh;
 
  std::atomic_bool cancel_planning;
 
  ros::Publisher path_pub;
 
  bool publish_vector_field;
 
  bool publish_face_vectors;
 
  std::string map_frame;
 
  float goal_dist_offset;
 
  boost::shared_ptr<dynamic_reconfigure::Server<wave_front_planner::WaveFrontPlannerConfig>> reconfigure_server_ptr;
 
  dynamic_reconfigure::Server<wave_front_planner::WaveFrontPlannerConfig>::CallbackType config_callback;
 
  bool first_config;
 
  WaveFrontPlannerConfig config;
 
  lvr2::DenseVertexMap<float> direction;
 
  lvr2::DenseVertexMap<lvr2::VertexHandle> predecessors;
 
  lvr2::DenseVertexMap<lvr2::FaceHandle> cutting_faces;
 
  lvr2::DenseVertexMap<mesh_map::Vector> vector_map;
 
  lvr2::DenseVertexMap<float> potential;
};
 
}  // namespace wave_front_planner
 
#endif  // MESH_NAVIGATION__WAVE_FRONT_PLANNER_H