Program Listing for File map_grid.hpp
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#ifndef DWB_CRITICS__MAP_GRID_HPP_
#define DWB_CRITICS__MAP_GRID_HPP_
#include <vector>
#include <memory>
#include <string>
#include <utility>
#include "dwb_core/trajectory_critic.hpp"
#include "costmap_queue/costmap_queue.hpp"
namespace dwb_critics
{
class MapGridCritic : public dwb_core::TrajectoryCritic
{
public:
// Standard TrajectoryCritic Interface
void onInit() override;
double scoreTrajectory(const dwb_msgs::msg::Trajectory2D & traj) override;
void addCriticVisualization(
std::vector<std::pair<std::string, std::vector<float>>> & cost_channels) override;
double getScale() const override {return costmap_->getResolution() * 0.5 * scale_;}
// Helper Functions
virtual double scorePose(const geometry_msgs::msg::Pose2D & pose);
inline double getScore(unsigned int x, unsigned int y)
{
return cell_values_[costmap_->getIndex(x, y)];
}
void setAsObstacle(unsigned int index);
protected:
// cppcheck-suppress syntaxError
enum class ScoreAggregationType {Last, Sum, Product};
class MapGridQueue : public costmap_queue::CostmapQueue
{
public:
MapGridQueue(nav2_costmap_2d::Costmap2D & costmap, MapGridCritic & parent)
: costmap_queue::CostmapQueue(costmap, true), parent_(parent) {}
virtual ~MapGridQueue() = default;
bool validCellToQueue(const costmap_queue::CellData & cell) override;
protected:
MapGridCritic & parent_;
};
void reset() override;
void propogateManhattanDistances();
std::shared_ptr<MapGridQueue> queue_;
nav2_costmap_2d::Costmap2D * costmap_;
std::vector<double> cell_values_;
double obstacle_score_, unreachable_score_;
bool stop_on_failure_;
ScoreAggregationType aggregationType_;
};
} // namespace dwb_critics
#endif // DWB_CRITICS__MAP_GRID_HPP_