Program Listing for File obstacles_critic.hpp
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// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef NAV2_MPPI_CONTROLLER__CRITICS__OBSTACLES_CRITIC_HPP_
#define NAV2_MPPI_CONTROLLER__CRITICS__OBSTACLES_CRITIC_HPP_
#include <memory>
#include <string>
#include "nav2_costmap_2d/footprint_collision_checker.hpp"
#include "nav2_costmap_2d/inflation_layer.hpp"
#include "nav2_mppi_controller/critic_function.hpp"
#include "nav2_mppi_controller/models/state.hpp"
#include "nav2_mppi_controller/tools/utils.hpp"
namespace mppi::critics
{
class ObstaclesCritic : public CriticFunction
{
public:
void initialize() override;
void score(CriticData & data) override;
protected:
inline bool inCollision(float cost) const;
inline CollisionCost costAtPose(float x, float y, float theta);
inline float distanceToObstacle(const CollisionCost & cost);
float findCircumscribedCost(std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap);
protected:
nav2_costmap_2d::FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>
collision_checker_{nullptr};
bool consider_footprint_{true};
float collision_cost_{0};
float inflation_scale_factor_{0}, inflation_radius_{0};
float possible_collision_cost_;
float collision_margin_distance_;
float near_goal_distance_;
float circumscribed_cost_{0}, circumscribed_radius_{0};
unsigned int power_{0};
float repulsion_weight_, critical_weight_{0};
std::string inflation_layer_name_;
};
} // namespace mppi::critics
#endif // NAV2_MPPI_CONTROLLER__CRITICS__OBSTACLES_CRITIC_HPP_