Program Listing for File noise_generator.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__TOOLS__NOISE_GENERATOR_HPP_
#define NAV2_MPPI_CONTROLLER__TOOLS__NOISE_GENERATOR_HPP_

#include <string>
#include <memory>
#include <thread>
#include <mutex>
#include <condition_variable>

// xtensor creates warnings that needs to be ignored as we are building with -Werror
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Warray-bounds"
#pragma GCC diagnostic ignored "-Wstringop-overflow"
#include <xtensor/xtensor.hpp>
#include <xtensor/xview.hpp>
#pragma GCC diagnostic pop

#include "nav2_mppi_controller/models/optimizer_settings.hpp"
#include "nav2_mppi_controller/tools/parameters_handler.hpp"
#include "nav2_mppi_controller/models/control_sequence.hpp"
#include "nav2_mppi_controller/models/state.hpp"

namespace mppi
{

class NoiseGenerator
{
public:
  NoiseGenerator() = default;

  void initialize(
    mppi::models::OptimizerSettings & settings,
    bool is_holonomic, const std::string & name, ParametersHandler * param_handler);

  void shutdown();

  void generateNextNoises();

  void setNoisedControls(models::State & state, const models::ControlSequence & control_sequence);

  void reset(mppi::models::OptimizerSettings & settings, bool is_holonomic);

protected:
  void noiseThread();

  void generateNoisedControls();

  xt::xtensor<float, 2> noises_vx_;
  xt::xtensor<float, 2> noises_vy_;
  xt::xtensor<float, 2> noises_wz_;

  mppi::models::OptimizerSettings settings_;
  bool is_holonomic_;

  std::thread noise_thread_;
  std::condition_variable noise_cond_;
  std::mutex noise_lock_;
  bool active_{false}, ready_{false}, regenerate_noises_{false};
};

}  // namespace mppi

#endif  // NAV2_MPPI_CONTROLLER__TOOLS__NOISE_GENERATOR_HPP_