Program Listing for File collision_checker.hpp

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// Copyright (c) 2020, Samsung Research America
//
// 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. Reserved.

#include <vector>
#include <memory>

#include "nav2_costmap_2d/footprint_collision_checker.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_smac_planner/constants.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"

#ifndef NAV2_SMAC_PLANNER__COLLISION_CHECKER_HPP_
#define NAV2_SMAC_PLANNER__COLLISION_CHECKER_HPP_

namespace nav2_smac_planner
{

class GridCollisionChecker
  : public nav2_costmap_2d::FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>
{
public:
  GridCollisionChecker(
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap,
    unsigned int num_quantizations,
    rclcpp_lifecycle::LifecycleNode::SharedPtr node);

  // GridCollisionChecker(
  //   nav2_costmap_2d::Costmap2D * costmap,
  //   std::vector<float> & angles);

  void setFootprint(
    const nav2_costmap_2d::Footprint & footprint,
    const bool & radius,
    const double & possible_collision_cost);

  bool inCollision(
    const float & x,
    const float & y,
    const float & theta,
    const bool & traverse_unknown);

  bool inCollision(
    const unsigned int & i,
    const bool & traverse_unknown);

  float getCost();

  std::vector<float> & getPrecomputedAngles()
  {
    return angles_;
  }

  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> getCostmapROS() {return costmap_ros_;}

private:
  bool outsideRange(const unsigned int & max, const float & value);

protected:
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  std::vector<nav2_costmap_2d::Footprint> oriented_footprints_;
  nav2_costmap_2d::Footprint unoriented_footprint_;
  float footprint_cost_;
  bool footprint_is_radius_;
  std::vector<float> angles_;
  float possible_collision_cost_{-1};
  rclcpp::Logger logger_{rclcpp::get_logger("SmacPlannerCollisionChecker")};
  rclcpp::Clock::SharedPtr clock_;
};

}  // namespace nav2_smac_planner

#endif  // NAV2_SMAC_PLANNER__COLLISION_CHECKER_HPP_