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Program Listing for File backward_local_planner.hpp
===================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_custom_planners_backward_local_planner_include_backward_local_planner_backward_local_planner.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/custom_planners/backward_local_planner/include/backward_local_planner/backward_local_planner.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 RobosoftAI Inc.
   //
   // 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.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    ******************************************************************************************************************/
   #pragma once
   //#include <dynamic_reconfigure/server.h>
   //#include <backward_local_planner/BackwardLocalPlannerConfig.h>
   #include <tf2/transform_datatypes.h>
   #include <tf2_ros/buffer.h>
   #include <geometry_msgs/msg/pose_stamped.hpp>
   #include <nav2_core/controller.hpp>
   #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
   #include <visualization_msgs/msg/marker_array.hpp>
   
   #include <tf2/utils.h>
   #include <eigen3/Eigen/Eigen>
   
   typedef double meter;
   typedef double rad;
   
   namespace cl_nav2z
   {
   namespace backward_local_planner
   {
   class BackwardLocalPlanner : public nav2_core::Controller
   {
   public:
     BackwardLocalPlanner();
   
     virtual ~BackwardLocalPlanner();
   
     void configure(
       const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, std::string name,
       const std::shared_ptr<tf2_ros::Buffer> tf,
       const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
   
     void activate() override;
   
     void deactivate() override;
   
     void cleanup() override;
   
     void setPlan(const nav_msgs::msg::Path & path) override;
   
     virtual geometry_msgs::msg::TwistStamped computeVelocityCommands(
       const geometry_msgs::msg::PoseStamped & pose, const geometry_msgs::msg::Twist & velocity,
       nav2_core::GoalChecker * goal_checker) override;
   
     /*deprecated in navigation2*/
     bool isGoalReached();
   
     virtual void setSpeedLimit(const double & speed_limit, const bool & percentage) override;
   
   private:
     void updateParameters();
   
     // returns true if found
     bool findInitialCarrotGoal(geometry_msgs::msg::PoseStamped & pose);
   
     // returns true for a pure spining motion request
     bool updateCarrotGoal(const geometry_msgs::msg::PoseStamped & pose);
   
     bool resamplePrecisePlan();
   
     void straightBackwardsAndPureSpinCmd(
       const geometry_msgs::msg::PoseStamped & pose, double & vetta, double & gamma,
       double alpha_error, double betta_error, double rho_error);
   
     void clearMarkers();
     void publishGoalMarker(double x, double y, double phi);
   
     void computeCurrentEuclideanAndAngularErrorsToCarrotGoal(
       const geometry_msgs::msg::PoseStamped & pose, double & dist, double & angular_error);
   
     bool checkGoalReached(
       const geometry_msgs::msg::PoseStamped & pose, double vetta, double gamma, double alpha_error,
       geometry_msgs::msg::Twist & cmd_vel);
   
     bool checkCurrentPoseInGoalRange(
       const geometry_msgs::msg::PoseStamped & tfpose, const geometry_msgs::msg::Twist & currentTwist,
       double angle_error, bool & linearGoalReached, nav2_core::GoalChecker * goalChecker);
   
     bool resetDivergenceDetection();
   
     bool divergenceDetectionUpdate(const geometry_msgs::msg::PoseStamped & pose);
   
     bool checkCarrotHalfPlainConstraint(const geometry_msgs::msg::PoseStamped & pose);
   
     // void reconfigCB(::backward_local_planner::BackwardLocalPlannerConfig &config, uint32_t level);
     // dynamic_reconfigure::Server<::backward_local_planner::BackwardLocalPlannerConfig> paramServer_;
     // dynamic_reconfigure::Server<::backward_local_planner::BackwardLocalPlannerConfig>::CallbackType f;
   
     rclcpp_lifecycle::LifecycleNode::SharedPtr nh_;
     std::string name_;
   
     std::vector<geometry_msgs::msg::PoseStamped> backwardsPlanPath_;
     std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmapRos_;
     std::shared_ptr<tf2_ros::Buffer> tf_;
   
     std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<visualization_msgs::msg::MarkerArray>>
       goalMarkerPublisher_;
     std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> planPub_;
   
     // --- control parameters ---
     double k_rho_;
     double k_alpha_;
     double k_betta_;
     double pure_spinning_allowed_betta_error_;
     double linear_mode_rho_error_threshold_;
   
     const double alpha_offset_ = M_PI;
     const double betta_offset_ = 0;
   
     double max_linear_x_speed_;   // meters/sec
     double max_angular_z_speed_;  // rads/sec
   
     double yaw_goal_tolerance_;  // radians
     double xy_goal_tolerance_;   // meters
   
     meter carrot_distance_;
     rad carrot_angular_distance_;
     meter divergenceDetectionLastCarrotLinearDistance_;
   
     double transform_tolerance_;
   
     rclcpp::Duration waitingTimeout_;
     rclcpp::Time waitingStamp_;
   
     // --- controller state ---
     bool goalReached_;
     bool initialPureSpinningStage_;
     bool straightBackwardsAndPureSpinningMode_ = false;
     bool enable_obstacle_checking_ = true;
     bool inGoalPureSpinningState_ = false;
     bool waiting_;
   
     // references the current point inside the backwardsPlanPath were the robot is located
     int currentCarrotPoseIndex_;
   
     void generateTrajectory(
       const Eigen::Vector3f & pos, const Eigen::Vector3f & vel, float maxdist, float maxangle,
       float maxtime, float dt, std::vector<Eigen::Vector3f> & outtraj);
   
     Eigen::Vector3f computeNewPositions(
       const Eigen::Vector3f & pos, const Eigen::Vector3f & vel, double dt);
   };
   }  // namespace backward_local_planner
   }  // namespace cl_nav2z