carrot_planner.h

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* Author: Eitan Marder-Eppstein
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#ifndef CARROT_PLANNER_H_
#define CARROT_PLANNER_H_
#include <ros/ros.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <costmap_2d/costmap_2d.h>
#include <nav_core/base_global_planner.h>

#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Point.h>

#include <angles/angles.h>

#include <tf/tf.h>
#include <tf/transform_datatypes.h>

#include <base_local_planner/world_model.h>
#include <base_local_planner/costmap_model.h>

namespace carrot_planner{
  class CarrotPlanner : public nav_core::BaseGlobalPlanner {
    public:
      CarrotPlanner();
      CarrotPlanner(std::string name, costmap_2d::Costmap2DROS* costmap_ros);

      void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros);

      bool makePlan(const geometry_msgs::PoseStamped& start, 
          const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan);

    private:
      costmap_2d::Costmap2DROS* costmap_ros_;
      double step_size_, min_dist_from_robot_;
      costmap_2d::Costmap2D costmap_;
      base_local_planner::WorldModel* world_model_; 
      double inscribed_radius_, circumscribed_radius_, inflation_radius_; 

      double footprintCost(double x_i, double y_i, double theta_i);

      std::vector<geometry_msgs::Point> footprint_spec_; 
      bool initialized_;
  };
};  
#endif