eband_local_planner.h

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#ifndef EBAND_LOCAL_PLANNER_H_
#define EBAND_LOCAL_PLANNER_H_

//#define DEBUG_EBAND_ // uncomment to enable additional publishing, visualization and logouts for debug

#include <ros/ros.h>
#include <ros/assert.h>

// classes which are part of this package
#include <eband_local_planner/conversions_and_types.h>
#include <eband_local_planner/eband_visualization.h>

// local planner specific classes
#include <base_local_planner/costmap_model.h>

// msgs
#include <nav_msgs/Path.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Pose2D.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/WrenchStamped.h>

// transforms
#include <angles/angles.h>
#include <tf/tf.h>

// costmap & geometry
#include <costmap_2d/costmap_2d_ros.h>

// boost classes
#include <boost/shared_ptr.hpp>

namespace eband_local_planner{

class EBandPlanner{

        public:
                EBandPlanner();

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

                ~EBandPlanner();

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

                void setVisualization(boost::shared_ptr<EBandVisualization> eband_visual);

                bool setPlan(const std::vector<geometry_msgs::PoseStamped>& global_plan);

                bool getPlan(std::vector<geometry_msgs::PoseStamped>& global_plan);

                bool getBand(std::vector<Bubble>& elastic_band);

                bool addFrames(const std::vector<geometry_msgs::PoseStamped>& robot_pose, const AddAtPosition& add_frames_at);

                bool optimizeBand();

                bool optimizeBand(std::vector<Bubble>& band);

        private:
                // pointer to external objects (do NOT delete object)
                costmap_2d::Costmap2DROS* costmap_ros_; 

                // parameters
                std::vector<double> acc_lim_; 
                int num_optim_iterations_; 
                double internal_force_gain_; 
                double external_force_gain_; 
                double tiny_bubble_distance_; 
                double tiny_bubble_expansion_; 
                double min_bubble_overlap_; 
                int max_recursion_depth_approx_equi_; 
                double equilibrium_relative_overshoot_; 
                double significant_force_; 

                // pointer to locally created objects (delete - except for smart-ptrs:)
                base_local_planner::CostmapModel* world_model_; // local world model
                boost::shared_ptr<EBandVisualization> eband_visual_; // pointer to visualization object

                // flags
                bool initialized_, visualization_;

                // data
                std::vector<geometry_msgs::Point> footprint_spec_; // specification of robot footprint as vector of corner points
                costmap_2d::Costmap2D costmap_; // local copy of costmap
                std::vector<geometry_msgs::PoseStamped> global_plan_; // copy of the plan that shall be optimized
                std::vector<Bubble> elastic_band_;


                // methods

                // band refinement (filling of gaps & removing redundant bubbles)

                bool refineBand(std::vector<Bubble>& band);


                bool removeAndFill(std::vector<Bubble>& band, std::vector<Bubble>::iterator& start_iter,std::vector<Bubble>::iterator& end_iter);


                bool fillGap(std::vector<Bubble>& band, std::vector<Bubble>::iterator& start_iter,std::vector<Bubble>::iterator& end_iter);


                // optimization

                bool modifyBandArtificialForce(std::vector<Bubble>& band);


                bool applyForces(int bubble_num, std::vector<Bubble>& band, std::vector<geometry_msgs::WrenchStamped> forces);


                bool moveApproximateEquilibrium(const int& bubble_num, const std::vector<Bubble>& band, Bubble& curr_bubble,
                                                                                const geometry_msgs::WrenchStamped& curr_bubble_force, geometry_msgs::Twist& curr_step_width,
                                                                                const int& curr_recursion_depth);


                // problem (geometry) dependant functions

                bool interpolateBubbles(geometry_msgs::PoseStamped start_center, geometry_msgs::PoseStamped end_center, geometry_msgs::PoseStamped& interpolated_center);


                bool checkOverlap(Bubble bubble1, Bubble bubble2);


                bool calcBubbleDistance(geometry_msgs::Pose start_center_pose, geometry_msgs::Pose end_center_pose, double& distance);


                bool calcBubbleDifference(geometry_msgs::Pose start_center_pose, geometry_msgs::Pose end_center_pose, geometry_msgs::Twist& difference);


                bool calcObstacleKinematicDistance(geometry_msgs::Pose center_pose, double& distance);


                bool getForcesAt(int bubble_num, std::vector<Bubble> band, Bubble curr_bubble, geometry_msgs::WrenchStamped& forces);


                bool calcInternalForces(int bubble_num, std::vector<Bubble> band, Bubble curr_bubble, geometry_msgs::WrenchStamped& forces);


                bool calcExternalForces(int bubble_num, Bubble curr_bubble, geometry_msgs::WrenchStamped& forces);


                bool suppressTangentialForces(int bubble_num, std::vector<Bubble> band, geometry_msgs::WrenchStamped& forces);


                // type conversion

                bool convertPlanToBand(std::vector<geometry_msgs::PoseStamped> plan, std::vector<Bubble>& band);


                bool convertBandToPlan(std::vector<geometry_msgs::PoseStamped>& plan, std::vector<Bubble> band);

};
};
#endif