sbpl_cart_planner.h

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* Author: Mike Phillips, Sachin Chitta
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#ifndef SBPL_CART_PLANNER_H
#define SBPL_CART_PLANNER_H

#include <iostream>
#include <vector>

using namespace std;

#include <ros/ros.h>

// Costmap used for the map representation
#include <costmap_2d/costmap_2d_ros.h>

// sbpl headers
#include <sbpl/headers.h>

//global representation
#include <nav_core/base_global_planner.h>

#include <sbpl_cart_planner/environment_cart_planner.h>
#include <visualization_msgs/MarkerArray.h>

class SBPLCartPlanner : public nav_core::BaseGlobalPlanner{
public:
  
  SBPLCartPlanner();

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


  virtual void initialize(std::string name, 
                          costmap_2d::Costmap2DROS* costmap_ros);
  
  virtual bool makePlan(const geometry_msgs::PoseStamped& start, 
                        const geometry_msgs::PoseStamped& goal, 
                        std::vector<geometry_msgs::PoseStamped>& plan);

  virtual ~SBPLCartPlanner(){};

private:
  bool initialized_;

  SBPLPlanner* planner_;
  EnvironmentNAVXYTHETACARTLAT* env_;
  
  std::string planner_type_; 
  double allocated_time_; 
  double initial_epsilon_; 
  std::string environment_type_; 
  std::string cost_map_topic_; 
  bool forward_search_; 
  std::string primitive_filename_; 
  int force_scratch_limit_; 
  costmap_2d::Costmap2DROS* costmap_ros_; 
  costmap_2d::Costmap2D cost_map_;        
  ros::Publisher plan_pub_,sbpl_plan_pub_,sbpl_plan_footprint_pub_,sbpl_robot_cart_plan_pub_, stats_publisher_;
  
  std::vector<geometry_msgs::Point> footprint_;
  std::vector<geometry_msgs::Point> loadRobotFootprint(ros::NodeHandle node);

  double sign(double x);
  sbpl_2Dpt_t cart_offset_, cart_cp_offset_;

  void convertPathToMarkerArray(const std::vector<EnvNAVXYTHETACARTLAT3Dpt_t> &sbpl_path,
                                const std::string &path_frame_id,
                                visualization_msgs::MarkerArray &ma);

  std::vector<geometry_msgs::Point> cart_footprint_,robot_footprint_;

  void transformFootprintToEdges(const geometry_msgs::Pose &robot_pose,
                                 const std::vector<geometry_msgs::Point> &footprint,
                                 std::vector<geometry_msgs::Point> &out_footprint);

  void getFootprintList(const std::vector<EnvNAVXYTHETACARTLAT3Dpt_t> &sbpl_path,
                        const std::string &path_frame_id,
                        visualization_msgs::MarkerArray &ma);
  geometry_msgs::Pose getGlobalCartPose(const EnvNAVXYTHETACARTLAT3Dpt_t& sbpl_pose);
  geometry_msgs::Pose getLocalCartPose(const EnvNAVXYTHETACARTLAT3Dpt_t& sbpl_pose);
  geometry_msgs::Pose getLocalCartControlFramePose(const EnvNAVXYTHETACARTLAT3Dpt_t& sbpl_pose);

  bool clearFootprint(const geometry_msgs::Pose &robot_pose, 
                      const std::vector<geometry_msgs::Point> &footprint);
  
  void getOrientedFootprint(const geometry_msgs::Pose &robot_pose,
                            const std::vector<geometry_msgs::Point> &footprint,
                            std::vector<geometry_msgs::Point> &oriented_footprint);

  geometry_msgs::Pose getGlobalCartPose(const geometry_msgs::Pose &robot_pose, const double &cart_angle);

  unsigned char costMapCostToSBPLCost(unsigned char newcost);

  unsigned char sbpl_cost_multiplier_;
  unsigned char lethal_obstacle_;
  unsigned char inscribed_inflated_obstacle_;
  unsigned int num_sbpl_markers_;
  int visualizer_skip_poses_;
};

#endif