base_local_planner: goal_functions.h Source File

Go to the documentation of this file.
00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 *  POSSIBILITY OF SUCH DAMAGE.
00034 *
00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef BASE_LOCAL_PLANNER_GOAL_FUNCTIONS_H_
00038 #define BASE_LOCAL_PLANNER_GOAL_FUNCTIONS_H_
00039 
00040 #include <ros/ros.h>
00041 #include <tf/transform_listener.h>
00042 #include <tf/transform_datatypes.h>
00043 #include <nav_msgs/Odometry.h>
00044 #include <nav_msgs/Path.h>
00045 #include <geometry_msgs/PoseStamped.h>
00046 #include <geometry_msgs/Twist.h>
00047 #include <geometry_msgs/Point.h>
00048 #include <tf/transform_listener.h>
00049 
00050 #include <string>
00051 #include <cmath>
00052 
00053 #include <angles/angles.h>
00054 #include <costmap_2d/costmap_2d.h>
00055 
00056 namespace base_local_planner {
00057 
00065   double getGoalPositionDistance(const tf::Stamped<tf::Pose>& global_pose, double goal_x, double goal_y);
00066 
00074   double getGoalOrientationAngleDifference(const tf::Stamped<tf::Pose>& global_pose, double goal_th);
00075 
00082   void publishPlan(const std::vector<geometry_msgs::PoseStamped>& path, const ros::Publisher& pub);
00083 
00090   void prunePlan(const tf::Stamped<tf::Pose>& global_pose, std::vector<geometry_msgs::PoseStamped>& plan, std::vector<geometry_msgs::PoseStamped>& global_plan);
00091 
00102   bool transformGlobalPlan(const tf::TransformListener& tf,
00103       const std::vector<geometry_msgs::PoseStamped>& global_plan,
00104       const tf::Stamped<tf::Pose>& global_robot_pose,
00105       const costmap_2d::Costmap2D& costmap,
00106       const std::string& global_frame,
00107       std::vector<geometry_msgs::PoseStamped>& transformed_plan);
00108 
00117   bool getGoalPose(const tf::TransformListener& tf,
00118                   const std::vector<geometry_msgs::PoseStamped>& global_plan,
00119                   const std::string& global_frame,
00120                   tf::Stamped<tf::Pose> &goal_pose);
00121 
00135   bool isGoalReached(const tf::TransformListener& tf,
00136       const std::vector<geometry_msgs::PoseStamped>& global_plan,
00137       const costmap_2d::Costmap2D& costmap,
00138       const std::string& global_frame,
00139       tf::Stamped<tf::Pose>& global_pose,
00140       const nav_msgs::Odometry& base_odom,
00141       double rot_stopped_vel, double trans_stopped_vel,
00142       double xy_goal_tolerance, double yaw_goal_tolerance);
00143 
00151   bool stopped(const nav_msgs::Odometry& base_odom, 
00152       const double& rot_stopped_velocity,
00153       const double& trans_stopped_velocity);
00154 };
00155 #endif