trajectory_planner_ros.h

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* Author: Eitan Marder-Eppstein
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#ifndef TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_ROS_H_
#define TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_ROS_H_

#include <ros/ros.h>
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/costmap_2d_publisher.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <base_local_planner/world_model.h>
#include <base_local_planner/point_grid.h>
#include <base_local_planner/costmap_model.h>
#include <base_local_planner/voxel_grid_model.h>
#include <base_local_planner/trajectory_planner.h>
#include <base_local_planner/map_grid_visualizer.h>

#include <base_local_planner/planar_laser_scan.h>

#include <tf/transform_datatypes.h>

#include <nav_msgs/Odometry.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>

#include <tf/transform_listener.h>

#include <boost/thread.hpp>

#include <string>

#include <angles/angles.h>

#include <nav_core/base_local_planner.h>

#include <dynamic_reconfigure/server.h>
#include <base_local_planner/BaseLocalPlannerConfig.h>

#include <base_local_planner/odometry_helper_ros.h>

namespace base_local_planner {
  class TrajectoryPlannerROS : public nav_core::BaseLocalPlanner {
    public:
      TrajectoryPlannerROS();

      TrajectoryPlannerROS(std::string name,
                           tf::TransformListener* tf,
                           costmap_2d::Costmap2DROS* costmap_ros);

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

      ~TrajectoryPlannerROS();
      
      bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel);

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

      bool isGoalReached();

      bool checkTrajectory(double vx_samp, double vy_samp, double vtheta_samp, bool update_map = true);

      double scoreTrajectory(double vx_samp, double vy_samp, double vtheta_samp, bool update_map = true);

      bool isInitialized() {
        return initialized_;
      }

      TrajectoryPlanner* getPlanner() const { return tc_; }

    private:
      void reconfigureCB(BaseLocalPlannerConfig &config, uint32_t level);

      bool rotateToGoal(const tf::Stamped<tf::Pose>& global_pose, const tf::Stamped<tf::Pose>& robot_vel, double goal_th, geometry_msgs::Twist& cmd_vel);

      bool stopWithAccLimits(const tf::Stamped<tf::Pose>& global_pose, const tf::Stamped<tf::Pose>& robot_vel, geometry_msgs::Twist& cmd_vel);

      std::vector<double> loadYVels(ros::NodeHandle node);

      double sign(double x){
        return x < 0.0 ? -1.0 : 1.0;
      }

      WorldModel* world_model_; 
      TrajectoryPlanner* tc_; 

      costmap_2d::Costmap2DROS* costmap_ros_; 
      costmap_2d::Costmap2D* costmap_; 
      MapGridVisualizer map_viz_; 
      tf::TransformListener* tf_; 
      std::string global_frame_; 
      double max_sensor_range_; 
      nav_msgs::Odometry base_odom_; 
      std::string robot_base_frame_; 
      double rot_stopped_velocity_, trans_stopped_velocity_;
      double xy_goal_tolerance_, yaw_goal_tolerance_, min_in_place_vel_th_;
      std::vector<geometry_msgs::PoseStamped> global_plan_;
      bool prune_plan_;
      boost::recursive_mutex odom_lock_;

      double max_vel_th_, min_vel_th_;
      double acc_lim_x_, acc_lim_y_, acc_lim_theta_;
      double sim_period_;
      bool rotating_to_goal_;
      bool reached_goal_;
      bool latch_xy_goal_tolerance_, xy_tolerance_latch_;

      ros::Publisher g_plan_pub_, l_plan_pub_;

      dynamic_reconfigure::Server<BaseLocalPlannerConfig> *dsrv_;
      base_local_planner::BaseLocalPlannerConfig default_config_;
      bool setup_;


      bool initialized_;
      base_local_planner::OdometryHelperRos odom_helper_;

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