traceback.h

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#ifndef DLUX_GLOBAL_PLANNER_TRACEBACK_H
#define DLUX_GLOBAL_PLANNER_TRACEBACK_H

#include <ros/ros.h>
#include <dlux_global_planner/potential.h>
#include <dlux_global_planner/cost_interpreter.h>
#include <nav_grid/nav_grid_info.h>
#include <nav_2d_msgs/Path2D.h>

namespace dlux_global_planner
{
class Traceback
{
public:
  Traceback() : cost_interpreter_(nullptr) {}
  virtual ~Traceback() = default;

  virtual void initialize(ros::NodeHandle& private_nh, CostInterpreter::Ptr cost_interpreter)
    { cost_interpreter_ = cost_interpreter; }

  virtual nav_2d_msgs::Path2D getPath(const PotentialGrid& potential_grid,
                                      const geometry_msgs::Pose2D& start, const geometry_msgs::Pose2D& goal,
                                      double& path_cost) = 0;
protected:
  nav_2d_msgs::Path2D mapPathToWorldPath(const nav_2d_msgs::Path2D& original, const nav_grid::NavGridInfo& info)
  {
    nav_2d_msgs::Path2D world_path;
    world_path.header.frame_id = info.frame_id;
    world_path.poses.resize(original.poses.size());
    for (unsigned int i = 0; i < original.poses.size(); i++)
    {
      world_path.poses[i].x = info.origin_x + original.poses[i].x * info.resolution;
      world_path.poses[i].y = info.origin_y + original.poses[i].y * info.resolution;
    }
    return world_path;
  }
  CostInterpreter::Ptr cost_interpreter_;
};
}  // namespace dlux_global_planner

#endif  // DLUX_GLOBAL_PLANNER_TRACEBACK_H