goal_dist.cpp
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00001 /*
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00034 #include <dwb_critics/goal_dist.h>
00035 #include <nav_grid/coordinate_conversion.h>
00036 #include <pluginlib/class_list_macros.h>
00037 #include <nav_2d_utils/path_ops.h>
00038 #include <vector>
00039 
00040 namespace dwb_critics
00041 {
00042 bool GoalDistCritic::prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
00043                              const geometry_msgs::Pose2D& goal,
00044                              const nav_2d_msgs::Path2D& global_plan)
00045 {
00046   reset();
00047 
00048   unsigned int local_goal_x, local_goal_y;
00049   if (!getLastPoseOnCostmap(global_plan, local_goal_x, local_goal_y))
00050   {
00051     return false;
00052   }
00053 
00054   // Enqueue just the last pose
00055   cell_values_.setValue(local_goal_x, local_goal_y, 0.0);
00056   queue_->enqueueCell(local_goal_x, local_goal_y);
00057 
00058   propogateManhattanDistances();
00059 
00060   return true;
00061 }
00062 
00063 bool GoalDistCritic::getLastPoseOnCostmap(const nav_2d_msgs::Path2D& global_plan, unsigned int& x, unsigned int& y)
00064 {
00065   const nav_core2::Costmap& costmap = *costmap_;
00066   const nav_grid::NavGridInfo& info = costmap.getInfo();
00067   nav_2d_msgs::Path2D adjusted_global_plan = nav_2d_utils::adjustPlanResolution(global_plan, info.resolution);
00068   bool started_path = false;
00069 
00070   // skip global path points until we reach the border of the local map
00071   for (unsigned int i = 0; i < adjusted_global_plan.poses.size(); ++i)
00072   {
00073     double g_x = adjusted_global_plan.poses[i].x;
00074     double g_y = adjusted_global_plan.poses[i].y;
00075     unsigned int map_x, map_y;
00076     if (worldToGridBounded(info, g_x, g_y, map_x, map_y) && costmap(map_x, map_y) != costmap.NO_INFORMATION)
00077     {
00078       // Still on the costmap. Continue.
00079       x = map_x;
00080       y = map_y;
00081       started_path = true;
00082     }
00083     else if (started_path)
00084     {
00085       // Off the costmap after being on the costmap. Return the last saved indices.
00086       return true;
00087     }
00088     // else, we have not yet found a point on the costmap, so we just continue
00089   }
00090 
00091   if (started_path)
00092   {
00093     return true;
00094   }
00095   else
00096   {
00097     ROS_ERROR_NAMED("GoalDistCritic", "None of the points of the global plan were in the local costmap.");
00098     return false;
00099   }
00100 }
00101 
00102 }  // namespace dwb_critics
00103 
00104 PLUGINLIB_EXPORT_CLASS(dwb_critics::GoalDistCritic, dwb_local_planner::TrajectoryCritic)


dwb_critics
Author(s): David V. Lu!!
autogenerated on Wed Jun 26 2019 20:09:47