00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2017, Locus Robotics 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the copyright holder nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef DWB_CRITICS_MAP_GRID_H 00036 #define DWB_CRITICS_MAP_GRID_H 00037 00038 #include <dwb_local_planner/trajectory_critic.h> 00039 #include <costmap_queue/costmap_queue.h> 00040 #include <vector> 00041 00042 namespace dwb_critics 00043 { 00057 class MapGridCritic: public dwb_local_planner::TrajectoryCritic 00058 { 00059 public: 00060 MapGridCritic() : cell_values_(-1.0) {} 00061 00062 // Standard TrajectoryCritic Interface 00063 void onInit() override; 00064 double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override; 00065 void addCriticVisualization(sensor_msgs::PointCloud& pc) override; 00066 double getScale() const override { return costmap_->getResolution() * 0.5 * scale_; } 00067 00068 // Helper Functions 00074 virtual double scorePose(const geometry_msgs::Pose2D& pose); 00075 00082 inline double getScore(unsigned int x, unsigned int y) { return cell_values_(x, y); } 00083 00089 void setAsObstacle(unsigned int x, unsigned int y); 00090 00091 protected: 00099 enum class ScoreAggregationType {Last, Sum, Product}; 00100 00105 class MapGridQueue : public costmap_queue::CostmapQueue 00106 { 00107 public: 00108 MapGridQueue(nav_core2::Costmap& costmap, MapGridCritic& parent) 00109 : costmap_queue::CostmapQueue(costmap, true), parent_(parent) {} 00110 bool validCellToQueue(const costmap_queue::CellData& cell) override; 00111 protected: 00112 MapGridCritic& parent_; 00113 }; 00114 00118 void reset() override; 00119 00123 void propogateManhattanDistances(); 00124 00125 std::shared_ptr<MapGridQueue> queue_; 00126 nav_grid::VectorNavGrid<double> cell_values_; 00127 double obstacle_score_, unreachable_score_; 00128 bool stop_on_failure_; 00129 ScoreAggregationType aggregationType_; 00130 }; 00131 } // namespace dwb_critics 00132 00133 #endif // DWB_CRITICS_MAP_GRID_H