00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2019, DFKI GmbH 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 #ifndef MIR_DWB_CRITICS_PATH_PROGRESS_H_ 00035 #define MIR_DWB_CRITICS_PATH_PROGRESS_H_ 00036 00037 #include <dwb_critics/map_grid.h> 00038 #include <vector> 00039 00040 namespace mir_dwb_critics { 00050 class PathProgressCritic : public dwb_critics::MapGridCritic { 00051 public: 00052 bool prepare(const geometry_msgs::Pose2D &pose, 00053 const nav_2d_msgs::Twist2D &vel, 00054 const geometry_msgs::Pose2D &goal, 00055 const nav_2d_msgs::Path2D &global_plan) override; 00056 00057 void onInit() override; 00058 void reset() override; 00059 double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override; 00060 00061 protected: 00062 bool getGoalPose(const geometry_msgs::Pose2D &robot_pose, 00063 const nav_2d_msgs::Path2D &global_plan, 00064 unsigned int &x, 00065 unsigned int &y, 00066 double &desired_angle); 00067 00068 unsigned int getGoalIndex(const std::vector<geometry_msgs::Pose2D> &plan, 00069 unsigned int start_index, 00070 unsigned int last_valid_index) const; 00071 00072 double xy_local_goal_tolerance_; 00073 double angle_threshold_; 00074 double heading_scale_; 00075 00076 std::vector<geometry_msgs::Pose2D> reached_intermediate_goals_; 00077 double desired_angle_; 00078 }; 00079 00080 } // namespace mir_dwb_critics 00081 #endif // MIR_DWB_CRITICS_PATH_PROGRESS_H_