safe_trajectory_planner.h

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

#include <vector>
#include <math.h>
#include <ros/console.h>
#include <angles/angles.h>

//for creating a local cost grid
#include <base_local_planner/map_cell.h>
#include <base_local_planner/map_grid.h>

//for obstacle data access
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/cost_values.h>
#include <base_local_planner/world_model.h>

#include <base_local_planner/trajectory.h>

//we'll take in a path as a vector of poses
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Point.h>
#include <base_local_planner/Position2DInt.h>

//for computing path distance
#include <queue>

//for some datatypes
#include <tf/transform_datatypes.h>

namespace safe_teleop {
  class SafeTrajectoryPlanner{
    friend class SafeTrajectoryPlannerTest; //Need this for gtest to work
    public:
      SafeTrajectoryPlanner(base_local_planner::WorldModel& world_model,
          const costmap_2d::Costmap2D& costmap, 
          std::vector<geometry_msgs::Point> footprint_spec,
          double inscribed_radius, double circumscribed_radius,
          double acc_lim_x = 1.0, double acc_lim_y = 1.0, double acc_lim_theta = 1.0,
          double sim_time = 1.0, double sim_granularity = 0.025, 
          int vx_samples = 10, int vy_samples = 10, int vtheta_samples = 10,
          double userdist_scale = 0.8, double occdist_scale = 0.2,
          double max_vel_x = 0.5, double min_vel_x = 0.1,
          double max_vel_y = 0.2, double min_vel_y = -0.2,
          double max_vel_th = 1.0, double min_vel_th = -1.0,
          bool holonomic_robot = true, bool dwa = false);

      ~SafeTrajectoryPlanner();

      base_local_planner::Trajectory findBestPath(tf::Stamped<tf::Pose> global_pose, tf::Stamped<tf::Pose> global_vel,
          tf::Stamped<tf::Pose> user_vel, tf::Stamped<tf::Pose>& drive_velocities);

      base_local_planner::Trajectory findPath(tf::Stamped<tf::Pose> global_pose, tf::Stamped<tf::Pose> global_vel,
          tf::Stamped<tf::Pose> user_vel);

    private:
      base_local_planner::Trajectory createTrajectories(double x, double y, double theta, double vx, double vy, double vtheta,
          double acc_x, double acc_y, double acc_theta, double dx, double dy, double dtheta);

      void generateTrajectory(double x, double y, double theta, double vx, double vy, 
          double vtheta, double vx_samp, double vy_samp, double vtheta_samp, double acc_x, double acc_y,
          double acc_theta, double impossible_cost, double dx, double dy, double dtheta,
          base_local_planner::Trajectory& traj);

      double footprintCost(double x_i, double y_i, double theta_i);

      std::vector<base_local_planner::Position2DInt> getFootprintCells(double x_i, double y_i, double theta_i, bool fill);

      void getLineCells(int x0, int x1, int y0, int y1, std::vector<base_local_planner::Position2DInt>& pts);

      void getFillCells(std::vector<base_local_planner::Position2DInt>& footprint);

      base_local_planner::MapGrid map_; 
      const costmap_2d::Costmap2D& costmap_; 
      base_local_planner::WorldModel& world_model_; 

      std::vector<geometry_msgs::Point> footprint_spec_; 
      double inscribed_radius_, circumscribed_radius_; 

      double sim_time_;        
      double sim_granularity_; 

      int vx_samples_;     
      int vy_samples_;     
      int vtheta_samples_; 

      double userdist_scale_, occdist_scale_; 
      double acc_lim_x_, acc_lim_y_, acc_lim_theta_;          

      base_local_planner::Trajectory traj_one, traj_two; 

      double max_vel_x_, min_vel_x_, max_vel_y_, min_vel_y_, max_vel_th_, min_vel_th_; 
      
      bool holonomic_robot_;

      bool dwa_;


      inline double computeNewXPosition(double xi, double vx, double vy, double theta, double dt){
        return xi + (vx * cos(theta) + vy * cos(M_PI_2 + theta)) * dt;
      }

      inline double computeNewYPosition(double yi, double vx, double vy, double theta, double dt){
        return yi + (vx * sin(theta) + vy * sin(M_PI_2 + theta)) * dt;
      }

      inline double computeNewThetaPosition(double thetai, double vth, double dt){
        return thetai + vth * dt;
      }

      //compute velocity based on acceleration
      inline double computeNewVelocity(double vg, double vi, double a_max, double dt){
        if(vg >= 0)
          return std::min(vg, vi + a_max * dt);
        return std::max(vg, vi - a_max * dt);
      }

      double lineCost(int x0, int x1, int y0, int y1);
      double pointCost(int x, int y);
//      double headingDiff(int cell_x, int cell_y, double x, double y, double heading);
  };
};

#endif