jump_detector.h

Go to the documentation of this file.

/*
 * Copyright (c) 2018, the neonavigation authors
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef PLANNER_CSPACE_PLANNER_3D_JUMP_DETECTOR_H
#define PLANNER_CSPACE_PLANNER_3D_JUMP_DETECTOR_H

#include <ros/ros.h>

#include <tf2/utils.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_ros/transform_listener.h>

#include <string>

class JumpDetector
{
protected:
  tf2_ros::Buffer& tfbuf_;
  tf2_ros::TransformListener tfl_;
  tf2::Transform base_trans_prev_;
  tf2::Transform map_trans_prev_;

  std::string jump_detect_frame_;
  std::string map_frame_;

  double pos_jump_;
  double yaw_jump_;

  bool init_;

public:
  explicit JumpDetector(tf2_ros::Buffer& tfbuf)
    : tfbuf_(tfbuf)
    , tfl_(tfbuf_)
    , base_trans_prev_(tf2::Quaternion(0, 0, 0, 1))
    , map_trans_prev_(tf2::Quaternion(0, 0, 0, 1))
    , init_(false)
  {
  }
  void setMapFrame(const std::string& frame_id)
  {
    map_frame_ = frame_id;
  }
  void setBaseFrame(const std::string& frame_id)
  {
    jump_detect_frame_ = frame_id;
  }
  void setThresholds(const double pos_jump, const double yaw_jump)
  {
    pos_jump_ = pos_jump;
    yaw_jump_ = yaw_jump;
  }
  bool detectJump()
  {
    tf2::Stamped<tf2::Transform> base_trans;
    tf2::Stamped<tf2::Transform> map_trans;
    try
    {
      geometry_msgs::TransformStamped base_trans_tmp =
          tfbuf_.lookupTransform(jump_detect_frame_, "base_link", ros::Time());
      geometry_msgs::TransformStamped map_trans_tmp =
          tfbuf_.lookupTransform(map_frame_, "base_link", ros::Time());
      tf2::fromMsg(base_trans_tmp, base_trans);
      tf2::fromMsg(map_trans_tmp, map_trans);
    }
    catch (tf2::TransformException& e)
    {
      return false;
    }
    const auto diff =
        map_trans.inverse() * map_trans_prev_ * (base_trans_prev_.inverse() * base_trans);
    base_trans_prev_ = base_trans;
    map_trans_prev_ = map_trans;

    if (!init_)
    {
      init_ = true;
      return false;
    }

    const auto pos_diff = diff.getOrigin().length();
    const auto yaw_diff = tf2::getYaw(diff.getRotation());

    if (pos_diff > pos_jump_ || fabs(yaw_diff) > yaw_jump_)
    {
      ROS_ERROR("Position jumped (%0.3f/%0.3f, %0.3f/%0.3f); clearing history",
                pos_diff, pos_jump_, yaw_diff, yaw_jump_);
      return true;
    }
    return false;
  }
};

#endif  // PLANNER_CSPACE_PLANNER_3D_JUMP_DETECTOR_H