dwa_planner.h

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* Author: Eitan Marder-Eppstein
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#ifndef DWA_LOCAL_PLANNER_DWA_PLANNER_H_
#define DWA_LOCAL_PLANNER_DWA_PLANNER_H_
 
#include <vector>
#include <Eigen/Core>
 
 
#include <dwa_local_planner/DWAPlannerConfig.h>
 
//for creating a local cost grid
#include <base_local_planner/map_grid_visualizer.h>
 
//for obstacle data access
#include <costmap_2d/costmap_2d.h>
 
#include <base_local_planner/trajectory.h>
#include <base_local_planner/local_planner_limits.h>
#include <base_local_planner/local_planner_util.h>
#include <base_local_planner/simple_trajectory_generator.h>
 
#include <base_local_planner/oscillation_cost_function.h>
#include <base_local_planner/map_grid_cost_function.h>
#include <base_local_planner/obstacle_cost_function.h>
#include <base_local_planner/twirling_cost_function.h>
#include <base_local_planner/simple_scored_sampling_planner.h>
 
#include <nav_msgs/Path.h>
 
namespace dwa_local_planner {
  class DWAPlanner {
    public:
      DWAPlanner(std::string name, base_local_planner::LocalPlannerUtil *planner_util);
 
      void reconfigure(DWAPlannerConfig &cfg);
 
      bool checkTrajectory(
          const Eigen::Vector3f pos,
          const Eigen::Vector3f vel,
          const Eigen::Vector3f vel_samples);
 
      base_local_planner::Trajectory findBestPath(
          const geometry_msgs::PoseStamped& global_pose,
          const geometry_msgs::PoseStamped& global_vel,
          geometry_msgs::PoseStamped& drive_velocities);
 
      void updatePlanAndLocalCosts(const geometry_msgs::PoseStamped& global_pose,
          const std::vector<geometry_msgs::PoseStamped>& new_plan,
          const std::vector<geometry_msgs::Point>& footprint_spec);
 
      double getSimPeriod() { return sim_period_; }
 
      bool getCellCosts(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost);
 
      bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan);
 
    private:
 
      base_local_planner::LocalPlannerUtil *planner_util_;
 
      double stop_time_buffer_; 
      double path_distance_bias_, goal_distance_bias_, occdist_scale_;
      Eigen::Vector3f vsamples_;
 
      double sim_period_;
      base_local_planner::Trajectory result_traj_;
 
      double forward_point_distance_;
 
      std::vector<geometry_msgs::PoseStamped> global_plan_;
 
      boost::mutex configuration_mutex_;
      std::string frame_id_;
      ros::Publisher traj_cloud_pub_;
      bool publish_cost_grid_pc_; 
      bool publish_traj_pc_;
 
      double cheat_factor_;
 
      base_local_planner::MapGridVisualizer map_viz_; 
 
      // see constructor body for explanations
      base_local_planner::SimpleTrajectoryGenerator generator_;
      base_local_planner::OscillationCostFunction oscillation_costs_;
      base_local_planner::ObstacleCostFunction obstacle_costs_;
      base_local_planner::MapGridCostFunction path_costs_;
      base_local_planner::MapGridCostFunction goal_costs_;
      base_local_planner::MapGridCostFunction goal_front_costs_;
      base_local_planner::MapGridCostFunction alignment_costs_;
      base_local_planner::TwirlingCostFunction twirling_costs_;
 
      base_local_planner::SimpleScoredSamplingPlanner scored_sampling_planner_;
  };
};
#endif