hector_path_follower.h

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//=================================================================================================
// Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt
// 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 Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt 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
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================

/*********************************************************************
* Based heavily on the pose_follower package
*********************************************************************/
#ifndef HECTOR_PATH_FOLLOWER_H_
#define HECTOR_PATH_FOLLOWER_H_
#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>

namespace pose_follower {
  class HectorPathFollower
  {
    public:
      HectorPathFollower();
      void initialize(tf::TransformListener* tf);
      bool isGoalReached();
      bool setPlan(const std::vector<geometry_msgs::PoseStamped>& global_plan);
      bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel);

    private:
      inline double sign(double n){
        return n < 0.0 ? -1.0 : 1.0;
      }

      geometry_msgs::Twist diff2D(const tf::Pose& pose1, const tf::Pose&  pose2);
      geometry_msgs::Twist limitTwist(const geometry_msgs::Twist& twist);
      double headingDiff(double pt_x, double pt_y, double x, double y, double heading);

      bool transformGlobalPlan(const tf::TransformListener& tf, const std::vector<geometry_msgs::PoseStamped>& global_plan, const std::string& global_frame,
          std::vector<geometry_msgs::PoseStamped>& transformed_plan);

      //void odomCallback(const nav_msgs::Odometry::ConstPtr& msg);
      bool stopped();

      bool getRobotPose(tf::Stamped<tf::Pose>& global_pose) const;

      tf::TransformListener* tf_;

      double K_trans_, K_rot_, tolerance_trans_, tolerance_rot_;
      double tolerance_timeout_;
      double max_vel_lin_, max_vel_th_;
      double min_vel_lin_, min_vel_th_;
      double min_in_place_vel_th_, in_place_trans_vel_;
      bool holonomic_;
      std::string p_robot_base_frame_;
      std::string p_global_frame_;

      boost::mutex odom_lock_;
      ros::Subscriber odom_sub_;
      //nav_msgs::Odometry base_odom_;
      double trans_stopped_velocity_, rot_stopped_velocity_;
      ros::Time goal_reached_time_;
      unsigned int current_waypoint_; 
      std::vector<geometry_msgs::PoseStamped> global_plan_;
      //base_local_planner::TrajectoryPlannerROS collision_planner_;
      int samples_;
  };
};
#endif