simple_trajectory_generator.h

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#ifndef SIMPLE_TRAJECTORY_GENERATOR_H_
#define SIMPLE_TRAJECTORY_GENERATOR_H_

#include <base_local_planner/trajectory_sample_generator.h>
#include <base_local_planner/local_planner_limits.h>
#include <Eigen/Core>

namespace base_local_planner {

class SimpleTrajectoryGenerator: public base_local_planner::TrajectorySampleGenerator {
public:

  SimpleTrajectoryGenerator() {
    limits_ = NULL;
  }

  ~SimpleTrajectoryGenerator() {}

  void initialise(
      const Eigen::Vector3f& pos,
      const Eigen::Vector3f& vel,
      const Eigen::Vector3f& goal,
      base_local_planner::LocalPlannerLimits* limits,
      const Eigen::Vector3f& vsamples,
      std::vector<Eigen::Vector3f> additional_samples,
      bool discretize_by_time = false);

  void initialise(
      const Eigen::Vector3f& pos,
      const Eigen::Vector3f& vel,
      const Eigen::Vector3f& goal,
      base_local_planner::LocalPlannerLimits* limits,
      const Eigen::Vector3f& vsamples,
      bool discretize_by_time = false);

  void setParameters(double sim_time,
      double sim_granularity,
      double angular_sim_granularity,
      bool use_dwa = false,
      double sim_period = 0.0);

  bool hasMoreTrajectories();

  bool nextTrajectory(Trajectory &traj);


  static Eigen::Vector3f computeNewPositions(const Eigen::Vector3f& pos,
      const Eigen::Vector3f& vel, double dt);

  static Eigen::Vector3f computeNewVelocities(const Eigen::Vector3f& sample_target_vel,
      const Eigen::Vector3f& vel, Eigen::Vector3f acclimits, double dt);

  bool generateTrajectory(
        Eigen::Vector3f pos,
        Eigen::Vector3f vel,
        Eigen::Vector3f sample_target_vel,
        base_local_planner::Trajectory& traj);

protected:

  unsigned int next_sample_index_;
  // to store sample params of each sample between init and generation
  std::vector<Eigen::Vector3f> sample_params_;
  base_local_planner::LocalPlannerLimits* limits_;
  Eigen::Vector3f pos_;
  Eigen::Vector3f vel_;

  // whether velocity of trajectory changes over time or not
  bool continued_acceleration_;
  bool discretize_by_time_;

  double sim_time_, sim_granularity_, angular_sim_granularity_;
  bool use_dwa_;
  double sim_period_; // only for dwa
};

} /* namespace base_local_planner */
#endif /* SIMPLE_TRAJECTORY_GENERATOR_H_ */