gradient_path.h

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#ifndef DLUX_PLUGINS_GRADIENT_PATH_H
#define DLUX_PLUGINS_GRADIENT_PATH_H

#include <dlux_global_planner/traceback.h>
#include <nav_grid/vector_nav_grid.h>

namespace dlux_plugins
{
class GradientPath: public dlux_global_planner::Traceback
{
public:
  // Main Traceback interface
  void initialize(ros::NodeHandle& private_nh, dlux_global_planner::CostInterpreter::Ptr cost_interpreter) override;
  nav_2d_msgs::Path2D getPath(const dlux_global_planner::PotentialGrid& potential_grid,
                              const geometry_msgs::Pose2D& start, const geometry_msgs::Pose2D& goal,
                              double& path_cost) override;
protected:
  bool shouldGridStep(const dlux_global_planner::PotentialGrid& potential_grid, const nav_grid::Index& index);
  nav_grid::Index gridStep(const dlux_global_planner::PotentialGrid& potential_grid, const nav_grid::Index& index);
  inline void calculateGradient(const dlux_global_planner::PotentialGrid& potential_grid, const nav_grid::Index& index);

  double step_size_;
  double lethal_cost_;
  double iteration_factor_;
  bool grid_step_near_high_;
  nav_grid::VectorNavGrid<double> gradx_, grady_;
};
}  // namespace dlux_plugins

#endif  // DLUX_PLUGINS_GRADIENT_PATH_H