edge_velocity_obstacle_ratio.h

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#pragma once

#include <teb_local_planner/g2o_types/base_teb_edges.h>
#include <teb_local_planner/g2o_types/vertex_timediff.h>
#include <teb_local_planner/g2o_types/vertex_pose.h>
#include <teb_local_planner/robot_footprint_model.h>

namespace teb_local_planner
{


class EdgeVelocityObstacleRatio : public BaseTebMultiEdge<2, const Obstacle*>
{
public:

  EdgeVelocityObstacleRatio() :
    robot_model_(nullptr)
  {
    // The three vertices are two poses and one time difference
    this->resize(3); // Since we derive from a g2o::BaseMultiEdge, set the desired number of vertices
  }

  void computeError()
  {
    ROS_ASSERT_MSG(cfg_ && _measurement && robot_model_, "You must call setTebConfig(), setObstacle() and setRobotModel() on EdgeVelocityObstacleRatio()");
    const VertexPose* conf1 = static_cast<const VertexPose*>(_vertices[0]);
    const VertexPose* conf2 = static_cast<const VertexPose*>(_vertices[1]);
    const VertexTimeDiff* deltaT = static_cast<const VertexTimeDiff*>(_vertices[2]);

    const Eigen::Vector2d deltaS = conf2->estimate().position() - conf1->estimate().position();

    double dist = deltaS.norm();
    const double angle_diff = g2o::normalize_theta(conf2->theta() - conf1->theta());
    if (cfg_->trajectory.exact_arc_length && angle_diff != 0)
    {
        double radius =  dist/(2*sin(angle_diff/2));
        dist = fabs( angle_diff * radius ); // actual arg length!
    }
    double vel = dist / deltaT->estimate();

    vel *= fast_sigmoid( 100 * (deltaS.x()*cos(conf1->theta()) + deltaS.y()*sin(conf1->theta())) ); // consider direction

    const double omega = angle_diff / deltaT->estimate();

    double dist_to_obstacle = robot_model_->calculateDistance(conf1->pose(), _measurement);

    double ratio;
    if (dist_to_obstacle < cfg_->obstacles.obstacle_proximity_lower_bound)
      ratio = 0;
    else if (dist_to_obstacle > cfg_->obstacles.obstacle_proximity_upper_bound)
      ratio = 1;
    else
      ratio = (dist_to_obstacle - cfg_->obstacles.obstacle_proximity_lower_bound) /
      (cfg_->obstacles.obstacle_proximity_upper_bound - cfg_->obstacles.obstacle_proximity_lower_bound);
    ratio *= cfg_->obstacles.obstacle_proximity_ratio_max_vel;

    const double max_vel_fwd = ratio * cfg_->robot.max_vel_x;
    const double max_omega = ratio * cfg_->robot.max_vel_theta;
    _error[0] = penaltyBoundToInterval(vel, max_vel_fwd, 0);
    _error[1] = penaltyBoundToInterval(omega, max_omega, 0);

    ROS_ASSERT_MSG(std::isfinite(_error[0]) || std::isfinite(_error[1]), "EdgeVelocityObstacleRatio::computeError() _error[0]=%f , _error[1]=%f\n",_error[0],_error[1]);
  }

  void setObstacle(const Obstacle* obstacle)
  {
    _measurement = obstacle;
  }

  void setRobotModel(const BaseRobotFootprintModel* robot_model)
  {
    robot_model_ = robot_model;
  }

  void setParameters(const TebConfig& cfg, const BaseRobotFootprintModel* robot_model, const Obstacle* obstacle)
  {
    cfg_ = &cfg;
    robot_model_ = robot_model;
    _measurement = obstacle;
  }

protected:

  const BaseRobotFootprintModel* robot_model_; 

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

};


} // end namespace