dynamic_window.hpp

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#ifndef DYNAMIC_WINDOW_HPP
#define DYNAMIC_WINDOW_HPP
 
#include <cmath>
 
#include <ergodic_exploration/grid.hpp>
#include <ergodic_exploration/collision.hpp>
#include <ergodic_exploration/numerics.hpp>
 
namespace ergodic_exploration
{
using arma::mat;
 
class DynamicWindow
{
public:
  DynamicWindow(const Collision& collision, double dt, double horizon, double acc_dt,
                double acc_lim_x, double acc_lim_y, double acc_lim_th, double max_vel_x,
                double min_vel_x, double max_vel_y, double min_vel_y, double max_rot_vel,
                double min_rot_vel, unsigned int vx_samples, unsigned int vy_samples,
                unsigned int vth_samples);
 
  tuple<bool, vec> control(const GridMap& grid, const vec& x0, const vec& vb,
                           const vec& vref) const;
 
  tuple<bool, vec> control(const GridMap& grid, const vec& x0, const vec& vb,
                           const mat& xt_ref, double dt_ref) const;
 
  double timeStep() const
  {
    return dt_;
  }
 
  double horizon() const
  {
    return horizon_;
  }
 
  unsigned int steps() const
  {
    return steps_;
  }
 
private:
  tuple<vec, vec> window(const vec& vb) const;
 
  double objective(const GridMap& grid, const vec& x0, const vec& vref,
                   const vec& u) const;
 
  double objective(const GridMap& grid, const vec& x0, const vec& u, const mat& xt_ref,
                   double tf) const;
 
private:
  Collision collision_;                        // collision detection
  double dt_;                                  // time step in integration
  double horizon_;                             // control horizon
  double acc_dt_;                              // time acceleration limit is applied
  double acc_lim_x_, acc_lim_y_, acc_lim_th_;  // acceleration limits
  double max_vel_x_, min_vel_x_;               // velocity limits in x-direction
  double max_vel_y_, min_vel_y_;               // velocity limits in y-direction
  double max_rot_vel_, min_rot_vel_;           // rotational velocity limits
  unsigned int vx_samples_;   // number of velocity samples in x-direction
  unsigned int vy_samples_;   // number of velocity samples in y-direction
  unsigned int vth_samples_;  // number of angular velocity samples
  unsigned int steps_;        // number of steps in each rollout
};
}  // namespace ergodic_exploration
#endif