mesh_controller.h

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/*
 *  Copyright 2020, Sebastian Pütz
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
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 *     notice, this list of conditions and the following disclaimer.
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 *  2. 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.
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#ifndef MESH_NAVIGATION__MESH_CONTROLLER_H
#define MESH_NAVIGATION__MESH_CONTROLLER_H
 
#include <mbf_mesh_core/mesh_controller.h>
#include <mbf_msgs/GetPathResult.h>
#include <mesh_controller/MeshControllerConfig.h>
#include <mesh_map/mesh_map.h>
#include <visualization_msgs/MarkerArray.h>
 
namespace mesh_controller
{
class MeshController : public mbf_mesh_core::MeshController
{
public:
 
  typedef boost::shared_ptr<mesh_controller::MeshController> Ptr;
 
  MeshController();
 
  virtual ~MeshController();
 
  virtual uint32_t computeVelocityCommands(const geometry_msgs::PoseStamped& pose,
                                           const geometry_msgs::TwistStamped& velocity,
                                           geometry_msgs::TwistStamped& cmd_vel, std::string& message);
 
  virtual bool isGoalReached(double dist_tolerance, double angle_tolerance);
 
  virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped>& plan);
 
  virtual bool cancel();
 
  mesh_map::Normal poseToDirectionVector(
      const geometry_msgs::PoseStamped& pose,
      const tf2::Vector3& axis=tf2::Vector3(1,0,0));
 
 
  mesh_map::Vector poseToPositionVector(
      const geometry_msgs::PoseStamped& pose);
 
  float gaussValue(const float& sigma_squared, const float& value);
 
  std::array<float, 2> naiveControl(
      const mesh_map::Vector& robot_pos,
      const mesh_map::Normal& robot_dir,
      const mesh_map::Vector& mesh_dir,
      const mesh_map::Normal& mesh_normal,
      const float& mesh_cost);
 
  void reconfigureCallback(mesh_controller::MeshControllerConfig& cfg, uint32_t level);
 
  virtual bool initialize(const std::string& plugin_name, const boost::shared_ptr<tf2_ros::Buffer>& tf_ptr,
                          const boost::shared_ptr<mesh_map::MeshMap>& mesh_map_ptr);
 
private:
 
  boost::shared_ptr<mesh_map::MeshMap> map_ptr;
 
  vector<geometry_msgs::PoseStamped> current_plan;
 
  mesh_map::Vector goal_pos, robot_pos;
 
  mesh_map::Normal goal_dir, robot_dir;
 
  lvr2::OptionalFaceHandle current_face;
 
  lvr2::DenseVertexMap<mesh_map::Vector> vector_map;
 
  boost::shared_ptr<dynamic_reconfigure::Server<mesh_controller::MeshControllerConfig>> reconfigure_server_ptr;
 
  dynamic_reconfigure::Server<mesh_controller::MeshControllerConfig>::CallbackType config_callback;
 
  MeshControllerConfig config;
 
  ros::Publisher angle_pub;
 
  std::atomic_bool cancel_requested;
};
 
} /* namespace mesh_controller */
#endif /* MESH_NAVIGATION__MESH_CONTROLLER_H */