103 lines
4.5 KiB
C++
103 lines
4.5 KiB
C++
/*********************************************************************
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*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* Author: Eitan Marder-Eppstein
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*********************************************************************/
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#ifndef ROBOT_TRAJECTORY_ROLLOUT_COSTMAP_MODEL_
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#define ROBOT_TRAJECTORY_ROLLOUT_COSTMAP_MODEL_
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#include <robot_base_local_planner/world_model.h>
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// For obstacle data access
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#include <robot_costmap_2d/costmap_2d.h>
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namespace robot_base_local_planner {
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/**
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* @class CostmapModel
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* @brief A class that implements the WorldModel interface to provide grid
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* based collision checks for the trajectory controller using the costmap.
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*/
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class CostmapModel : public WorldModel {
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public:
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/**
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* @brief Constructor for the CostmapModel
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* @param costmap The costmap that should be used
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* @return
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*/
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CostmapModel(const robot_costmap_2d::Costmap2D& costmap);
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/**
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* @brief Destructor for the world model
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*/
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virtual ~CostmapModel(){}
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using WorldModel::footprintCost;
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/**
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* @brief Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid
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* @param position The position of the robot in world coordinates
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* @param footprint The specification of the footprint of the robot in world coordinates
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* @param inscribed_radius The radius of the inscribed circle of the robot
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* @param circumscribed_radius The radius of the circumscribed circle of the robot
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* @return Positive if all the points lie outside the footprint, negative otherwise:
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* -1 if footprint covers at least a lethal obstacle cell, or
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* -2 if footprint covers at least a no-information cell, or
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* -3 if footprint is [partially] outside of the map
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*/
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virtual double footprintCost(const robot_geometry_msgs::Point& position, const std::vector<robot_geometry_msgs::Point>& footprint,
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double inscribed_radius, double circumscribed_radius);
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/**
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* @brief Rasterizes a line in the costmap grid and checks for collisions
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* @param x0 The x position of the first cell in grid coordinates
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* @param y0 The y position of the first cell in grid coordinates
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* @param x1 The x position of the second cell in grid coordinates
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* @param y1 The y position of the second cell in grid coordinates
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* @return A positive cost for a legal line... negative otherwise
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*/
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double lineCost(int x0, int x1, int y0, int y1) const;
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/**
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* @brief Checks the cost of a point in the costmap
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* @param x The x position of the point in cell coordinates
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* @param y The y position of the point in cell coordinates
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* @return A positive cost for a legal point... negative otherwise
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*/
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double pointCost(int x, int y) const;
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private:
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const robot_costmap_2d::Costmap2D& costmap_; ///< @brief Allows access of costmap obstacle information
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};
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}
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#endif
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