71 lines
3.1 KiB
C++
Executable File
71 lines
3.1 KiB
C++
Executable File
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Copyright (c) 2017, Locus Robotics
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * 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.
|
|
* * Neither the name of the copyright holder nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
|
|
#ifndef DWB_CRITICS_OBSTACLE_FOOTPRINT_H
|
|
#define DWB_CRITICS_OBSTACLE_FOOTPRINT_H
|
|
|
|
#include <dwb_critics/base_obstacle.h>
|
|
#include <nav_2d_msgs/Polygon2D.h>
|
|
#include <vector>
|
|
|
|
namespace dwb_critics
|
|
{
|
|
|
|
/**
|
|
* @class ObstacleFootprintCritic
|
|
* @brief Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory.
|
|
*
|
|
* Internally, this technically only checks if the border of the footprint collides with anything for computational
|
|
* efficiency. This is valid if the obstacles in the local costmap are inflated.
|
|
*
|
|
* A more robust class could check every cell within the robot's footprint without inflating the obstacles,
|
|
* at some computational cost. That is left as an excercise to the reader.
|
|
*/
|
|
class ObstacleFootprintCritic : public BaseObstacleCritic
|
|
{
|
|
public:
|
|
void onInit() override;
|
|
bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
|
|
const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override;
|
|
double scorePose(const nav_core2::Costmap& costmap, const geometry_msgs::Pose2D& pose) override;
|
|
virtual double scorePose(const nav_core2::Costmap& costmap, const geometry_msgs::Pose2D& pose,
|
|
const nav_2d_msgs::Polygon2D& oriented_footprint);
|
|
double getScale() const override { return costmap_->getResolution() * scale_; }
|
|
protected:
|
|
nav_2d_msgs::Polygon2D footprint_spec_;
|
|
};
|
|
} // namespace dwb_critics
|
|
|
|
#endif // DWB_CRITICS_OBSTACLE_FOOTPRINT_H
|