Circle shape implementaiton. For STOP/SLOWDOWN model it represents zone around the robot while for APPROACH model it represents robot footprint. More...

#include <nav2_collision_monitor/include/nav2_collision_monitor/circle.hpp>

Inheritance diagram for nav2_collision_monitor::Circle:

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Collaboration diagram for nav2_collision_monitor::Circle:

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Public Member Functions
	Circle (const nav2_util::LifecycleNode::WeakPtr &node, const std::string &polygon_name, const std::shared_ptr< tf2_ros::Buffer > tf_buffer, const std::string &base_frame_id, const tf2::Duration &transform_tolerance)
	Circle class constructor. More...

	~Circle ()
	Circle class destructor.

void	getPolygon (std::vector< Point > &poly) const override
	Gets polygon points, approximated to the circle. To be used in visualization purposes. More...

int	getPointsInside (const std::vector< Point > &points) const override
	Gets number of points inside circle. More...

Public Member Functions inherited from nav2_collision_monitor::Polygon
	Polygon (const nav2_util::LifecycleNode::WeakPtr &node, const std::string &polygon_name, const std::shared_ptr< tf2_ros::Buffer > tf_buffer, const std::string &base_frame_id, const tf2::Duration &transform_tolerance)
	Polygon constructor. More...

virtual	~Polygon ()
	Polygon destructor.

bool	configure ()
	Shape configuration routine. Obtains ROS-parameters related to shape object and creates polygon lifecycle publisher. More...

void	activate ()
	Activates polygon lifecycle publisher.

void	deactivate ()
	Deactivates polygon lifecycle publisher.

std::string	getName () const
	Returns the name of polygon. More...

ActionType	getActionType () const
	Obtains polygon action type. More...

bool	getEnabled () const
	Obtains polygon enabled state. More...

int	getMaxPoints () const
	Obtains polygon maximum points to enter inside polygon causing no action. More...

double	getSlowdownRatio () const
	Obtains speed slowdown ratio for current polygon. Applicable for SLOWDOWN model. More...

double	getTimeBeforeCollision () const
	Obtains required time before collision for current polygon. Applicable for APPROACH model. More...

void	updatePolygon ()
	Updates polygon from footprint subscriber (if any)

double	getCollisionTime (const std::vector< Point > &collision_points, const Velocity &velocity) const
	Obtains estimated (simulated) time before a collision. Applicable for APPROACH model. More...

void	publish () const
	Publishes polygon message into a its own topic.

Protected Member Functions
bool	getParameters (std::string &polygon_pub_topic, std::string &footprint_topic) override
	Supporting routine obtaining polygon-specific ROS-parameters. More...

Protected Member Functions inherited from nav2_collision_monitor::Polygon
bool	getCommonParameters (std::string &polygon_pub_topic)
	Supporting routine obtaining ROS-parameters common for all shapes. More...

rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Checks if point is inside polygon. More...

bool	isPointInside (const Point &point) const

Protected Attributes
double	radius_
	Radius of the circle.

double	radius_squared_
	(radius * radius) value. Stored for optimization.

Protected Attributes inherited from nav2_collision_monitor::Polygon
nav2_util::LifecycleNode::WeakPtr	node_
	Collision Monitor node.

rclcpp::Logger	logger_ {rclcpp::get_logger("collision_monitor")}
	Collision monitor node logger stored for further usage.

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_
	Dynamic parameters handler.

std::string	polygon_name_
	Name of polygon.

ActionType	action_type_
	Action type for the polygon.

int	max_points_
	Maximum number of data readings within a zone to not trigger the action.

double	slowdown_ratio_
	Robot slowdown (share of its actual speed)

double	time_before_collision_
	Time before collision in seconds.

double	simulation_time_step_
	Time step for robot movement simulation.

std::unique_ptr< nav2_costmap_2d::FootprintSubscriber >	footprint_sub_
	Footprint subscriber.

bool	enabled_
	Whether polygon is enabled.

std::shared_ptr< tf2_ros::Buffer >	tf_buffer_
	TF buffer.

std::string	base_frame_id_
	Base frame ID.

tf2::Duration	transform_tolerance_
	Transform tolerance.

bool	visualize_
	Whether to publish the polygon.

geometry_msgs::msg::Polygon	polygon_
	Polygon points stored for later publishing.

rclcpp_lifecycle::LifecyclePublisher< geometry_msgs::msg::PolygonStamped >::SharedPtr	polygon_pub_
	Polygon publisher for visualization purposes.

std::vector< Point >	poly_
	Polygon points (vertices)

Detailed Description

Circle shape implementaiton. For STOP/SLOWDOWN model it represents zone around the robot while for APPROACH model it represents robot footprint.

Definition at line 32 of file circle.hpp.

Constructor & Destructor Documentation

◆ Circle()

nav2_collision_monitor::Circle::Circle	(	const nav2_util::LifecycleNode::WeakPtr &	node,
		const std::string &	polygon_name,
		const std::shared_ptr< tf2_ros::Buffer >	tf_buffer,
		const std::string &	base_frame_id,
		const tf2::Duration &	transform_tolerance
	)

Circle class constructor.

Parameters

node	Collision Monitor node pointer
polygon_name	Name of circle
tf_buffer	Shared pointer to a TF buffer
base_frame_id	Robot base frame ID
transform_tolerance	Transform tolerance

Definition at line 26 of file circle.cpp.

References nav2_collision_monitor::Polygon::logger_, and nav2_collision_monitor::Polygon::polygon_name_.

Member Function Documentation

◆ getParameters()

bool nav2_collision_monitor::Circle::getParameters	(	std::string &	polygon_pub_topic,
		std::string &	footprint_topic
	)

overrideprotectedvirtual

Supporting routine obtaining polygon-specific ROS-parameters.

Parameters

polygon_pub_topic	Output name of polygon publishing topic
footprint_topic	Output name of footprint topic. For Circle returns empty string, there is no footprint subscription in this class.