edge_scorer.hpp

// Copyright (c) 2025 Open Navigation LLC
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef NAV2_ROUTE__EDGE_SCORER_HPP_
#define NAV2_ROUTE__EDGE_SCORER_HPP_
 
#include <string>
#include <memory>
#include <vector>
 
#include "tf2_ros/buffer.h"
#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "nav2_util/node_utils.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_route/types.hpp"
#include "nav2_route/utils.hpp"
#include "nav2_route/interfaces/edge_cost_function.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
namespace nav2_route
{
 
class EdgeScorer
{
public:
  explicit EdgeScorer(
    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
    const std::shared_ptr<tf2_ros::Buffer> tf_buffer,
    const std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber);
 
  ~EdgeScorer() = default;
 
  bool score(
    const EdgePtr edge, const RouteRequest & route_request,
    const EdgeType & edge_type,
    float & score);
 
  int numPlugins() const;
 
protected:
  pluginlib::ClassLoader<EdgeCostFunction> plugin_loader_;
  std::vector<EdgeCostFunction::Ptr> plugins_;
};
 
}  // namespace nav2_route
 
#endif  // NAV2_ROUTE__EDGE_SCORER_HPP_