goal_orientation_scorer.cpp

// Copyright (c) 2024, Polymath Robotics Inc.
//
// 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.
 
#include <memory>
#include <string>
 
#include "nav2_route/plugins/edge_cost_functions/goal_orientation_scorer.hpp"
 
namespace nav2_route
{
 
void GoalOrientationScorer::configure(
  const rclcpp_lifecycle::LifecycleNode::SharedPtr node,
  const std::shared_ptr<tf2_ros::Buffer>/* tf_buffer */,
  std::shared_ptr<nav2_costmap_2d::CostmapSubscriber>/* costmap_subscriber */,
  const std::string & name)
{
  RCLCPP_INFO(node->get_logger(), "Configuring goal orientation scorer.");
  name_ = name;
  logger_ = node->get_logger();
 
  nav2_util::declare_parameter_if_not_declared(
    node, getName() + ".orientation_tolerance", rclcpp::ParameterValue(M_PI / 2.0));
 
  nav2_util::declare_parameter_if_not_declared(
    node, getName() + ".orientation_weight", rclcpp::ParameterValue(1.0));
 
  nav2_util::declare_parameter_if_not_declared(
    node, getName() + ".use_orientation_threshold", rclcpp::ParameterValue(false));
 
  orientation_tolerance_ = node->get_parameter(getName() + ".orientation_tolerance").as_double();
  orientation_weight_ =
    static_cast<float>(node->get_parameter(getName() + ".orientation_weight").as_double());
  use_orientation_threshold_ =
    node->get_parameter(getName() + ".use_orientation_threshold").as_bool();
}
 
bool GoalOrientationScorer::score(
  const EdgePtr edge,
  const RouteRequest & route_request,
  const EdgeType & edge_type, float & cost)
{
  if (!route_request.use_poses) {
    throw nav2_core::InvalidEdgeScorerUse(
            "Cannot use goal orientation scorer without goal pose specified!");
  }
 
  if (edge_type == EdgeType::END) {
    double edge_orientation = std::atan2(
      edge->end->coords.y - edge->start->coords.y,
      edge->end->coords.x - edge->start->coords.x);
    double goal_orientation = tf2::getYaw(route_request.goal_pose.pose.orientation);
    double d_yaw = std::abs(angles::shortest_angular_distance(edge_orientation, goal_orientation));
 
    if (use_orientation_threshold_) {
      if (d_yaw > orientation_tolerance_) {
        return false;
      }
    }
 
    cost = orientation_weight_ * static_cast<float>(d_yaw);
  }
  return true;
}
 
std::string GoalOrientationScorer::getName()
{
  return name_;
}
 
}  // namespace nav2_route
 
#include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(nav2_route::GoalOrientationScorer, nav2_route::EdgeCostFunction)