obstacles_critic.hpp

// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov
//
// 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_MPPI_CONTROLLER__CRITICS__OBSTACLES_CRITIC_HPP_
#define NAV2_MPPI_CONTROLLER__CRITICS__OBSTACLES_CRITIC_HPP_
 
#include <memory>
#include "nav2_costmap_2d/footprint_collision_checker.hpp"
#include "nav2_costmap_2d/inflation_layer.hpp"
 
#include "nav2_mppi_controller/critic_function.hpp"
#include "nav2_mppi_controller/models/state.hpp"
#include "nav2_mppi_controller/tools/utils.hpp"
 
namespace mppi::critics
{
 
class ObstaclesCritic : public CriticFunction
{
public:
  void initialize() override;
 
  void score(CriticData & data) override;
 
protected:
  inline bool inCollision(float cost) const;
 
  inline CollisionCost costAtPose(float x, float y, float theta);
 
  inline float distanceToObstacle(const CollisionCost & cost);
 
  float findCircumscribedCost(std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap);
 
protected:
  nav2_costmap_2d::FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>
  collision_checker_{nullptr};
 
  bool consider_footprint_{true};
  float collision_cost_{0};
  float inflation_scale_factor_{0}, inflation_radius_{0};
 
  float possibly_inscribed_cost_;
  float collision_margin_distance_;
  float near_goal_distance_;
  float circumscribed_cost_{0}, circumscribed_radius_{0};
 
  unsigned int power_{0};
  float repulsion_weight_, critical_weight_{0};
};
 
}  // namespace mppi::critics
 
#endif  // NAV2_MPPI_CONTROLLER__CRITICS__OBSTACLES_CRITIC_HPP_