optimizer.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__OPTIMIZER_HPP_
#define NAV2_MPPI_CONTROLLER__OPTIMIZER_HPP_
 
#include <string>
#include <memory>
 
#include <xtensor/xtensor.hpp>
#include <xtensor/xview.hpp>
 
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_core/goal_checker.hpp"
 
#include "geometry_msgs/msg/twist.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "nav_msgs/msg/path.hpp"
 
#include "nav2_mppi_controller/models/optimizer_settings.hpp"
#include "nav2_mppi_controller/motion_models.hpp"
#include "nav2_mppi_controller/critic_manager.hpp"
#include "nav2_mppi_controller/models/state.hpp"
#include "nav2_mppi_controller/models/trajectories.hpp"
#include "nav2_mppi_controller/models/path.hpp"
#include "nav2_mppi_controller/tools/noise_generator.hpp"
#include "nav2_mppi_controller/tools/parameters_handler.hpp"
#include "nav2_mppi_controller/tools/utils.hpp"
 
#ifdef __APPLE__
  #include "nav2_mppi_controller/tools/apple_utils.hpp"
#endif
 
namespace mppi
{
 
class Optimizer
{
public:
  Optimizer() = default;
 
  ~Optimizer() {shutdown();}
 
 
  void initialize(
    rclcpp_lifecycle::LifecycleNode::WeakPtr parent, const std::string & name,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros,
    ParametersHandler * dynamic_parameters_handler);
 
  void shutdown();
 
  geometry_msgs::msg::TwistStamped evalControl(
    const geometry_msgs::msg::PoseStamped & robot_pose,
    const geometry_msgs::msg::Twist & robot_speed, const nav_msgs::msg::Path & plan,
    nav2_core::GoalChecker * goal_checker);
 
  models::Trajectories & getGeneratedTrajectories();
 
  xt::xtensor<float, 2> getOptimizedTrajectory();
 
  void setSpeedLimit(double speed_limit, bool percentage);
 
  void reset();
 
protected:
  void optimize();
 
  void prepare(
    const geometry_msgs::msg::PoseStamped & robot_pose,
    const geometry_msgs::msg::Twist & robot_speed,
    const nav_msgs::msg::Path & plan, nav2_core::GoalChecker * goal_checker);
 
  void getParams();
 
  void setMotionModel(const std::string & model);
 
  void shiftControlSequence();
 
  void generateNoisedTrajectories();
 
  void applyControlSequenceConstraints();
 
  void updateStateVelocities(models::State & state) const;
 
  void updateInitialStateVelocities(models::State & state) const;
 
  void propagateStateVelocitiesFromInitials(models::State & state) const;
 
  void integrateStateVelocities(
    models::Trajectories & trajectories,
    const models::State & state) const;
 
  void integrateStateVelocities(
    xt::xtensor<float, 2> & trajectories,
    const xt::xtensor<float, 2> & state) const;
 
  void updateControlSequence();
 
  geometry_msgs::msg::TwistStamped
  getControlFromSequenceAsTwist(const builtin_interfaces::msg::Time & stamp);
 
  bool isHolonomic() const;
 
  void setOffset(double controller_frequency);
 
  bool fallback(bool fail);
 
protected:
  rclcpp_lifecycle::LifecycleNode::WeakPtr parent_;
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  nav2_costmap_2d::Costmap2D * costmap_;
  std::string name_;
 
  std::shared_ptr<MotionModel> motion_model_;
 
  ParametersHandler * parameters_handler_;
  CriticManager critic_manager_;
  NoiseGenerator noise_generator_;
 
  models::OptimizerSettings settings_;
 
  models::State state_;
  models::ControlSequence control_sequence_;
  std::array<mppi::models::Control, 4> control_history_;
  models::Trajectories generated_trajectories_;
  models::Path path_;
  xt::xtensor<float, 1> costs_;
 
  CriticData critics_data_ =
  {state_, generated_trajectories_, path_, costs_, settings_.model_dt, false, nullptr, nullptr,
    std::nullopt, std::nullopt};  
 
  rclcpp::Logger logger_{rclcpp::get_logger("MPPIController")};
};
 
template<typename E>
inline auto cumsum_1d(const E & expression)
{
  #ifdef __APPLE__
  return utils::manual_cumsum_1d(expression);
  #else
  return xt::cumsum(expression, 0);
  #endif
}
 
template<typename E>
inline auto cumsum_2d(const E & expression, int axis)
{
 #ifdef __APPLE__
  return utils::manual_cumsum_2d(expression, axis);
 #else
  return xt::cumsum(expression, axis);
 #endif
}
 
}  // namespace mppi
 
#endif  // NAV2_MPPI_CONTROLLER__OPTIMIZER_HPP_