route_planner.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__ROUTE_PLANNER_HPP_
#define NAV2_ROUTE__ROUTE_PLANNER_HPP_
 
#include <string>
#include <limits>
#include <memory>
#include <vector>
#include <mutex>
#include <algorithm>
 
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_listener.h"
#include "nav2_route/types.hpp"
#include "nav2_route/utils.hpp"
#include "nav2_route/edge_scorer.hpp"
#include "nav2_core/route_exceptions.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav2_util/lifecycle_node.hpp"
 
namespace nav2_route
{
class RoutePlanner
{
public:
  RoutePlanner() = default;
 
  virtual ~RoutePlanner() = default;
 
  void configure(
    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
    const std::shared_ptr<tf2_ros::Buffer> tf_buffer,
    const std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber);
 
  virtual Route findRoute(
    Graph & graph, unsigned int start_index, unsigned int goal_index,
    const std::vector<unsigned int> & blocked_ids,
    const RouteRequest & route_request);
 
protected:
  inline void resetSearchStates(Graph & graph);
 
  void findShortestGraphTraversal(
    Graph & graph, const NodePtr start_node, const NodePtr goal_node,
    const std::vector<unsigned int> & blocked_ids,
    const RouteRequest & route_request);
 
  inline bool getTraversalCost(
    const EdgePtr edge, float & score, const std::vector<unsigned int> & blocked_ids,
    const RouteRequest & route_request);
 
  inline NodeElement getNextNode();
 
  inline void addNode(const float cost, const NodePtr node);
 
  inline EdgeVector & getEdges(const NodePtr node);
 
  inline void clearQueue();
 
  inline bool isGoal(const NodePtr node);
 
  inline bool isStart(const NodePtr node);
 
  nav2_route::EdgeType classifyEdge(const EdgePtr edge);
 
  int max_iterations_{0};
  unsigned int start_id_{0};
  unsigned int goal_id_{0};
  NodeQueue queue_;
  std::unique_ptr<EdgeScorer> edge_scorer_;
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
};
 
}  // namespace nav2_route
 
#endif  // NAV2_ROUTE__ROUTE_PLANNER_HPP_