constrained_smoother.hpp

// Copyright (c) 2021 RoboTech Vision
// Copyright (c) 2020 Shrijit Singh
// Copyright (c) 2020 Samsung Research America
//
// 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_CONSTRAINED_SMOOTHER__CONSTRAINED_SMOOTHER_HPP_
#define NAV2_CONSTRAINED_SMOOTHER__CONSTRAINED_SMOOTHER_HPP_
 
#include <string>
#include <vector>
#include <memory>
#include <algorithm>
 
#include "nav2_core/smoother.hpp"
#include "nav2_constrained_smoother/smoother.hpp"
#include "rclcpp/rclcpp.hpp"
#include "nav2_util/odometry_utils.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "geometry_msgs/msg/pose2_d.hpp"
 
namespace nav2_constrained_smoother
{
 
class ConstrainedSmoother : public nav2_core::Smoother
{
public:
  ConstrainedSmoother() = default;
 
  ~ConstrainedSmoother() override = default;
 
  void configure(
    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
    std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
    std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub,
    std::shared_ptr<nav2_costmap_2d::FootprintSubscriber> footprint_sub) override;
 
  void cleanup() override;
 
  void activate() override;
 
  void deactivate() override;
 
  bool smooth(
    nav_msgs::msg::Path & path,
    const rclcpp::Duration & max_time) override;
 
protected:
  std::shared_ptr<tf2_ros::Buffer> tf_;
  std::string plugin_name_;
  std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub_;
  rclcpp::Logger logger_ {rclcpp::get_logger("ConstrainedSmoother")};
 
  std::unique_ptr<nav2_constrained_smoother::Smoother> smoother_;
  SmootherParams smoother_params_;
  OptimizerParams optimizer_params_;
};
 
}  // namespace nav2_constrained_smoother
 
#endif  // NAV2_CONSTRAINED_SMOOTHER__CONSTRAINED_SMOOTHER_HPP_