costmap_topic_collision_checker.hpp

// Copyright (c) 2019 Intel Corporation
//
// 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.
//
// Modified by: Shivang Patel (shivaan14@gmail.com)
 
#ifndef NAV2_COSTMAP_2D__COSTMAP_TOPIC_COLLISION_CHECKER_HPP_
#define NAV2_COSTMAP_2D__COSTMAP_TOPIC_COLLISION_CHECKER_HPP_
 
#include <string>
#include <vector>
#include <memory>
#include <algorithm>
 
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/pose2_d.hpp"
#include "nav2_costmap_2d/costmap_2d.hpp"
#include "nav2_costmap_2d/footprint_collision_checker.hpp"
#include "nav2_costmap_2d/costmap_subscriber.hpp"
#include "nav2_costmap_2d/footprint_subscriber.hpp"
 
namespace nav2_costmap_2d
{
class CostmapTopicCollisionChecker
{
public:
  CostmapTopicCollisionChecker(
    CostmapSubscriber & costmap_sub,
    FootprintSubscriber & footprint_sub,
    std::string name = "collision_checker");
 
  CostmapTopicCollisionChecker(
    CostmapSubscriber & costmap_sub,
    std::string footprint_string,
    std::string name = "collision_checker");
 
  ~CostmapTopicCollisionChecker() = default;
 
  double scorePose(
    const geometry_msgs::msg::Pose2D & pose,
    bool fetch_costmap_and_footprint = true);
 
  bool isCollisionFree(
    const geometry_msgs::msg::Pose2D & pose,
    bool fetch_costmap_and_footprint = true);
 
protected:
  Footprint getFootprint(
    const geometry_msgs::msg::Pose2D & pose,
    bool fetch_latest_footprint = true);
 
  // Name used for logging
  std::string name_;
  CostmapSubscriber & costmap_sub_;
  FootprintSubscriber * footprint_sub_ = nullptr;
  FootprintCollisionChecker<std::shared_ptr<Costmap2D>> collision_checker_;
  rclcpp::Clock::SharedPtr clock_;
  Footprint footprint_;
  std::string footprint_string_;
};
 
}  // namespace nav2_costmap_2d
 
#endif  // NAV2_COSTMAP_2D__COSTMAP_TOPIC_COLLISION_CHECKER_HPP_