costmap_scorer.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__PLUGINS__EDGE_COST_FUNCTIONS__COSTMAP_SCORER_HPP_
#define NAV2_ROUTE__PLUGINS__EDGE_COST_FUNCTIONS__COSTMAP_SCORER_HPP_
 
#include <memory>
#include <string>
 
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "nav2_route/interfaces/edge_cost_function.hpp"
#include "nav2_util/line_iterator.hpp"
#include "nav2_util/node_utils.hpp"
#include "nav2_costmap_2d/costmap_subscriber.hpp"
 
namespace nav2_route
{
 
class CostmapScorer : public EdgeCostFunction
{
public:
  CostmapScorer() = default;
 
  virtual ~CostmapScorer() = default;
 
  void configure(
    const rclcpp_lifecycle::LifecycleNode::SharedPtr node,
    const std::shared_ptr<tf2_ros::Buffer> tf_buffer,
    std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber,
    const std::string & name) override;
 
  bool score(
    const EdgePtr edge, const RouteRequest & route_request,
    const EdgeType & edge_type, float & cost) override;
 
  std::string getName() override;
 
  void prepare() override;
 
protected:
  rclcpp::Logger logger_{rclcpp::get_logger("CostmapScorer")};
  rclcpp::Clock::SharedPtr clock_;
  std::string name_;
  bool use_max_, invalid_on_collision_, invalid_off_map_;
  float weight_, max_cost_;
  std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber_;
  std::shared_ptr<nav2_costmap_2d::Costmap2D> costmap_{nullptr};
  unsigned int check_resolution_ {1u};
};
 
}  // namespace nav2_route
 
#endif  // NAV2_ROUTE__PLUGINS__EDGE_COST_FUNCTIONS__COSTMAP_SCORER_HPP_