goal_intent_extractor.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__GOAL_INTENT_EXTRACTOR_HPP_
#define NAV2_ROUTE__GOAL_INTENT_EXTRACTOR_HPP_
 
#include <string>
#include <memory>
#include <vector>
 
#include "tf2_ros/transform_listener.h"
#include "nav2_core/route_exceptions.hpp"
#include "nav2_util/robot_utils.hpp"
#include "nav2_util/node_utils.hpp"
#include "nav2_msgs/action/compute_route.hpp"
#include "nav2_msgs/action/compute_and_track_route.hpp"
#include "nav2_costmap_2d/costmap_subscriber.hpp"
 
#include "nav2_route/types.hpp"
#include "nav2_route/utils.hpp"
#include "nav2_route/node_spatial_tree.hpp"
#include "nav2_route/goal_intent_search.hpp"
 
namespace nav2_route
{
 
class GoalIntentExtractor
{
public:
  GoalIntentExtractor() = default;
 
  ~GoalIntentExtractor() = default;
 
  void configure(
    nav2_util::LifecycleNode::SharedPtr node,
    Graph & graph,
    GraphToIDMap * id_to_graph_map,
    std::shared_ptr<tf2_ros::Buffer> tf,
    std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber,
    const std::string & route_frame,
    const std::string & base_frame);
 
  void setGraph(Graph & graph, GraphToIDMap * id_to_graph_map);
 
  geometry_msgs::msg::PoseStamped transformPose(
    geometry_msgs::msg::PoseStamped & pose,
    const std::string & frame_id);
  template<typename GoalT>
  NodeExtents
  findStartandGoal(const std::shared_ptr<const GoalT> goal);
 
  template<typename GoalT>
  Route pruneStartandGoal(
    const Route & input_route,
    const std::shared_ptr<const GoalT> goal,
    ReroutingState & rerouting_info);
 
  void overrideStart(const geometry_msgs::msg::PoseStamped & start_pose);
 
  geometry_msgs::msg::PoseStamped getStart();
 
protected:
  rclcpp::Logger logger_{rclcpp::get_logger("GoalIntentExtractor")};
  std::shared_ptr<NodeSpatialTree> node_spatial_tree_;
  GraphToIDMap * id_to_graph_map_;
  Graph * graph_;
  std::shared_ptr<tf2_ros::Buffer> tf_;
  std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber_;
  std::string route_frame_;
  std::string base_frame_;
  geometry_msgs::msg::PoseStamped start_, goal_;
  bool prune_goal_, enable_search_;
  int max_nn_search_iterations_;
  float max_dist_from_edge_, min_dist_from_goal_, min_dist_from_start_;
};
 
}  // namespace nav2_route
 
#endif  // NAV2_ROUTE__GOAL_INTENT_EXTRACTOR_HPP_