collision_checker.hpp

// 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. Reserved.
 
#include <memory>
#include <vector>
 
#include "nav2_costmap_2d/footprint_collision_checker.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_smac_planner/constants.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
#ifndef NAV2_SMAC_PLANNER__COLLISION_CHECKER_HPP_
#define NAV2_SMAC_PLANNER__COLLISION_CHECKER_HPP_
 
namespace nav2_smac_planner
{
 
class GridCollisionChecker
  : public nav2_costmap_2d::FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>
{
public:
  GridCollisionChecker(
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap,
    unsigned int num_quantizations,
    rclcpp_lifecycle::LifecycleNode::SharedPtr node);
 
  // GridCollisionChecker(
  //   nav2_costmap_2d::Costmap2D * costmap,
  //   std::vector<float> & angles);
 
  void setFootprint(
    const nav2_costmap_2d::Footprint & footprint,
    const bool & radius,
    const double & possible_collision_cost);
 
  bool inCollision(
    const float & x,
    const float & y,
    const float & theta,
    const bool & traverse_unknown);
 
  bool inCollision(
    const unsigned int & i,
    const bool & traverse_unknown);
 
  float getCost();
 
  std::vector<float> & getPrecomputedAngles()
  {
    return angles_;
  }
 
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> getCostmapROS() {return costmap_ros_;}
 
  bool outsideRange(const unsigned int & max, const float & value);
 
protected:
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  std::vector<nav2_costmap_2d::Footprint> oriented_footprints_;
  nav2_costmap_2d::Footprint unoriented_footprint_;
  float center_cost_;
  bool footprint_is_radius_{false};
  std::vector<float> angles_;
  float possible_collision_cost_{-1};
  rclcpp::Logger logger_{rclcpp::get_logger("SmacPlannerCollisionChecker")};
  rclcpp::Clock::SharedPtr clock_;
};
 
}  // namespace nav2_smac_planner
 
#endif  // NAV2_SMAC_PLANNER__COLLISION_CHECKER_HPP_