utils.hpp

// Copyright (c) 2021, Samsung Research America
// Copyright (c) 2023, 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. Reserved.
 
#ifndef NAV2_SMAC_PLANNER__UTILS_HPP_
#define NAV2_SMAC_PLANNER__UTILS_HPP_
 
#include <vector>
#include <memory>
#include <string>
 
#include "nlohmann/json.hpp"
#include "geometry_msgs/msg/quaternion.hpp"
#include "geometry_msgs/msg/pose.hpp"
#include "tf2/utils.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_costmap_2d/inflation_layer.hpp"
#include "visualization_msgs/msg/marker_array.hpp"
#include "nav2_smac_planner/types.hpp"
#include <rclcpp/rclcpp.hpp>
 
namespace nav2_smac_planner
{
 
inline geometry_msgs::msg::Pose getWorldCoords(
  const float & mx, const float & my, const nav2_costmap_2d::Costmap2D * costmap)
{
  geometry_msgs::msg::Pose msg;
  msg.position.x =
    static_cast<float>(costmap->getOriginX()) + mx * costmap->getResolution();
  msg.position.y =
    static_cast<float>(costmap->getOriginY()) + my * costmap->getResolution();
  return msg;
}
 
inline geometry_msgs::msg::Quaternion getWorldOrientation(
  const float & theta)
{
  // theta is in radians already
  tf2::Quaternion q;
  q.setEuler(0.0, 0.0, theta);
  return tf2::toMsg(q);
}
 
inline double findCircumscribedCost(std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap)
{
  double result = -1.0;
  std::vector<std::shared_ptr<nav2_costmap_2d::Layer>>::iterator layer;
 
  // check if the costmap has an inflation layer
  const auto inflation_layer = nav2_costmap_2d::InflationLayer::getInflationLayer(costmap);
  if (inflation_layer != nullptr) {
    double circum_radius = costmap->getLayeredCostmap()->getCircumscribedRadius();
    double resolution = costmap->getCostmap()->getResolution();
    double inflation_radius = inflation_layer->getInflationRadius();
    if (inflation_radius < circum_radius) {
      RCLCPP_ERROR(
        rclcpp::get_logger("computeCircumscribedCost"),
        "The inflation radius (%f) is smaller than the circumscribed radius (%f) "
        "If this is an SE2-collision checking plugin, it cannot use costmap potential "
        "field to speed up collision checking by only checking the full footprint "
        "when robot is within possibly-inscribed radius of an obstacle. This may "
        "significantly slow down planning times!",
        inflation_radius, circum_radius);
      result = 0.0;
      return result;
    }
    result = static_cast<double>(inflation_layer->computeCost(circum_radius / resolution));
  } else {
    RCLCPP_WARN(
      rclcpp::get_logger("computeCircumscribedCost"),
      "No inflation layer found in costmap configuration. "
      "If this is an SE2-collision checking plugin, it cannot use costmap potential "
      "field to speed up collision checking by only checking the full footprint "
      "when robot is within possibly-inscribed radius of an obstacle. This may "
      "significantly slow down planning times!");
  }
 
  return result;
}
 
inline void fromJsonToMetaData(const nlohmann::json & json, LatticeMetadata & lattice_metadata)
{
  json.at("turning_radius").get_to(lattice_metadata.min_turning_radius);
  json.at("grid_resolution").get_to(lattice_metadata.grid_resolution);
  json.at("num_of_headings").get_to(lattice_metadata.number_of_headings);
  json.at("heading_angles").get_to(lattice_metadata.heading_angles);
  json.at("number_of_trajectories").get_to(lattice_metadata.number_of_trajectories);
  json.at("motion_model").get_to(lattice_metadata.motion_model);
}
 
inline void fromJsonToPose(const nlohmann::json & json, MotionPose & pose)
{
  pose._x = json[0];
  pose._y = json[1];
  pose._theta = json[2];
}
 
inline void fromJsonToMotionPrimitive(
  const nlohmann::json & json, MotionPrimitive & motion_primitive)
{
  json.at("trajectory_id").get_to(motion_primitive.trajectory_id);
  json.at("start_angle_index").get_to(motion_primitive.start_angle);
  json.at("end_angle_index").get_to(motion_primitive.end_angle);
  json.at("trajectory_radius").get_to(motion_primitive.turning_radius);
  json.at("trajectory_length").get_to(motion_primitive.trajectory_length);
  json.at("arc_length").get_to(motion_primitive.arc_length);
  json.at("straight_length").get_to(motion_primitive.straight_length);
  json.at("left_turn").get_to(motion_primitive.left_turn);
 
  for (unsigned int i = 0; i < json["poses"].size(); i++) {
    MotionPose pose;
    fromJsonToPose(json["poses"][i], pose);
    motion_primitive.poses.push_back(pose);
  }
}
 
inline std::vector<geometry_msgs::msg::Point> transformFootprintToEdges(
  const geometry_msgs::msg::Pose & pose,
  const std::vector<geometry_msgs::msg::Point> & footprint)
{
  const double & x = pose.position.x;
  const double & y = pose.position.y;
  const double & yaw = tf2::getYaw(pose.orientation);
  const double sin_yaw = sin(yaw);
  const double cos_yaw = cos(yaw);
 
  std::vector<geometry_msgs::msg::Point> out_footprint;
  out_footprint.resize(2 * footprint.size());
  for (unsigned int i = 0; i < footprint.size(); i++) {
    out_footprint[2 * i].x = x + cos_yaw * footprint[i].x - sin_yaw * footprint[i].y;
    out_footprint[2 * i].y = y + sin_yaw * footprint[i].x + cos_yaw * footprint[i].y;
    if (i == 0) {
      out_footprint.back().x = out_footprint[i].x;
      out_footprint.back().y = out_footprint[i].y;
    } else {
      out_footprint[2 * i - 1].x = out_footprint[2 * i].x;
      out_footprint[2 * i - 1].y = out_footprint[2 * i].y;
    }
  }
  return out_footprint;
}
 
inline visualization_msgs::msg::Marker createMarker(
  const std::vector<geometry_msgs::msg::Point> edge,
  unsigned int i, const std::string & frame_id, const rclcpp::Time & timestamp)
{
  visualization_msgs::msg::Marker marker;
  marker.header.frame_id = frame_id;
  marker.header.stamp = timestamp;
  marker.frame_locked = false;
  marker.ns = "planned_footprint";
  marker.action = visualization_msgs::msg::Marker::ADD;
  marker.type = visualization_msgs::msg::Marker::LINE_LIST;
  marker.lifetime = rclcpp::Duration(0, 0);
 
  marker.id = i;
  for (auto & point : edge) {
    marker.points.push_back(point);
  }
 
  marker.pose.orientation.x = 0.0;
  marker.pose.orientation.y = 0.0;
  marker.pose.orientation.z = 0.0;
  marker.pose.orientation.w = 1.0;
  marker.scale.x = 0.05;
  marker.scale.y = 0.05;
  marker.scale.z = 0.05;
  marker.color.r = 0.0f;
  marker.color.g = 0.0f;
  marker.color.b = 1.0f;
  marker.color.a = 1.3f;
  return marker;
}
 
 
}  // namespace nav2_smac_planner
 
#endif  // NAV2_SMAC_PLANNER__UTILS_HPP_