obstacle_footprint.hpp

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Locus Robotics
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef DWB_CRITICS__OBSTACLE_FOOTPRINT_HPP_
#define DWB_CRITICS__OBSTACLE_FOOTPRINT_HPP_
 
#include <vector>
#include "dwb_critics/base_obstacle.hpp"
 
namespace dwb_critics
{
typedef std::vector<geometry_msgs::msg::Point> Footprint;
 
Footprint getOrientedFootprint(
  const geometry_msgs::msg::Pose2D & pose,
  const Footprint & footprint_spec);
 
class ObstacleFootprintCritic : public BaseObstacleCritic
{
public:
  bool prepare(
    const geometry_msgs::msg::Pose2D & pose, const nav_2d_msgs::msg::Twist2D & vel,
    const geometry_msgs::msg::Pose2D & goal, const nav_2d_msgs::msg::Path2D & global_plan) override;
  double scorePose(const geometry_msgs::msg::Pose2D & pose) override;
  virtual double scorePose(
    const geometry_msgs::msg::Pose2D & pose,
    const Footprint & oriented_footprint);
  double getScale() const override {return costmap_->getResolution() * scale_;}
 
protected:
  double lineCost(int x0, int x1, int y0, int y1);
 
  double pointCost(int x, int y);
 
  Footprint footprint_spec_;
};
}  // namespace dwb_critics
 
#endif  // DWB_CRITICS__OBSTACLE_FOOTPRINT_HPP_