path_angle_critic.hpp

// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov
//
// 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_MPPI_CONTROLLER__CRITICS__PATH_ANGLE_CRITIC_HPP_
#define NAV2_MPPI_CONTROLLER__CRITICS__PATH_ANGLE_CRITIC_HPP_
 
#include <string>
#include "nav2_mppi_controller/critic_function.hpp"
#include "nav2_mppi_controller/models/state.hpp"
#include "nav2_mppi_controller/tools/utils.hpp"
#include "nav2_core/controller_exceptions.hpp"
 
namespace mppi::critics
{
 
enum class PathAngleMode
{
  FORWARD_PREFERENCE = 0,
  NO_DIRECTIONAL_PREFERENCE = 1,
  CONSIDER_FEASIBLE_PATH_ORIENTATIONS = 2
};
 
std::string modeToStr(const PathAngleMode & mode)
{
  if (mode == PathAngleMode::FORWARD_PREFERENCE) {
    return "Forward Preference";
  } else if (mode == PathAngleMode::CONSIDER_FEASIBLE_PATH_ORIENTATIONS) {
    return "Consider Feasible Path Orientations";
  } else if (mode == PathAngleMode::NO_DIRECTIONAL_PREFERENCE) {
    return "No Directional Preference";
  } else {
    return "Invalid mode!";
  }
}
 
class PathAngleCritic : public CriticFunction
{
public:
  void initialize() override;
 
  void score(CriticData & data) override;
 
protected:
  float max_angle_to_furthest_{0};
  float threshold_to_consider_{0};
 
  size_t offset_from_furthest_{0};
  bool reversing_allowed_{true};
  PathAngleMode mode_{0};
 
  unsigned int power_{0};
  float weight_{0};
  bool enforce_path_inversion_{false};
};
 
}  // namespace mppi::critics
 
#endif  // NAV2_MPPI_CONTROLLER__CRITICS__PATH_ANGLE_CRITIC_HPP_