path_converter.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__PATH_CONVERTER_HPP_
#define NAV2_ROUTE__PATH_CONVERTER_HPP_
 
#include <string>
#include <limits>
#include <memory>
#include <vector>
#include <mutex>
#include <algorithm>
 
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_util/node_utils.hpp"
#include "nav2_route/types.hpp"
#include "nav2_route/utils.hpp"
#include "nav2_route/corner_smoothing.hpp"
 
namespace nav2_route
{
class PathConverter
{
public:
  PathConverter() = default;
 
  ~PathConverter() = default;
 
  void configure(nav2_util::LifecycleNode::SharedPtr node);
 
  nav_msgs::msg::Path densify(
    const Route & route,
    const ReroutingState & rerouting_info,
    const std::string & frame,
    const rclcpp::Time & now);
 
  void interpolateEdge(
    float x0, float y0, float x1, float y1,
    std::vector<geometry_msgs::msg::PoseStamped> & poses);
 
protected:
  rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>::SharedPtr path_pub_;
  rclcpp::Logger logger_{rclcpp::get_logger("PathConverter")};
  float density_;
  float smoothing_radius_;
  bool smooth_corners_;
};
 
}  // namespace nav2_route
 
#endif  // NAV2_ROUTE__PATH_CONVERTER_HPP_