simple_smoother.hpp

// Copyright (c) 2022, 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.
 
#ifndef NAV2_SMOOTHER__SIMPLE_SMOOTHER_HPP_
#define NAV2_SMOOTHER__SIMPLE_SMOOTHER_HPP_
 
#include <cmath>
#include <vector>
#include <string>
#include <iostream>
#include <memory>
#include <queue>
#include <utility>
 
#include "nav2_core/smoother.hpp"
#include "nav2_smoother/smoother_utils.hpp"
#include "nav2_costmap_2d/costmap_2d.hpp"
#include "nav2_costmap_2d/cost_values.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "nav2_util/node_utils.hpp"
#include "nav_msgs/msg/path.hpp"
#include "angles/angles.h"
#include "tf2/utils.hpp"
 
namespace nav2_smoother
{
 
class SimpleSmoother : public nav2_core::Smoother
{
public:
  SimpleSmoother() = default;
 
  ~SimpleSmoother() override = default;
 
  void configure(
    const rclcpp_lifecycle::LifecycleNode::WeakPtr &,
    std::string name, std::shared_ptr<tf2_ros::Buffer>,
    std::shared_ptr<nav2_costmap_2d::CostmapSubscriber>,
    std::shared_ptr<nav2_costmap_2d::FootprintSubscriber>) override;
 
  void cleanup() override {costmap_sub_.reset();}
 
  void activate() override {}
 
  void deactivate() override {}
 
  bool smooth(
    nav_msgs::msg::Path & path,
    const rclcpp::Duration & max_time) override;
 
protected:
  void smoothImpl(
    nav_msgs::msg::Path & path,
    bool & reversing_segment,
    const nav2_costmap_2d::Costmap2D * costmap,
    const double & max_time);
 
  inline double getFieldByDim(
    const geometry_msgs::msg::PoseStamped & msg,
    const unsigned int & dim);
 
  inline void setFieldByDim(
    geometry_msgs::msg::PoseStamped & msg, const unsigned int dim,
    const double & value);
 
  double tolerance_, data_w_, smooth_w_;
  int max_its_, refinement_ctr_, refinement_num_;
  bool do_refinement_, enforce_path_inversion_;
  std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub_;
  rclcpp::Logger logger_{rclcpp::get_logger("SimpleSmoother")};
};
 
}  // namespace nav2_smoother
 
#endif  // NAV2_SMOOTHER__SIMPLE_SMOOTHER_HPP_