theta_star_planner.hpp

// Copyright 2020 Anshumaan Singh
//
// 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_THETA_STAR_PLANNER__THETA_STAR_PLANNER_HPP_
#define NAV2_THETA_STAR_PLANNER__THETA_STAR_PLANNER_HPP_
 
#include <iostream>
#include <cmath>
#include <string>
#include <chrono>
#include <queue>
#include <algorithm>
#include <memory>
#include <vector>
#include "rclcpp/rclcpp.hpp"
#include "nav2_core/global_planner.hpp"
#include "nav2_core/planner_exceptions.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav2_util/robot_utils.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_costmap_2d/cost_values.hpp"
#include "nav2_util/node_utils.hpp"
#include "nav2_theta_star_planner/theta_star.hpp"
#include "nav2_util/geometry_utils.hpp"
 
using rcl_interfaces::msg::ParameterType;
 
namespace nav2_theta_star_planner
{
 
class ThetaStarPlanner : public nav2_core::GlobalPlanner
{
public:
  void configure(
    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
    std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
  void cleanup() override;
 
  void activate() override;
 
  void deactivate() override;
 
  nav_msgs::msg::Path createPlan(
    const geometry_msgs::msg::PoseStamped & start,
    const geometry_msgs::msg::PoseStamped & goal,
    std::function<bool()> cancel_checker) override;
 
protected:
  std::shared_ptr<tf2_ros::Buffer> tf_;
  rclcpp::Clock::SharedPtr clock_;
  rclcpp::Logger logger_{rclcpp::get_logger("ThetaStarPlanner")};
  std::string global_frame_, name_;
  bool use_final_approach_orientation_;
 
  // parent node weak ptr
  rclcpp_lifecycle::LifecycleNode::WeakPtr parent_node_;
 
  std::unique_ptr<theta_star::ThetaStar> planner_;
 
  // Dynamic parameters handler
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
 
 
  void getPlan(nav_msgs::msg::Path & global_path, std::function<bool()> cancel_checker);
 
  static nav_msgs::msg::Path linearInterpolation(
    const std::vector<coordsW> & raw_path,
    const double & dist_bw_points);
 
  rcl_interfaces::msg::SetParametersResult
  dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
};
}   //  namespace nav2_theta_star_planner
 
#endif  //  NAV2_THETA_STAR_PLANNER__THETA_STAR_PLANNER_HPP_