circle.hpp

// Copyright (c) 2022 Samsung R&D Institute Russia
//
// 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_COLLISION_MONITOR__CIRCLE_HPP_
#define NAV2_COLLISION_MONITOR__CIRCLE_HPP_
 
#include <memory>
#include <vector>
#include <string>
 
#include "std_msgs/msg/float32.hpp"
 
#include "nav2_collision_monitor/polygon.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
 
namespace nav2_collision_monitor
{
 
class Circle : public Polygon
{
public:
  Circle(
    const nav2::LifecycleNode::WeakPtr & node,
    const std::string & polygon_name,
    const nav2::TransformBuffer::SharedPtr tf_buffer,
    const std::string & base_frame_id,
    const tf2::Duration & transform_tolerance);
  ~Circle();
 
  void getPolygon(std::vector<Point> & poly) const override;
 
  int getPointsInside(
    const std::vector<Point> & points,
    std::vector<Point> & out_triggering_points) const override;
 
  int getPointsInside(
    const std::vector<Point> & points,
    std::vector<std::size_t> & out_triggering_indices) const override;
 
  bool isShapeSet() override;
 
protected:
  bool getParameters(
    std::string & polygon_sub_topic,
    std::string & polygon_pub_topic,
    std::string & footprint_topic) override;
 
  void createSubscription(std::string & polygon_sub_topic) override;
 
  void updatePolygonFromRadius(double radius);
 
  void radiusCallback(std_msgs::msg::Float32::ConstSharedPtr msg);
 
 
  // ----- Variables -----
 
  double radius_;
  double radius_squared_ = -1.0;
  nav2::Subscription<std_msgs::msg::Float32>::SharedPtr radius_sub_;
};  // class Circle
 
}  // namespace nav2_collision_monitor
 
#endif  // NAV2_COLLISION_MONITOR__CIRCLE_HPP_