critic_manager.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__CRITIC_MANAGER_HPP_
#define NAV2_MPPI_CONTROLLER__CRITIC_MANAGER_HPP_
 
#include <memory>
#include <string>
#include <utility>
#include <vector>
#include <pluginlib/class_loader.hpp>
 
#include "geometry_msgs/msg/twist.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "nav2_msgs/msg/critics_stats.hpp"
 
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
#include "nav2_mppi_controller/tools/parameters_handler.hpp"
#include "nav2_mppi_controller/tools/utils.hpp"
#include "nav2_mppi_controller/critic_data.hpp"
#include "nav2_mppi_controller/critic_function.hpp"
 
namespace mppi
{
 
class CriticManager
{
public:
  typedef std::vector<std::unique_ptr<critics::CriticFunction>> Critics;
  CriticManager() = default;
 
 
  virtual ~CriticManager() = default;
 
  void on_configure(
    nav2::LifecycleNode::WeakPtr parent, const std::string & name,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS>, ParametersHandler *);
 
  void evalTrajectoriesScores(CriticData & data);
 
  const std::vector<std::pair<std::string, Eigen::ArrayXf>> & getCriticCosts() const
  {
    return critic_costs_;
  }
 
protected:
  void getParams();
 
  virtual void loadCritics();
 
  std::string getFullName(const std::string & name);
 
protected:
  nav2::LifecycleNode::WeakPtr parent_;
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  std::string name_;
 
  ParametersHandler * parameters_handler_;
  std::vector<std::string> critic_names_;
  std::unique_ptr<pluginlib::ClassLoader<critics::CriticFunction>> loader_;
  Critics critics_;
 
  nav2::Publisher<nav2_msgs::msg::CriticsStats>::SharedPtr critics_effect_pub_;
  bool visualize_;
  std::vector<std::pair<std::string, Eigen::ArrayXf>> critic_costs_;
  rclcpp::Clock::SharedPtr clock_;
 
  rclcpp::Logger logger_{rclcpp::get_logger("MPPIController")};
};
 
}  // namespace mppi
 
#endif  // NAV2_MPPI_CONTROLLER__CRITIC_MANAGER_HPP_