kinematic_parameters.hpp

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#ifndef DWB_PLUGINS__KINEMATIC_PARAMETERS_HPP_
#define DWB_PLUGINS__KINEMATIC_PARAMETERS_HPP_
 
#include <limits>
#include <memory>
#include <string>
#include <vector>
#include <stdexcept>
#include "nav2_ros_common/lifecycle_node.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/parameter.hpp"
 
namespace dwb_plugins
{
 
struct KinematicParameters
{
  friend class KinematicsHandler;
 
  inline double getMinX() {return min_vel_x_;}
  inline double getMaxX() {return max_vel_x_;}
  inline double getAccX() {return acc_lim_x_;}
  inline double getDecelX() {return decel_lim_x_;}
 
  inline double getMinY() {return min_vel_y_;}
  inline double getMaxY() {return max_vel_y_;}
  inline double getAccY() {return acc_lim_y_;}
  inline double getDecelY() {return decel_lim_y_;}
 
  inline double getMinSpeedXY() {return min_speed_xy_;}
  inline double getMaxSpeedXY() {return max_speed_xy_;}
 
  inline double getMinTheta() {return -max_vel_theta_;}
  inline double getMaxTheta() {return max_vel_theta_;}
  inline double getAccTheta() {return acc_lim_theta_;}
  inline double getDecelTheta() {return decel_lim_theta_;}
  inline double getMinSpeedTheta() {return min_speed_theta_;}
 
  inline double getMinSpeedXY_SQ() {return min_speed_xy_sq_;}
  inline double getMaxSpeedXY_SQ() {return max_speed_xy_sq_;}
 
  inline bool isValidSpeed(double x, double y, double theta)
  {
    double vmag_sq = x * x + y * y;
    if (max_speed_xy_ >= 0.0 &&
      vmag_sq > max_speed_xy_sq_ + std::numeric_limits<float>::epsilon())
    {
      return false;
    }
    if (
      min_speed_xy_ >= 0.0 && vmag_sq + std::numeric_limits<float>::epsilon() < min_speed_xy_sq_ &&
      min_speed_theta_ >= 0.0 &&
      fabs(theta) + std::numeric_limits<float>::epsilon() < min_speed_theta_)
    {
      return false;
    }
    if (vmag_sq == 0.0 && theta == 0.0) {return false;}
    return true;
  }
 
protected:
  // For parameter descriptions, see cfg/KinematicParams.cfg
  double min_vel_x_{0};
  double min_vel_y_{0};
  double max_vel_x_{0};
  double max_vel_y_{0};
  double base_max_vel_x_{0};
  double base_max_vel_y_{0};
  double max_vel_theta_{0};
  double base_max_vel_theta_{0};
  double min_speed_xy_{0};
  double max_speed_xy_{0};
  double base_max_speed_xy_{0};
  double min_speed_theta_{0};
  double acc_lim_x_{0};
  double acc_lim_y_{0};
  double acc_lim_theta_{0};
  double decel_lim_x_{0};
  double decel_lim_y_{0};
  double decel_lim_theta_{0};
 
  // Cached square values of min_speed_xy and max_speed_xy
  double min_speed_xy_sq_{0};
  double max_speed_xy_sq_{0};
};
 
class KinematicsHandler
{
public:
  KinematicsHandler();
  ~KinematicsHandler();
  void initialize(const nav2::LifecycleNode::SharedPtr & nh, const std::string & plugin_name);
  void activate();
  void deactivate();
 
  inline KinematicParameters getKinematics()
  {
    KinematicParameters * ptr = kinematics_.load();
    if (ptr == nullptr) {
      throw std::runtime_error("Can't call KinematicsHandler::getKinematics().");
    }
    return *ptr;
  }
 
  void setSpeedLimit(const double & speed_limit, const bool & percentage);
 
  using Ptr = std::shared_ptr<KinematicsHandler>;
 
protected:
  nav2::LifecycleNode::WeakPtr node_;
  rclcpp::Logger logger_{rclcpp::get_logger("DWBController")};
  std::atomic<KinematicParameters *> kinematics_;
 
  // Dynamic parameters handler
  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_params_handler_;
  rcl_interfaces::msg::SetParametersResult validateParameterUpdatesCallback(
    const std::vector<rclcpp::Parameter> & parameters);
 
  void updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters);
  void update_kinematics(KinematicParameters kinematics);
  std::string plugin_name_;
};
 
}  // namespace dwb_plugins
 
#endif  // DWB_PLUGINS__KINEMATIC_PARAMETERS_HPP_