map_grid.cpp

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#include "dwb_critics/map_grid.hpp"
#include <cmath>
#include <string>
#include <vector>
#include <utility>
#include <algorithm>
#include <memory>
#include "dwb_core/exceptions.hpp"
#include "nav2_costmap_2d/cost_values.hpp"
 
using std::abs;
using costmap_queue::CellData;
 
namespace dwb_critics
{
 
// Customization of the CostmapQueue validCellToQueue method
bool MapGridCritic::MapGridQueue::validCellToQueue(const costmap_queue::CellData & /*cell*/)
{
  return true;
}
 
void MapGridCritic::onInit()
{
  costmap_ = costmap_ros_->getCostmap();
  queue_ = std::make_shared<MapGridQueue>(*costmap_, *this);
 
  // Always set to true, but can be overridden by subclasses
  stop_on_failure_ = true;
 
  auto node = node_.lock();
  if (!node) {
    throw std::runtime_error{"Failed to lock node"};
  }
 
  std::string aggro_str = node->declare_or_get_parameter(
    dwb_plugin_name_ + "." + name_ + ".aggregation_type",
    std::string("last"));
  std::transform(aggro_str.begin(), aggro_str.end(), aggro_str.begin(), ::tolower);
  if (aggro_str == "last") {
    aggregationType_ = ScoreAggregationType::Last;
  } else if (aggro_str == "sum") {
    aggregationType_ = ScoreAggregationType::Sum;
  } else if (aggro_str == "product") {
    aggregationType_ = ScoreAggregationType::Product;
  } else {
    RCLCPP_ERROR(
      rclcpp::get_logger(
        "MapGridCritic"), "aggregation_type parameter \"%s\" invalid. Using Last.",
      aggro_str.c_str());
    aggregationType_ = ScoreAggregationType::Last;
  }
}
 
void MapGridCritic::setAsObstacle(unsigned int index)
{
  cell_values_[index] = obstacle_score_;
}
 
void MapGridCritic::reset()
{
  queue_->reset();
  cell_values_.resize(costmap_->getSizeInCellsX() * costmap_->getSizeInCellsY());
  obstacle_score_ = static_cast<double>(cell_values_.size());
  unreachable_score_ = obstacle_score_ + 1.0;
  std::fill(cell_values_.begin(), cell_values_.end(), unreachable_score_);
}
 
void MapGridCritic::propagateManhattanDistances()
{
  while (!queue_->isEmpty()) {
    costmap_queue::CellData cell = queue_->getNextCell();
    cell_values_[cell.index_] = CellData::absolute_difference(cell.src_x_, cell.x_) +
      CellData::absolute_difference(cell.src_y_, cell.y_);
  }
}
 
double MapGridCritic::scoreTrajectory(const dwb_msgs::msg::Trajectory2D & traj)
{
  double score = 0.0;
  unsigned int start_index = 0;
  if (aggregationType_ == ScoreAggregationType::Product) {
    score = 1.0;
  } else if (aggregationType_ == ScoreAggregationType::Last && !stop_on_failure_) {
    start_index = traj.poses.size() - 1;
  }
  double grid_dist;
 
  for (unsigned int i = start_index; i < traj.poses.size(); ++i) {
    grid_dist = scorePose(traj.poses[i]);
    if (stop_on_failure_) {
      if (grid_dist == obstacle_score_) {
        throw dwb_core::
              IllegalTrajectoryException(name_, "Trajectory Hits Obstacle.");
      } else if (grid_dist == unreachable_score_) {
        throw dwb_core::
              IllegalTrajectoryException(name_, "Trajectory Hits Unreachable Area.");
      }
    }
 
    switch (aggregationType_) {
      case ScoreAggregationType::Last:
        score = grid_dist;
        break;
      case ScoreAggregationType::Sum:
        score += grid_dist;
        break;
      case ScoreAggregationType::Product:
        if (score > 0) {
          score *= grid_dist;
        }
        break;
    }
  }
 
  return score;
}
 
double MapGridCritic::scorePose(const geometry_msgs::msg::Pose & pose)
{
  unsigned int cell_x, cell_y;
  // we won't allow trajectories that go off the map... shouldn't happen that often anyways
  if (!costmap_->worldToMap(pose.position.x, pose.position.y, cell_x, cell_y)) {
    throw dwb_core::
          IllegalTrajectoryException(name_, "Trajectory Goes Off Grid.");
  }
  return getScore(cell_x, cell_y);
}
 
void MapGridCritic::addCriticVisualization(
  std::vector<std::pair<std::string, std::vector<float>>> & cost_channels)
{
  std::pair<std::string, std::vector<float>> grid_scores;
  grid_scores.first = name_;
 
  nav2_costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap();
  unsigned int size_x = costmap->getSizeInCellsX();
  unsigned int size_y = costmap->getSizeInCellsY();
  grid_scores.second.resize(size_x * size_y);
  unsigned int i = 0;
  for (unsigned int cy = 0; cy < size_y; cy++) {
    for (unsigned int cx = 0; cx < size_x; cx++) {
      grid_scores.second[i] = getScore(cx, cy);
      i++;
    }
  }
  cost_channels.push_back(grid_scores);
}
 
}  // namespace dwb_critics