optimizer.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__OPTIMIZER_HPP_
#define NAV2_MPPI_CONTROLLER__OPTIMIZER_HPP_
 
#include <Eigen/Dense>
 
#include <string>
#include <memory>
#include <tuple>
#include <utility>
#include <vector>
 
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_core/goal_checker.hpp"
#include "nav2_core/controller_exceptions.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
#include "pluginlib/class_loader.hpp"
 
#include "geometry_msgs/msg/accel_stamped.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav2_util/geometry_utils.hpp"
 
#include "nav2_mppi_controller/models/optimizer_settings.hpp"
#include "nav2_mppi_controller/motion_models.hpp"
#include "nav2_mppi_controller/critic_manager.hpp"
#include "nav2_mppi_controller/models/state.hpp"
#include "nav2_mppi_controller/models/trajectories.hpp"
#include "nav2_mppi_controller/models/path.hpp"
#include "nav2_mppi_controller/tools/noise_generator.hpp"
#include "nav2_mppi_controller/tools/parameters_handler.hpp"
#include "nav2_mppi_controller/tools/utils.hpp"
#include "nav2_mppi_controller/optimal_trajectory_validator.hpp"
 
namespace mppi
{
 
class Optimizer
{
public:
  Optimizer() = default;
 
  ~Optimizer() {shutdown();}
 
 
  void initialize(
    nav2::LifecycleNode::WeakPtr parent, const std::string & name,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros,
    nav2::TransformBuffer::SharedPtr tf_buffer,
    ParametersHandler * dynamic_parameters_handler);
 
  void shutdown();
 
  std::tuple<geometry_msgs::msg::TwistStamped, Eigen::ArrayXXf> evalControl(
    const geometry_msgs::msg::PoseStamped & robot_pose,
    const geometry_msgs::msg::Twist & robot_speed, const nav_msgs::msg::Path & plan,
    const geometry_msgs::msg::Pose & goal, nav2_core::GoalChecker * goal_checker);
 
  models::Trajectories & getGeneratedTrajectories();
 
  Eigen::ArrayXXf getOptimizedTrajectory();
 
  const models::ControlSequence & getOptimalControlSequence();
 
  const Eigen::ArrayXf & getCosts() const {return costs_;}
 
  const std::vector<std::pair<std::string, Eigen::ArrayXf>> & getCriticCosts() const
  {
    return critic_manager_.getCriticCosts();
  }
 
  const std::vector<bool> & getCollisionFlags() const
  {
    return critics_data_.trajectories_in_collision;
  }
 
  void setSpeedLimit(double speed_limit, bool percentage);
 
  void reset(bool reset_dynamic_speed_limits = true);
 
  bool isSpeedLimitActive() const;
 
  const models::OptimizerSettings & getSettings() const
  {
    return settings_;
  }
 
protected:
  void optimize();
 
  void prepare(
    const geometry_msgs::msg::PoseStamped & robot_pose,
    const geometry_msgs::msg::Twist & robot_speed,
    const nav_msgs::msg::Path & plan,
    const geometry_msgs::msg::Pose & goal, nav2_core::GoalChecker * goal_checker);
 
  void getParams();
 
  void setMotionModel(const std::string & model);
 
  void shiftControlSequence();
 
  void generateNoisedTrajectories();
 
  void applyControlSequenceInterIterationConstraints();
 
  void applyControlSequenceConstraints();
 
  void updateStateVelocities(models::State & state) const;
 
  void updateInitialStateVelocities(models::State & state) const;
 
  void propagateStateVelocitiesFromInitials(models::State & state) const;
 
  void integrateStateVelocities(
    models::Trajectories & trajectories,
    const models::State & state) const;
 
  void integrateStateVelocities(
    Eigen::Array<float, Eigen::Dynamic, 3> & trajectories,
    const Eigen::ArrayXXf & state) const;
 
  void updateControlSequence();
 
  geometry_msgs::msg::TwistStamped
  getControlFromSequenceAsTwist(const builtin_interfaces::msg::Time & stamp);
 
  bool isHolonomic() const;
 
  void setOffset(double controller_period);
 
  bool fallback(bool fail);
 
protected:
  nav2::LifecycleNode::WeakPtr parent_;
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  nav2_costmap_2d::Costmap2D * costmap_;
  std::string name_;
  nav2::TransformBuffer::SharedPtr tf_buffer_;
 
  std::shared_ptr<MotionModel> motion_model_;
 
  ParametersHandler * parameters_handler_;
  CriticManager critic_manager_;
  NoiseGenerator noise_generator_;
 
  std::unique_ptr<pluginlib::ClassLoader<MotionModel>> motion_model_loader_;
  std::unique_ptr<pluginlib::ClassLoader<OptimalTrajectoryValidator>> validator_loader_;
  OptimalTrajectoryValidator::Ptr trajectory_validator_;
 
  models::OptimizerSettings settings_;
 
  models::State state_;
  models::ControlSequence control_sequence_;
  std::array<mppi::models::Control, 4> control_history_;
  models::Trajectories generated_trajectories_;
  models::Path path_;
  geometry_msgs::msg::Pose goal_;
  Eigen::ArrayXf costs_;
 
  CriticData critics_data_ = {
    state_, generated_trajectories_, path_, goal_,
    costs_, settings_.model_dt, false, nullptr, nullptr,
    std::nullopt, std::nullopt, {}};  
 
  rclcpp::Logger logger_{rclcpp::get_logger("MPPIController")};
 
  geometry_msgs::msg::Twist last_command_vel_;
};
 
}  // namespace mppi
 
#endif  // NAV2_MPPI_CONTROLLER__OPTIMIZER_HPP_