path_utils.hpp

// Copyright (c) 2025 Berkan Tali
//
// 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_UTIL__PATH_UTILS_HPP_
#define NAV2_UTIL__PATH_UTILS_HPP_
 
#include <algorithm>
#include <cmath>
#include <limits>
#include <string>
 
#include "geometry_msgs/msg/pose.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/point.hpp"
#include "geometry_msgs/msg/quaternion.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
#include "tf2/utils.hpp"
#include "angles/angles.h"
#include "nav2_util/geometry_utils.hpp"
#include "nav2_util/robot_utils.hpp"
namespace nav2_util
{
 
struct PathSearchResult
{
  double distance;
  size_t closest_segment_index;
};
PathSearchResult distance_from_path(
  const nav_msgs::msg::Path & path,
  const geometry_msgs::msg::Pose & robot_pose,
  const size_t start_index = 0,
  const double search_window_length = std::numeric_limits<double>::max());
 
bool transformPathInTargetFrame(
  const nav_msgs::msg::Path & input_path,
  nav_msgs::msg::Path & transformed_path,
  nav2::TransformBuffer & tf_buffer, const std::string target_frame,
  const double transform_timeout = 0.1);
 
unsigned int findFirstPathConstraint(
  nav_msgs::msg::Path & path,
  bool enforce_path_inversion,
  float rotation_threshold);
 
unsigned int removePosesAfterFirstConstraint(
  nav_msgs::msg::Path & path,
  bool enforce_path_inversion,
  float rotation_threshold);
 
bool isPathUpdated(
  nav_msgs::msg::Path & new_path,
  nav_msgs::msg::Path & old_path);
 
bool isGoalUpdated(
  nav_msgs::msg::Path & new_path,
  nav_msgs::msg::Path & old_path);
}  // namespace nav2_util
 
#endif  // NAV2_UTIL__PATH_UTILS_HPP_