trajectory_visualizer.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__TOOLS__TRAJECTORY_VISUALIZER_HPP_
#define NAV2_MPPI_CONTROLLER__TOOLS__TRAJECTORY_VISUALIZER_HPP_
 
#include <Eigen/Dense>
 
#include <memory>
#include <string>
#include <utility>
#include <vector>
 
#include "nav_msgs/msg/path.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
#include "nav2_mppi_controller/tools/parameters_handler.hpp"
#include "nav2_mppi_controller/tools/utils.hpp"
#include "nav2_mppi_controller/models/trajectories.hpp"
 
namespace mppi
{
 
class TrajectoryVisualizer
{
public:
  TrajectoryVisualizer() = default;
 
  void on_configure(
    nav2::LifecycleNode::WeakPtr parent, const std::string & name,
    const std::string & frame_id, ParametersHandler * parameters_handler);
 
  void on_cleanup();
 
  void on_activate();
 
  void on_deactivate();
 
  void add(
    const Eigen::ArrayXXf & trajectory, const std::string & marker_namespace,
    const builtin_interfaces::msg::Time & cmd_stamp);
 
  void add(
    const models::Trajectories & trajectories,
    const Eigen::ArrayXf & costs,
    const std::vector<bool> & collisions,
    const builtin_interfaces::msg::Time & stamp);
 
  void visualize();
 
  void reset();
 
protected:
  void addCostColoredTrajectory(
    size_t trajectory_idx,
    const models::Trajectories & trajectories,
    float normalized_cost,
    bool in_collision,
    const builtin_interfaces::msg::Time & stamp);
 
  static std_msgs::msg::ColorRGBA costToColor(float normalized);
 
  std::string frame_id_;
  nav2::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr
    trajectories_publisher_;
  nav2::Publisher<nav_msgs::msg::Path>::SharedPtr optimal_path_pub_;
 
  std::unique_ptr<nav_msgs::msg::Path> optimal_path_;
  std::unique_ptr<visualization_msgs::msg::MarkerArray> points_;
  int marker_id_ = 0;
 
  ParametersHandler * parameters_handler_;
 
  size_t trajectory_step_{0};
  size_t time_step_{0};
 
  rclcpp::Logger logger_{rclcpp::get_logger("MPPIController")};
};
 
}  // namespace mppi
 
#endif  // NAV2_MPPI_CONTROLLER__TOOLS__TRAJECTORY_VISUALIZER_HPP_