critic_function.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__CRITIC_FUNCTION_HPP_
#define NAV2_MPPI_CONTROLLER__CRITIC_FUNCTION_HPP_
 
#include <string>
#include <memory>
 
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
 
#include "nav2_mppi_controller/tools/parameters_handler.hpp"
#include "nav2_mppi_controller/critic_data.hpp"
 
namespace mppi::critics
{
 
struct CollisionCost
{
  float cost{0};
  bool using_footprint{false};
};
 
class CriticFunction
{
public:
  CriticFunction() = default;
 
  virtual ~CriticFunction() = default;
 
  void on_configure(
    nav2::LifecycleNode::WeakPtr parent,
    const std::string & parent_name,
    const std::string & name,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros,
    ParametersHandler * param_handler)
  {
    parent_ = parent;
    logger_ = parent_.lock()->get_logger();
    name_ = name;
    parent_name_ = parent_name;
    costmap_ros_ = costmap_ros;
    costmap_ = costmap_ros_->getCostmap();
    parameters_handler_ = param_handler;
 
    auto getParam = parameters_handler_->getParamGetter(name_);
    getParam(enabled_, "enabled", true);
 
    initialize();
  }
 
  virtual void score(CriticData & data) = 0;
 
  virtual void initialize() = 0;
 
  std::string getName()
  {
    return name_;
  }
 
protected:
  bool enabled_;
  std::string name_, parent_name_;
  nav2::LifecycleNode::WeakPtr parent_;
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  nav2_costmap_2d::Costmap2D * costmap_{nullptr};
 
  ParametersHandler * parameters_handler_;
  rclcpp::Logger logger_{rclcpp::get_logger("MPPIController")};
};
 
}  // namespace mppi::critics
 
#endif  // NAV2_MPPI_CONTROLLER__CRITIC_FUNCTION_HPP_