edge_scorer.cpp

// Copyright (c) 2025, Open Navigation LLC
//
// 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.
 
 
#include <string>
#include <memory>
#include <vector>
 
#include "nav2_route/edge_scorer.hpp"
 
namespace nav2_route
{
 
EdgeScorer::EdgeScorer(
  nav2::LifecycleNode::SharedPtr node,
  const std::shared_ptr<tf2_ros::Buffer> tf_buffer,
  const std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber)
: plugin_loader_("nav2_route", "nav2_route::EdgeCostFunction")
{
  // load plugins with a default of the DistanceScorer
  const std::vector<std::string> default_plugin_ids({"DistanceScorer", "DynamicEdgesScorer"});
  const std::vector<std::string> default_plugin_types(
    {"nav2_route::DistanceScorer", "nav2_route::DynamicEdgesScorer"});
 
  nav2::declare_parameter_if_not_declared(
    node, "edge_cost_functions", rclcpp::ParameterValue(default_plugin_ids));
  auto edge_cost_function_ids = node->get_parameter("edge_cost_functions").as_string_array();
 
  if (edge_cost_function_ids == default_plugin_ids) {
    for (unsigned int i = 0; i != edge_cost_function_ids.size(); i++) {
      nav2::declare_parameter_if_not_declared(
        node, default_plugin_ids[i] + ".plugin", rclcpp::ParameterValue(default_plugin_types[i]));
    }
  }
 
  for (size_t i = 0; i != edge_cost_function_ids.size(); i++) {
    try {
      std::string type = nav2::get_plugin_type_param(
        node, edge_cost_function_ids[i]);
      EdgeCostFunction::Ptr scorer = plugin_loader_.createUniqueInstance(type);
      RCLCPP_INFO(
        node->get_logger(), "Created edge cost function plugin %s of type %s",
        edge_cost_function_ids[i].c_str(), type.c_str());
      scorer->configure(node, tf_buffer, costmap_subscriber, edge_cost_function_ids[i]);
      plugins_.push_back(std::move(scorer));
    } catch (const pluginlib::PluginlibException & ex) {
      RCLCPP_FATAL(
        node->get_logger(),
        "Failed to create edge cost function. Exception: %s", ex.what());
      throw ex;
    }
  }
}
 
bool EdgeScorer::score(
  const EdgePtr edge, const RouteRequest & route_request,
  const EdgeType & edge_type, float & total_score)
{
  total_score = 0.0;
  float curr_score = 0.0;
 
  for (auto & plugin : plugins_) {
    plugin->prepare();
  }
 
  for (auto & plugin : plugins_) {
    curr_score = 0.0;
    if (plugin->score(edge, route_request, edge_type, curr_score)) {
      total_score += curr_score;
    } else {
      return false;
    }
  }
 
  return true;
}
 
int EdgeScorer::numPlugins() const
{
  return plugins_.size();
}
 
}  // namespace nav2_route