exclusion_zone.hpp

// Copyright (c) 2026 Dexory
//
// 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_COLLISION_MONITOR__EXCLUSION_ZONE_HPP_
#define NAV2_COLLISION_MONITOR__EXCLUSION_ZONE_HPP_
 
#include <memory>
#include <mutex>
#include <string>
#include <vector>
 
#include "rclcpp/clock.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "geometry_msgs/msg/polygon_stamped.hpp"
 
#include "tf2/time.hpp"
#include "tf2/LinearMath/Transform.hpp"
 
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
 
#include "nav2_msgs/msg/exclusion_zone_description.hpp"
 
#include "nav2_collision_monitor/types.hpp"
 
namespace nav2_collision_monitor
{
 
class ExclusionZone
{
public:
  ExclusionZone(
    const nav2::LifecycleNode::WeakPtr & node,
    const std::string & zone_name,
    const nav2::TransformBuffer::SharedPtr tf_buffer,
    const std::string & base_frame_id,
    const std::string & global_frame_id,
    const tf2::Duration & transform_tolerance,
    const bool base_shift_correction);
 
  ~ExclusionZone();
 
  bool configure();
 
  bool configure(const nav2_msgs::msg::ExclusionZoneDescription & desc);
 
  void activate();
 
  void deactivate();
 
  void apply(const rclcpp::Time & curr_time, std::vector<Point> & data) const;
 
  std::string getName() const;
 
  bool getEnabled() const;
 
  void publish() const;
 
protected:
  bool getParameters();
 
  void updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters);
 
  rcl_interfaces::msg::SetParametersResult validateParameterUpdatesCallback(
    const std::vector<rclcpp::Parameter> & parameters);
 
  bool getZoneToBaseTransform(
    const rclcpp::Time & curr_time, tf2::Transform & tf_zone_to_base) const;
 
  // ----- Variables -----
 
  nav2::LifecycleNode::WeakPtr node_;
  rclcpp::Logger logger_{rclcpp::get_logger("collision_monitor")};
  rclcpp::Clock::SharedPtr node_clock_;
  mutable std::mutex mutex_;
  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_params_handler_;
 
  std::string zone_name_;
 
  nav2::TransformBuffer::SharedPtr tf_buffer_;
  std::string base_frame_id_;
  std::string global_frame_id_;
  tf2::Duration transform_tolerance_;
  double transform_staleness_threshold_{1.0};
  double base_transform_staleness_threshold_{1.0};
  bool base_shift_correction_;
 
  std::string frame_id_;
  bool is_circle_{false};
  std::vector<Point> poly_;
  double radius_{0.0};
  double radius_squared_{0.0};
  double min_height_;
  double max_height_;
  bool enabled_{false};
 
  bool visualize_{false};
  nav2::Publisher<geometry_msgs::msg::PolygonStamped>::SharedPtr zone_pub_;
};  // class ExclusionZone
 
}  // namespace nav2_collision_monitor
 
#endif  // NAV2_COLLISION_MONITOR__EXCLUSION_ZONE_HPP_