feasible_path_handler.hpp

// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov
// Copyright (c) 2023 Dexory
// Copyright (c) 2023 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.
 
#ifndef NAV2_CONTROLLER__PLUGINS__FEASIBLE_PATH_HANDLER_HPP_
#define NAV2_CONTROLLER__PLUGINS__FEASIBLE_PATH_HANDLER_HPP_
 
#include <string>
#include <vector>
#include <memory>
#include <utility>
#include "nav2_core/path_handler.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
 
namespace nav2_controller
{
class FeasiblePathHandler : public nav2_core::PathHandler
{
public:
  FeasiblePathHandler() = default;
 
  ~FeasiblePathHandler();
 
  void initialize(
    const nav2::LifecycleNode::WeakPtr & parent,
    const rclcpp::Logger & logger,
    const std::string & plugin_name,
    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros,
    nav2::TransformBuffer::SharedPtr tf) override;
 
  void setPlan(const nav_msgs::msg::Path & path) override;
 
  nav2_core::PathSegment findPlanSegment(
    const geometry_msgs::msg::PoseStamped & pose) override;
 
  nav_msgs::msg::Path transformLocalPlan(
    const nav2_core::PathIterator & closest_point,
    const nav2_core::PathIterator & pruned_plan_end) override;
 
  geometry_msgs::msg::PoseStamped getTransformedGoal(
    const builtin_interfaces::msg::Time & stamp) override;
 
  nav_msgs::msg::Path getPlan() {return global_plan_;}
 
protected:
  geometry_msgs::msg::PoseStamped transformToGlobalPlanFrame(
    const geometry_msgs::msg::PoseStamped & pose);
 
  double getCostmapMaxExtent() const;
 
  bool isWithinInversionTolerances(const geometry_msgs::msg::PoseStamped & robot_pose);
 
  void prunePlan(nav_msgs::msg::Path & plan, const nav2_core::PathIterator end);
 
  // Dynamic parameters handler
  std::mutex mutex_;
  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_params_handler_;
  nav2::LifecycleNode::WeakPtr node_;
  rclcpp::Logger logger_ {rclcpp::get_logger("FeasiblePathHandler")};
  std::string plugin_name_;
  nav2::TransformBuffer::SharedPtr tf_;
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  nav_msgs::msg::Path global_plan_;
  nav_msgs::msg::Path global_plan_up_to_constraint_;
  geometry_msgs::msg::PoseStamped global_pose_;
  unsigned int constraint_locale_{0u};
  bool reject_unit_path_, enforce_path_inversion_, enforce_path_rotation_;
  double max_robot_pose_search_dist_, transform_tolerance_, prune_distance_;
  float inversion_xy_tolerance_, inversion_yaw_tolerance_, minimum_rotation_angle_;
 
  rcl_interfaces::msg::SetParametersResult validateParameterUpdatesCallback(
    const std::vector<rclcpp::Parameter> & parameters);
 
  void updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters);
};
}  // namespace nav2_controller
 
#endif  // NAV2_CONTROLLER__PLUGINS__FEASIBLE_PATH_HANDLER_HPP_