goal_dist.cpp

/*
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#include "dwb_critics/goal_dist.hpp"
#include <vector>
#include "pluginlib/class_list_macros.hpp"
#include "nav_2d_utils/path_ops.hpp"
#include "nav2_costmap_2d/cost_values.hpp"
 
namespace dwb_critics
{
bool GoalDistCritic::prepare(
  const geometry_msgs::msg::Pose &, const nav_2d_msgs::msg::Twist2D &,
  const geometry_msgs::msg::Pose &,
  const nav_msgs::msg::Path & global_plan)
{
  reset();
 
  unsigned int local_goal_x, local_goal_y;
  if (!getLastPoseOnCostmap(global_plan, local_goal_x, local_goal_y)) {
    return false;
  }
 
  // Enqueue just the last pose
  int index = costmap_->getIndex(local_goal_x, local_goal_y);
  cell_values_[index] = 0.0;
  queue_->enqueueCell(local_goal_x, local_goal_y);
 
  propagateManhattanDistances();
 
  return true;
}
 
bool GoalDistCritic::getLastPoseOnCostmap(
  const nav_msgs::msg::Path & global_plan,
  unsigned int & x, unsigned int & y)
{
  nav_msgs::msg::Path adjusted_global_plan = nav_2d_utils::adjustPlanResolution(
    global_plan,
    costmap_->getResolution());
  bool started_path = false;
 
  // skip global path points until we reach the border of the local map
  for (unsigned int i = 0; i < adjusted_global_plan.poses.size(); ++i) {
    double g_x = adjusted_global_plan.poses[i].pose.position.x;
    double g_y = adjusted_global_plan.poses[i].pose.position.y;
    unsigned int map_x, map_y;
    if (costmap_->worldToMap(
        g_x, g_y, map_x,
        map_y) && costmap_->getCost(map_x, map_y) != nav2_costmap_2d::NO_INFORMATION)
    {
      // Still on the costmap. Continue.
      x = map_x;
      y = map_y;
      started_path = true;
    } else if (started_path) {
      // Off the costmap after being on the costmap. Return the last saved indices.
      return true;
    }
    // else, we have not yet found a point on the costmap, so we just continue
  }
 
  if (started_path) {
    return true;
  } else {
    RCLCPP_ERROR(
      rclcpp::get_logger(
        "GoalDistCritic"), "None of the points of the global plan were in the local costmap.");
    return false;
  }
}
 
}  // namespace dwb_critics
 
PLUGINLIB_EXPORT_CLASS(dwb_critics::GoalDistCritic, dwb_core::TrajectoryCritic)