types.hpp

// Copyright (c) 2022 Samsung R&D Institute Russia
//
// 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__TYPES_HPP_
#define NAV2_COLLISION_MONITOR__TYPES_HPP_
 
#include <string>
#include <vector>
 
namespace nav2_collision_monitor
{
 
struct Velocity
{
  double x;  // x-component of linear velocity
  double y;  // y-component of linear velocity
  double tw;  // z-component of angular twist
 
  inline bool operator<(const Velocity & second) const
  {
    const double first_vel = x * x + y * y + tw * tw;
    const double second_vel = second.x * second.x + second.y * second.y + second.tw * second.tw;
    // This comparison includes rotations in place, where linear velocities are equal to zero
    return first_vel < second_vel;
  }
 
  inline Velocity operator*(const double & mul) const
  {
    return {x * mul, y * mul, tw * mul};
  }
 
  inline bool isZero() const
  {
    return x == 0.0 && y == 0.0 && tw == 0.0;
  }
};
 
struct Point
{
  double x;  // x-coordinate of point
  double y;  // y-coordinate of point
  double z = 0.0;  // z-coordinate of point (0 for inherently-2D sources)
  std::string source = "";  // name of the data source
};
 
struct Pose
{
  double x;  // x-coordinate of pose
  double y;  // y-coordinate of pose
  double theta;  // rotation angle of pose
};
 
enum ActionType
{
  DO_NOTHING = 0,  // No action
  STOP = 1,  // Stop the robot
  SLOWDOWN = 2,  // Slowdown in percentage from current operating speed
  APPROACH = 3,  // Keep constant time interval before collision
  LIMIT = 4  // Limit absolute velocity from current operating speed
};
 
struct Action
{
  ActionType action_type;
  Velocity req_vel;
  std::string polygon_name;
  std::vector<Point> triggering_points;
};
 
}  // namespace nav2_collision_monitor
 
#endif  // NAV2_COLLISION_MONITOR__TYPES_HPP_