collision_checker.hpp

// Copyright (c) 2022 Samsung Research America
//
// 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_REGULATED_PURE_PURSUIT_CONTROLLER__COLLISION_CHECKER_HPP_
#define NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__COLLISION_CHECKER_HPP_
 
#include <string>
#include <vector>
#include <memory>
#include <algorithm>
#include <mutex>
 
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_costmap_2d/footprint_collision_checker.hpp"
#include "nav2_util/odometry_utils.hpp"
#include "geometry_msgs/msg/pose.hpp"
#include "nav2_regulated_pure_pursuit_controller/parameter_handler.hpp"
 
#include "nav2_core/controller_exceptions.hpp"
#include "nav2_ros_common/node_utils.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "nav2_costmap_2d/costmap_filters/filter_values.hpp"
 
namespace nav2_regulated_pure_pursuit_controller
{
 
class CollisionChecker
{
public:
  CollisionChecker(
    nav2::LifecycleNode::SharedPtr node,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros, Parameters * params);
 
  ~CollisionChecker() = default;
 
  bool isCollisionImminent(
    const geometry_msgs::msg::PoseStamped &,
    const double &, const double &,
    const double &);
 
  bool inCollision(
    const double & x,
    const double & y,
    const double & theta);
 
  double costAtPose(const double & x, const double & y);
 
protected:
  rclcpp::Logger logger_ {rclcpp::get_logger("RPPCollisionChecker")};
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  nav2_costmap_2d::Costmap2D * costmap_;
  std::unique_ptr<nav2_costmap_2d::FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>>
  footprint_collision_checker_;
  Parameters * params_;
  nav2::Publisher<nav_msgs::msg::Path>::SharedPtr carrot_arc_pub_;
  rclcpp::Clock::SharedPtr clock_;
};
 
}  // namespace nav2_regulated_pure_pursuit_controller
 
#endif  // NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__COLLISION_CHECKER_HPP_