noise_generator.hpp

// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov
//
// 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_MPPI_CONTROLLER__TOOLS__NOISE_GENERATOR_HPP_
#define NAV2_MPPI_CONTROLLER__TOOLS__NOISE_GENERATOR_HPP_
 
#include <Eigen/Dense>
 
#include <string>
#include <memory>
#include <thread>
#include <mutex>
#include <condition_variable>
#include <random>
 
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_mppi_controller/models/optimizer_settings.hpp"
#include "nav2_mppi_controller/tools/parameters_handler.hpp"
#include "nav2_mppi_controller/models/control_sequence.hpp"
#include "nav2_mppi_controller/models/state.hpp"
 
namespace mppi
{
 
class NoiseGenerator
{
public:
  NoiseGenerator() = default;
 
  void initialize(
    mppi::models::OptimizerSettings & settings,
    bool is_holonomic, const std::string & name, ParametersHandler * param_handler);
 
  void shutdown();
 
  void generateNextNoises();
 
  void setNoisedControls(models::State & state, const models::ControlSequence & control_sequence);
 
  void reset(mppi::models::OptimizerSettings & settings, bool is_holonomic);
 
protected:
  void noiseThread();
 
  void generateNoisedControls();
 
  Eigen::ArrayXXf noises_vx_;
  Eigen::ArrayXXf noises_vy_;
  Eigen::ArrayXXf noises_wz_;
 
  std::default_random_engine generator_;
  std::normal_distribution<float> ndistribution_vx_;
  std::normal_distribution<float> ndistribution_wz_;
  std::normal_distribution<float> ndistribution_vy_;
 
  mppi::models::OptimizerSettings settings_;
  bool is_holonomic_;
 
  std::thread noise_thread_;
  std::condition_variable noise_cond_;
  std::mutex noise_lock_;
  bool active_{false}, ready_{false}, regenerate_noises_{false};
};
 
}  // namespace mppi
 
#endif  // NAV2_MPPI_CONTROLLER__TOOLS__NOISE_GENERATOR_HPP_