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collision_checker.hpp
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collision_checker.hpp
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// Copyright (c) 2020, 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. Reserved.
//
// Modifications copyright (C) 2021 Bartosz Meglicki <meglickib@gmail.com>
#include "footprint-collision-checker/footprint_collision_checker.hpp"
#include "constants.hpp"
#ifndef NAV2_SMAC_PLANNER__COLLISION_CHECKER_HPP_
#define NAV2_SMAC_PLANNER__COLLISION_CHECKER_HPP_
namespace nav2_smac_planner
{
/**
* @class nav2_smac_planner::GridCollisionChecker
* @brief A costmap grid collision checker
*/
template<typename CostmapT, typename PointT>
class GridCollisionChecker
: public fcc::FootprintCollisionChecker<CostmapT, PointT>
{
public:
typedef typename fcc::FootprintCollisionChecker<CostmapT, PointT>::Footprint Footprint;
/**
* @brief A constructor for nav2_smac_planner::GridCollisionChecker
* @param costmap The costmap to collision check against
*/
GridCollisionChecker(CostmapT *costmap)
: fcc::FootprintCollisionChecker<CostmapT, PointT>(costmap)
{
}
/**
* @brief Set the footprint to use with collision checker
* @param footprint The footprint to collision check against
* @param radius Whether or not the footprint is a circle and use radius collision checking
*/
void setFootprint(const typename fcc::FootprintCollisionChecker<CostmapT, PointT>::Footprint &footprint, const bool &radius)
{
unoriented_footprint_ = footprint;
footprint_is_radius_ = radius;
}
/**
* @brief Check if in collision with costmap and footprint at pose
* @param x X coordinate of pose to check against
* @param y Y coordinate of pose to check against
* @param theta Angle of pose to check against
* @param traverse_unknown Whether or not to traverse in unknown space
* @return boolean if in collision or not.
*/
bool inCollision(
const float & x,
const float & y,
const float & theta,
const bool & traverse_unknown)
{
// Assumes setFootprint already set
double wx, wy;
this->costmap_->mapToWorld(static_cast<double>(x), static_cast<double>(y), wx, wy);
if (!footprint_is_radius_) {
// if footprint, then we check for the footprint's points
footprint_cost_ = this->footprintCostAtPose(
wx, wy, static_cast<double>(theta), unoriented_footprint_);
if (traverse_unknown && footprint_cost_ == CostmapT::UNKNOWN) {
return false;
}
// if occupied or unknown and not to traverse unknown space
return footprint_cost_ >= CostmapT::OCCUPIED;
} else {
// if radius, then we can check the center of the cost assuming inflation is used
footprint_cost_ = this->costmap_->getCost(
static_cast<unsigned int>(x), static_cast<unsigned int>(y));
if (traverse_unknown && footprint_cost_ == CostmapT::UNKNOWN) {
return false;
}
// if occupied or unknown and not to traverse unknown space
return footprint_cost_ >= CostmapT::INSCRIBED;
}
}
/**
* @brief Get cost at footprint pose in costmap
* @return the cost at the pose in costmap
*/
float getCost()
{
// Assumes inCollision called prior
return static_cast<float>(footprint_cost_);
}
protected:
typename fcc::FootprintCollisionChecker<CostmapT, PointT>::Footprint unoriented_footprint_;
double footprint_cost_;
bool footprint_is_radius_;
};
} // namespace nav2_smac_planner
#endif // NAV2_SMAC_PLANNER__COLLISION_CHECKER_HPP_