pure_spinning_local_planner.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
#include <dynamic_reconfigure/server.h>
#include <geometry_msgs/PoseStamped.h>
#include <nav_core/base_local_planner.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <tf2_ros/buffer.h>
#include <Eigen/Eigen>
#include <pure_spinning_local_planner/PureSpinningLocalPlannerConfig.h>
 
typedef double meter;
typedef double rad;
typedef double rad_s;
 
namespace cl_move_base_z
{
namespace pure_spinning_local_planner
{
class PureSpinningLocalPlanner : public nav_core::BaseLocalPlanner
{
public:
  PureSpinningLocalPlanner();
 
  virtual ~PureSpinningLocalPlanner();
 
  virtual bool computeVelocityCommands(geometry_msgs::Twist &cmd_vel) override;
 
  virtual bool isGoalReached() override;
 
  virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped> &plan) override;
 
  void initialize(std::string name, tf::TransformListener *tf, costmap_2d::Costmap2DROS *costmapRos);
 
  void initialize(std::string name, tf2_ros::Buffer *tf, costmap_2d::Costmap2DROS *costmapRos);
 
  void initialize();
 
private:
  void reconfigCB(::pure_spinning_local_planner::PureSpinningLocalPlannerConfig &config, uint32_t level);
 
  void publishGoalMarker(double x, double y, double phi);
 
  costmap_2d::Costmap2DROS *costmapRos_;
 
  std::vector<geometry_msgs::PoseStamped> plan_;
 
  dynamic_reconfigure::Server<::pure_spinning_local_planner::PureSpinningLocalPlannerConfig> paramServer_;
 
 
  double k_betta_;
  bool goalReached_;
  int currentPoseIndex_;
  rad yaw_goal_tolerance_;
  rad intermediate_goal_yaw_tolerance_;
  rad_s max_angular_z_speed_;
};
}  // namespace pure_spinning_local_planner
}  // namespace cl_move_base_z