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Merge pull request naturerobots#74 from JustusBraun/pr/free-space-layer
Feature: Add layer which checks if a robot can fit through a space
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| Original file line number | Diff line number | Diff line change |
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| /* | ||
| * Copyright 2024, Justus Braun | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * 1. Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * | ||
| * 2. Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * | ||
| * 3. Neither the name of the copyright holder nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| * authors: | ||
| * Justus Braun <jubraun@uos.de> | ||
| * | ||
| */ | ||
|
|
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| #ifndef MESH_MAP__FREESPACE_LAYER_H | ||
| #define MESH_MAP__FREESPACE_LAYER_H | ||
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| #include <mesh_map/abstract_layer.h> | ||
| #include <rclcpp/rclcpp.hpp> | ||
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| namespace mesh_layers | ||
| { | ||
| /** | ||
| * @brief Costmap layer which calculates the free space in the direction of the vertex normals | ||
| */ | ||
| class ClearanceLayer : public mesh_map::AbstractLayer | ||
| { | ||
| /** | ||
| * @brief try read layer from map file | ||
| * | ||
| * @return true if successul; else false | ||
| */ | ||
| virtual bool readLayer() override; | ||
|
|
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| /** | ||
| * @brief try to write layer to map file | ||
| * | ||
| * @return true if successfull; else false | ||
| */ | ||
| virtual bool writeLayer() override; | ||
|
|
||
| /** | ||
| * @brief delivers the default layer value | ||
| * | ||
| * @return default value used for this layer | ||
| */ | ||
| virtual float defaultValue() override | ||
| { | ||
| return std::numeric_limits<float>::infinity(); | ||
| } | ||
|
|
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| /** | ||
| * @brief delivers the threshold above which vertices are marked lethal | ||
| * | ||
| * @return lethal threshold | ||
| */ | ||
| virtual float threshold() override; | ||
|
|
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| /** | ||
| * @brief calculate the values of this layer | ||
| * | ||
| * @return true if successfull; else false | ||
| */ | ||
| virtual bool computeLayer() override; | ||
|
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| /** | ||
| * @brief deliver the current costmap | ||
| * | ||
| * @return calculated costmap | ||
| */ | ||
| virtual lvr2::VertexMap<float>& costs() override; | ||
|
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| /** | ||
| * @brief deliver set containing all vertices marked as lethal | ||
| * | ||
| * @return lethal vertices | ||
| */ | ||
| virtual std::set<lvr2::VertexHandle>& lethals() override | ||
| { | ||
| return lethal_vertices_; | ||
| } | ||
|
|
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| /** | ||
| * @brief update set of lethal vertices by adding and removing vertices | ||
| * | ||
| * @param added_lethal vertices to be marked as lethal | ||
| * @param removed_lethal vertices to be removed from the set of lethal vertices | ||
| */ | ||
| virtual void updateLethal(std::set<lvr2::VertexHandle>& added_lethal, std::set<lvr2::VertexHandle>& removed_lethal) override {}; | ||
|
|
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| /** | ||
| * @brief initializes this layer plugin | ||
| * | ||
| * @return true if initialization was successfull; else false | ||
| */ | ||
| virtual bool initialize() override; | ||
|
|
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| /** | ||
| * @brief callback for incoming param changes | ||
| */ | ||
| rcl_interfaces::msg::SetParametersResult reconfigureCallback(std::vector<rclcpp::Parameter> parameters); | ||
|
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| private: | ||
| /** | ||
| * @brief mark vertices without enough clearance as lethal and compute the costs | ||
| * | ||
| * @return true if successfull; else false | ||
| */ | ||
| bool computeLethalsAndCosts(); | ||
|
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| // distance along vertex normal until the next face | ||
| lvr2::DenseVertexMap<float> clearance_; | ||
| // Actual costs values | ||
| lvr2::DenseVertexMap<float> costs_; | ||
| // set of all current lethal vertices | ||
| std::set<lvr2::VertexHandle> lethal_vertices_; | ||
|
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| rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_; | ||
| struct { | ||
| double robot_height = 0.5; | ||
| double height_inflation = 0.3; | ||
| double factor = 1.0; | ||
| } config_; | ||
| }; | ||
|
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| } /* namespace mesh_layers */ | ||
|
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| #endif // MESH_MAP__FREESPACE_LAYER_H |
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