TimedElasticBands.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @author     Christian R. G. Dreher ( c dot dreher at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
 
#include <armarx/navigation/core/Trajectory.h>
#include <armarx/navigation/core/basic_types.h>
#include <armarx/navigation/local_planning/LocalPlanner.h>
#include <armarx/navigation/local_planning/TebObstacleManager.h>
#include <armarx/navigation/local_planning/TimedElasticBandsParams.h>
#include <armarx/navigation/local_planning/core.h>
 
#include <teb_local_planner/homotopy_class_planner.h>
#include <teb_local_planner/teb_config.h>
 
namespace armarx::navigation::local_planning
{
    class TimedElasticBands : virtual public LocalPlanner
    {
    public:
        using Params = TimedElasticBandsParams;
 
        TimedElasticBands(const Params& params, const core::Scene& ctx);
        ~TimedElasticBands() override = default;
 
        void init(const core::GlobalTrajectory& initialTrajectory);
 
        std::optional<LocalPlannerResult> plan(const core::GlobalTrajectory& goal) override;
 
    private:
        void readDefaultConfig(arondto::TimedElasticBandsParams& target);
        void fillObstacles();
        void setTebCostmap();
 
    protected:
        Params params;
 
    private:
        const core::Scene& scene;
 
        teb_local_planner::TebConfig cfg_;
        teb_local_planner::ObstContainer teb_obstacles;
        TebObstacleManager obstManager;
        teb_local_planner::PoseSequence teb_globalPath;
        std::optional<teb_local_planner::Costmap> teb_costmap;
        std::unique_ptr<teb_local_planner::HomotopyClassPlanner> hcp_{nullptr};
    };
} // namespace armarx::navigation::local_planning