GlobalPlanner.h

Go to the documentation of this file.

/**
 * 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 <map>
#include <memory>
#include <optional>
#include <string>
 
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
 
#include <armarx/navigation/core/NavigationStackGeneralConfig.h>
#include <armarx/navigation/core/Trajectory.h>
#include <armarx/navigation/core/basic_types.h>
#include <armarx/navigation/core/types.h>
#include <armarx/navigation/global_planning/core.h>
 
namespace armarx::navigation::global_planning
{
 
    struct GlobalPlannerResult
    {
        core::GlobalTrajectory trajectory;
 
        /**
         *  Optional helper trajectory that can be used for visualization or debugging purposes.
         *  It is not meant to be executed by the robot.
         *  This can be helpful when using some indermediate trajectory representations for the planning that should also be visualized.
         */
        std::optional<core::GlobalTrajectory> helperTrajectory;
 
        /**
         *  Wall-clock duration [s] of each stage of the planning pipeline, keyed by stage name.
         *  Empty for planners that are not instrumented.
         */
        std::map<std::string, float> timings{};
 
        /**
         *  The raw path as it came out of the grid search, before resampling, smoothing and
         *  orientation optimization. Cell centres, so it is a staircase. For visualization and
         *  debugging only; empty for planners that do not search a grid.
         */
        core::Positions gridPath{};
 
        /**
         *  Whether the position smoothing stage ran *and* its result was adopted. False when the
         *  stage was disabled, or when it produced a trajectory that still had collisions and the
         *  unsmoothed path was kept instead — which is not otherwise visible in the result.
         */
        bool positionSmoothingApplied{false};
 
        /**
         *  Why the position smoothing stage ended the way it did.
         *
         *  `positionSmoothingApplied` alone cannot distinguish a result rejected for residual
         *  collisions from one rejected for folding back on itself, and the two call for
         *  different fixes. Populated by planners that smooth; left at its defaults otherwise.
         */
        struct SmoothingOutcome
        {
            /// The stage ran at all (i.e. was enabled and the trajectory was long enough).
            bool ran{false};
 
            /// The smoothed path passed the collision check.
            bool collisionFree{false};
 
            /// The smoothed path was free of folds and degenerate segments.
            bool geometryValid{true};
 
            /// Waypoints dropped to repair a fold. Non-zero implies the path did fold, even
            /// when `geometryValid` ends up true because the repair succeeded.
            std::size_t repairedWaypoints{0};
 
            /**
             *  Sharpest direction change [deg] in the trajectory *handed to* the smoother.
             *
             *  Without it the only turn measurable from outside is the one in the returned
             *  path, which is the smoothed path when smoothing succeeded and the unsmoothed
             *  one when it did not -- two different things, so comparing them across the
             *  accept/reject split says nothing. This is the same quantity for both.
             */
            float inputSharpestTurnDeg{0.F};
 
            /// Number of places the rejected smoothed path fell below the clearance.
            std::size_t collisions{0};
 
            /**
             *  Of those, how many were at a commanded endpoint or on the segment adjoining it.
             *
             *  The optimizer holds the start and goal fixed -- the start is where the robot is
             *  and the goal is what was asked for -- so a violation there is not something it
             *  could have avoided. Counted apart so a rejection rate can distinguish a path the
             *  smoother got wrong from a request it was never able to satisfy.
             */
            std::size_t endpointCollisions{0};
 
            /// Worst clearance found at any violating sample [mm].
            float worstCollisionClearance{0.F};
 
            /// Smallest clearance [mm] on the path handed to the smoother, and on its result.
            float inputMinClearance{0.F};
 
            float outputMinClearance{0.F};
 
            /// The input was already inside the limit, so the result was judged against it.
            bool judgedAgainstInput{false};
        };
 
        SmoothingOutcome smoothingOutcome{};
    };
 
    /**
    * @brief Parameters for GlobalPlanner
    *
    */
    struct GlobalPlannerParams
    {
        bool foo;
 
        virtual ~GlobalPlannerParams() = default;
 
        virtual Algorithms algorithm() const = 0;
        virtual aron::data::DictPtr toAron() const = 0;
    };
 
    /**
    * @class GlobalPlanner
    * @ingroup Library-GlobalPlanner
    *
    * Base class of all global planners
    */
    class GlobalPlanner
    {
    public:
        GlobalPlanner(const core::GeneralConfig& generalConfig, const core::Scene& scene);
        virtual ~GlobalPlanner() = default;
 
        virtual std::optional<GlobalPlannerResult> plan(const core::Pose& goal) = 0;
        virtual std::optional<GlobalPlannerResult> plan(const core::Pose& start,
                                                        const core::Pose& goal) = 0;
 
        virtual void
        visualizeDebugInfo(viz::Client& vizClient,
                           const std::string& vizLayerNamePrefix = "global_planner_debug") {
            // Default: Do nothing
        };
 
    protected:
        core::GeneralConfig generalConfig;
        const core::Scene& scene;
 
    private:
    };
 
    using GlobalPlannerPtr = std::shared_ptr<GlobalPlanner>;
} // namespace armarx::navigation::global_planning