AStarWithOrientation.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     Niklas Arlt ( niklas dot arlt at kit dot edu )
 * @date       2025
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <optional>
 
#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
 
#include <armarx/navigation/algorithms/orientation_aware/Costmap3D.h>
#include <armarx/navigation/algorithms/orientation_aware/io.h>
#include <armarx/navigation/algorithms/orientation_aware/smoothing/io.h>
#include <armarx/navigation/core/basic_types.h>
#include <armarx/navigation/core/types.h>
#include <armarx/navigation/global_planning/GlobalPlanner.h>
#include <armarx/navigation/global_planning/core.h>
 
namespace armarx::navigation::global_planning
{
 
    /**
    * @brief Parameters for AStarWithOrientation
    *
    */
    struct AStarWithOrientationParams : public GlobalPlannerParams
    {
        bool includeStartPose{true};
 
        Algorithms algorithm() const override;
        aron::data::DictPtr toAron() const override;
 
        static AStarWithOrientationParams FromAron(const aron::data::DictPtr& dict);
    };
 
    // Implementation class with only the necessary interface
    class AStarWithOrientationImpl
    {
    public:
        using Params = AStarWithOrientationParams;
 
        AStarWithOrientationImpl(
            const Params& params,
            const core::GeneralConfig& generalConfig,
            const std::optional<navigation::algorithms::orientation_aware::Costmap3D>& costmap,
            VirtualRobot::RobotPtr robot);
 
        void updateCostmap(const std::optional<navigation::algorithms::orientation_aware::Costmap3D>& costmap);
 
        std::optional<GlobalPlannerResult> plan(const core::Pose& start, const core::Pose& goal);
 
        void visualizeDebugInfo(viz::Client& vizClient,
                                const std::string& vizLayerNamePrefix = "global_planner_debug");
 
        /**
         * @brief Override the parameters that `plan()` otherwise loads from the package config
         *        files, for the offline planner ablation.
         *
         * Unset (the default) means the parameters are loaded from
         * `algorithms/astarwithorientation.cfg` and `algorithms/orientation-aware-smoothing.cfg`
         * exactly as before, so deployed behaviour is unchanged.
         */
        void
        setParamOverrides(
            std::optional<algorithms::orientation_aware::io::AStarWithOrientationParams> aStar,
            std::optional<algorithms::orientation_aware::smoothing::io::SmoothingParams> smoothing)
        {
            aStarParamsOverride = std::move(aStar);
            smoothingParamsOverride = std::move(smoothing);
        }
 
        /// Run the Ceres smoother after A*. Enabled by default, matching deployed behaviour.
        void
        setSmoothingEnabled(bool enabled) noexcept
        {
            smoothingEnabled = enabled;
        }
 
        /// Nodes expanded by A* during the last `plan()` call.
        std::size_t
        lastExpandedNodes() const noexcept
        {
            return expandedNodes;
        }
 
        /// Wall-clock seconds spent in A* / in the smoother during the last `plan()` call.
        double
        lastAStarSeconds() const noexcept
        {
            return aStarSeconds;
        }
 
        double
        lastSmootherSeconds() const noexcept
        {
            return smootherSeconds;
        }
 
    protected:
        Params params;
        core::GeneralConfig generalConfig;
        std::optional<navigation::algorithms::orientation_aware::Costmap3D> costmap;
        VirtualRobot::RobotPtr robot;
 
    private:
        // Offline-evaluation overrides; unset means "load from the package config files".
        std::optional<algorithms::orientation_aware::io::AStarWithOrientationParams>
            aStarParamsOverride;
        std::optional<algorithms::orientation_aware::smoothing::io::SmoothingParams>
            smoothingParamsOverride;
        bool smoothingEnabled{true};
 
        // instrumentation from last execution
        std::size_t expandedNodes{0};
        double aStarSeconds{0.0};
        double smootherSeconds{0.0};
 
        // state from last execution
        std::vector<core::GlobalTrajectoryPoint> lastPointsInCollision;
        core::GlobalTrajectory lastRawTrajectory;
        core::GlobalTrajectory lastPreprocessedTrajectory;
        core::GlobalTrajectory lastSmoothedTrajectory;
        /// original (in-collision) start pose of the last plan, in the costmap/planning frame
        std::optional<core::Pose> lastRecoveryOriginalStart;
        /// collision-free recovery target of the last plan, in the costmap/planning frame
        std::optional<Eigen::Vector2f> lastRecoveryPosition;
    };
 
    /**
    * @class AStarWithOrientation
    * @ingroup Library-GlobalPlanner
    *
    * Implements an A* planner but is compatible with non-circular robots.
    * Compared to circular robots, the orientation of non-circular robots is important to not collide with obstacles.
    *
    * This class is the integration class for the GlobalPanner base class.
    */
    class AStarWithOrientation : virtual public GlobalPlanner
    {
    public:
        using Params = AStarWithOrientationParams;
 
        AStarWithOrientation(const Params& params,
                             const core::GeneralConfig& generalConfig,
                             const core::Scene& ctx);
 
        std::optional<GlobalPlannerResult> plan(const core::Pose& goal) override;
        std::optional<GlobalPlannerResult> plan(const core::Pose& start,
                                                const core::Pose& goal) override;
 
        using GlobalPlanner::visualizeDebugInfo;
        void
        visualizeDebugInfo(viz::Client& vizClient,
                           const std::string& vizLayerNamePrefix = "global_planner_debug") override;
 
    protected:
        AStarWithOrientationImpl impl;
    };
 
} // namespace armarx::navigation::global_planning