AStar.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 <armarx/navigation/client/NavigationStackConfig.h>
#include <armarx/navigation/core/types.h>
 
#include "GlobalPlanner.h"
 
namespace armarx::navigation::global_planning
{
 
    /**
     * @brief Parameters for AStar
     *
     */
    struct AStarParams : public GlobalPlannerParams
    {
        float resampleDistance{200};
 
        Algorithms algorithm() const override;
        aron::data::DictPtr toAron() const override;
 
        static AStarParams FromAron(const aron::data::DictPtr& dict);
    };
 
    class AStarImpl
    {
    public:
        using Params = AStarParams;
 
        AStarImpl(const Params& params,
                  const core::GeneralConfig& generalConfig,
                  const std::optional<navigation::algorithms::Costmap>& costmap);
 
        void updateCostmap(const std::optional<navigation::algorithms::Costmap>& costmap);
 
        std::optional<GlobalPlannerResult> plan(const core::Pose& start, const core::Pose& goal);
 
    protected:
        std::vector<Eigen::Vector2f> postProcessPath(const std::vector<Eigen::Vector2f>& path);
 
    private:
        Params params;
        std::optional<navigation::algorithms::Costmap> costmap_;
        core::GeneralConfig generalConfig_;
    };
 
    /**
    * @class AStar
    * @ingroup Library-GlobalPlanner
    *
    * Implements the A* algorithm
    */
    class AStar : public GlobalPlanner
    {
    public:
        using Params = AStarParams;
 
        AStar(const Params& params,
              const core::GeneralConfig& generalConfig,
              const core::Scene& ctx);
        ~AStar() override = default;
 
        std::optional<GlobalPlannerResult> plan(const core::Pose& goal) override;
        std::optional<GlobalPlannerResult> plan(const core::Pose& start,
                                                const core::Pose& goal) override;
 
    private:
        AStarImpl impl_;
    };
 
} // namespace armarx::navigation::global_planning