Costmap3DBuilder.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 <functional>
#include <optional>
#include <string>
#include <vector>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include <VirtualRobot/SceneObjectSet.h>
#include <VirtualRobot/VirtualRobot.h>
 
#include <armarx/navigation/algorithms/Costmap.h>
#include <armarx/navigation/algorithms/Room.h>
#include <armarx/navigation/algorithms/orientation_aware/Costmap3D.h>
#include <armarx/navigation/algorithms/orientation_aware/collision_checking.h>
#include <armarx/navigation/algorithms/types.h>
#include <armarx/navigation/core/basic_types.h>
#include <armarx/navigation/util/geometry.h>
 
namespace armarx::navigation::algorithms::orientation_aware
{
 
    class Costmap3DBuilder
    {
    public:
        struct Costmap3DBuilderParams
        {
            bool restrictToRooms = false;
 
            /*!
             * Only applicable when restrictToRooms is true.
             * The list of rooms for which the costmap should be generated, leave empty to
             * include all rooms.
             */
            std::vector<std::string> roomEnableList;
 
            /*!
             * Robot footprint radius in mm. Only applicable when restrictToRooms is true.
             * When >= 0, cells closer than this distance to a room boundary are excluded.
             * -1 disables the footprint restriction.
             */
            float robotFootprintRadius = -1.F;
 
            /*!
             * The maximum distance from the costmap to an obstacle to be included for costmap
             * calculation. Every obstacles further away will be discarded.
             */
            float maxFilterDistance = 1000.F;
 
 
            Eigen::Vector3f collisionModelScaleFactor = Eigen::Vector3f::Ones();
            bool approximation2D = false;
            float approx2DignoreVerticesOver = 2000.F; // [mm]
            float obstacleSafetyMargin = 15.F; // [mm]
 
            std::set<std::string> primitiveApproximationIDs;
        };
 
        Costmap3DBuilder(const VirtualRobot::RobotPtr& robot,
                         const VirtualRobot::SceneObjectSetPtr& obstacles,
                         const std::vector<VirtualRobot::RobotPtr>& articulatedObjects,
                         const std::vector<Room>& rooms,
                         const Costmap3D::Parameters& parameters,
                         const std::string& robotCollisonModelName,
                         const Costmap3DBuilderParams& builderParameters);
 
        Costmap3D create(const SceneBounds& init = SceneBounds());
 
        // Extend costmap from laser scanners / cartographer
        Costmap3D extend(Costmap costmap);
 
 
        static Costmap3D::Grid createUniformGrid(const SceneBounds& sceneBounds,
                                                 const Costmap3D::Parameters& parameters);
 
        static Eigen::MatrixXf
        createUniformGridSingleOrientation(const SceneBounds& sceneBounds,
                                           const Costmap3D::Parameters& parameters);
 
        static void initializeMask(Costmap3D& costmap);
 
        struct DebugOutput2D
        {
            Robot2D robot;
            Scene2D scene;
 
            Eigen::Isometry2f root_T_used_root_2d = Eigen::Isometry2f::Identity();
        };
 
        std::optional<DebugOutput2D> getDebugOutput2D();
 
    private:
        using CollisionPolygon = util::geometry::polygon_type;
 
        float computeCost(const core::Pose2D& pose2d, const Robot2D& robot2d, const Scene2D& scene);
 
        Costmap3D inflateRotationDimension(Costmap& costmap);
 
        void fillGridCosts2D(Costmap3D& costmap);
        void fillGridCosts(Costmap3D& costmap);
        void extendGridCosts(Costmap3D& costmap, const std::vector<Room>& rooms);
 
        VirtualRobot::SceneObjectSetPtr filterObjectsForCostmap(const Costmap3D& costmap);
 
        // fn: collisionRobot, robotCollisionModel, mask, costs, index -> costs
        // expects mask calculation based on costs after this function
 
        struct MapStructCommon
        {
            std::optional<float> maskOpt;
            float cost;
            const Costmap3D::Index& posIdx;
            Costmap3D::RotationIndex rotIdx;
 
            bool
            isMaskedOut() const
            {
                return maskOpt.has_value() and not maskOpt.value();
            }
        };
 
        struct MapStruct
        {
            MapStructCommon c;
            DistanceCalculator distanceCalculator;
        };
 
        struct MapStructRobot2D
        {
            MapStructCommon c;
            Robot2D robot;
            Scene2D scene;
        };
 
        std::optional<DebugOutput2D> debugOutput2D;
 
        using MapFn = std::function<float(const MapStruct&)>;
        using MapFnRobot2D = std::function<float(const MapStructRobot2D&)>;
        void applyFnToCostmap(Costmap3D& costmap, const MapFn& fn);
        void applyFnToCostmap(Costmap3D& costmap, const MapFnRobot2D& fn);
 
        void initializeEmptyMask(Costmap3D& costmap);
 
        const VirtualRobot::RobotPtr robot;
        const VirtualRobot::SceneObjectSetPtr obstacles;
        VirtualRobot::SceneObjectSetPtr filteredObstacles;
        const std::vector<VirtualRobot::RobotPtr> articulatedObjects;
        std::vector<Room> rooms;
        const Costmap3D::Parameters parameters;
        const std::string robotCollisionModelName;
 
        const Costmap3DBuilderParams builderParameters;
 
        Eigen::Isometry2f root_T_used_root_2d = Eigen::Isometry2f::Identity();
    };
 
} // namespace armarx::navigation::algorithms::orientation_aware