ObstacleAwareVelocityLimit.cpp

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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 )
 * @date       2026
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "ObstacleAwareVelocityLimit.h"
 
#include <algorithm>
#include <cmath>
 
#include <range/v3/range/conversion.hpp>
#include <range/v3/view/transform.hpp>
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
namespace armarx::navigation::algorithms
{
 
    ObstacleAwareVelocityLimit::ObstacleAwareVelocityLimit(const Costmap& costmap,
                                                           const Parameters& params) :
        costmap_(costmap), params_(params)
    {
        ARMARX_CHECK_GREATER(params_.obstacleMaxDistance, 0.F)
            << "The obstacle distance the limit is normalized by must be positive.";
    }
 
    float
    ObstacleAwareVelocityLimit::atDistance(const float obstacleDistance) const
    {
        const float clippedDistance =
            std::clamp(obstacleDistance, 0.F, params_.obstacleMaxDistance);
 
        const float proximity = std::pow(1.F - clippedDistance / params_.obstacleMaxDistance,
                                         params_.obstacleCostExponent);
 
        return params_.maxVelocity / (1.F + params_.obstacleDistanceWeight * proximity);
    }
 
    float
    ObstacleAwareVelocityLimit::at(const Eigen::Vector2f& position) const
    {
        // A masked-out cell carries no distance information. Treating it as zero clearance is the
        // conservative choice and matches what SPFA's final velocity clamp has always done.
        return atDistance(costmap_.value(position).value_or(0.F));
    }
 
    std::vector<float>
    ObstacleAwareVelocityLimit::at(const core::Positions& positions) const
    {
        const auto limitAt = [this](const core::Position& position) -> float
        { return at(Eigen::Vector2f{position.head<2>()}); };
 
        return positions | ranges::views::transform(limitAt) | ranges::to_vector;
    }
 
    const ObstacleAwareVelocityLimit::Parameters&
    ObstacleAwareVelocityLimit::params() const noexcept
    {
        return params_;
    }
 
} // namespace armarx::navigation::algorithms