fuzzy_ptc.h

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#ifndef RSBAND_LOCAL_PLANNER_FUZZY_PTC_H
#define RSBAND_LOCAL_PLANNER_FUZZY_PTC_H

// ros related libraries
#include <ros/ros.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Path.h>
#include <visualization_msgs/Marker.h>

// dynamic reconfigure configuration
#include "rsband_local_planner/RSBandPlannerConfig.h"

// fuzzylite headers
#include <fl/Headers.h>


namespace rsband_local_planner
{

  class FuzzyPTC
  {
    public:
      /*
       * @brief Constructor
       * @param name: Name used to load the paramaters of the controller
       */
      FuzzyPTC(std::string name);

      ~FuzzyPTC();

      void reconfigure(RSBandPlannerConfig& config);

      bool computeVelocityCommands(
        const std::vector<geometry_msgs::PoseStamped>& path,
        geometry_msgs::Twist& cmd);

      bool isGoalReached(const std::vector<geometry_msgs::PoseStamped>& path);

      enum RearSteeringMode{none, counter, crab, hybrid};

    private:

      void initialize();

      void initializeFuzzyEngine();

      double calcAngularDeviationError(
        const std::vector<geometry_msgs::PoseStamped>& path,
        unsigned int subGoalIdx);

      double calcOrientationError(
        const std::vector<geometry_msgs::PoseStamped>& path,
        unsigned int subGoalIdx);

      double calcPositionError(
        const std::vector<geometry_msgs::PoseStamped>& path,
        unsigned int subGoalIdx);

      double calcLateralDeviationError(
        const std::vector<geometry_msgs::PoseStamped>& path,
        unsigned int subGoalIdx);

      double calcDistance(
        const std::vector<geometry_msgs::PoseStamped>& path,
        unsigned int idx1, unsigned int idx2);

      unsigned int findSubGoal(
        const std::vector<geometry_msgs::PoseStamped>& path);

      bool isCuspPoint(
        const std::vector<geometry_msgs::PoseStamped>& path,
        unsigned int idx);


      ros::NodeHandle* pnh_;

      bool initialized_;

      ros::Publisher subGoalPub_;
      visualization_msgs::Marker subGoal_;

      RearSteeringMode rearSteeringMode_;

      double wheelbase_;
      double maxSteeringAngle_;
      double maxSpeed_;
      double xyGoalTolerance_;
      double yawGoalTolerance_;
      double goalDistThreshold_;
      double latDevTolerance_;
      double updateSubGoalDistThreshold_;
      bool displayControllerIO_;
      bool stop_;

      // fuzzylite related variables

      fl::Engine* engine_;

      fl::InputVariable* direction_;
      fl::InputVariable* angularDeviationError_;
      fl::InputVariable* orientationError_;
      fl::InputVariable* positionError_;
      fl::InputVariable* lateralDeviationError_;
      fl::OutputVariable* frontSteeringAngle_;
      fl::OutputVariable* rearSteeringDeviationAngle_;
      fl::OutputVariable* speed_;

      fl::RuleBlock* ruleBlock_;

      std::vector<std::string> speedRules_;
      std::vector<std::string> frontSteeringRules_;
      std::vector<std::string> rearSteeringDeviationRules_;

  };

}

#endif  // RSBAND_LOCAL_PLANNER_FUZZY_PTC_H