rsband_local_planner_ros.h

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#ifndef RSBAND_LOCAL_PLANNER_RSBAND_LOCAL_PLANNER_ROS_H
#define RSBAND_LOCAL_PLANNER_RSBAND_LOCAL_PLANNER_ROS_H

#include <ros/ros.h>
#include <tf/tf.h>
#include <nav_msgs/Path.h>

#include <nav_core/base_local_planner.h>
#include "eband_local_planner/eband_local_planner.h"
#include "rsband_local_planner/reeds_shepp_planner.h"
#include "rsband_local_planner/fuzzy_ptc.h"

#include <dynamic_reconfigure/server.h>
#include "rsband_local_planner/RSBandPlannerConfig.h"

#include <boost/shared_ptr.hpp>
#include <boost/bind.hpp>

namespace rsband_local_planner
{

  class RSBandPlannerROS : public nav_core::BaseLocalPlanner
  {
    public:

      RSBandPlannerROS();

      ~RSBandPlannerROS();

      void initialize(std::string name, tf::TransformListener* tfListener,
        costmap_2d::Costmap2DROS* costmapROS);

      bool setPlan(const std::vector<geometry_msgs::PoseStamped>& globalPlan);

      bool computeVelocityCommands(geometry_msgs::Twist& cmd);

      bool isGoalReached();


      enum EbandToRSStrategy
      {
        startToEnd,
        startToNext,
        pointToPoint,
        skipFailures,
        startToRecedingEnd
      };

    private:

      void interpolateOrientations(
        std::vector<geometry_msgs::PoseStamped>& plan);

      bool updateEBand();

      bool emergencyPlan(std::vector<geometry_msgs::PoseStamped>& ebandPlan,
        std::vector<geometry_msgs::PoseStamped>& emergencyPlan);

      void reconfigureCallback(RSBandPlannerConfig& config, uint32_t level);

      typedef dynamic_reconfigure::Server<
        rsband_local_planner::RSBandPlannerConfig> drs;
      boost::shared_ptr<drs> drs_;

      tf::TransformListener* tfListener_;
      costmap_2d::Costmap2DROS* costmapROS_;

      boost::shared_ptr<eband_local_planner::EBandPlanner> ebandPlanner_;
      boost::shared_ptr<ReedsSheppPlanner> rsPlanner_;
      boost::shared_ptr<FuzzyPTC> ptc_;

      double xyGoalTolerance_;
      double yawGoalTolerance_;
      double updateSubGoalDistThreshold_;

      EbandToRSStrategy ebandToRSStrategy_;

      bool emergencyPlanning_;
      bool emergencyMode_;
      std::vector<geometry_msgs::PoseStamped> emergencyPoses_;


      ros::Publisher globalPlanPub_;
      ros::Publisher localPlanPub_;
      ros::Publisher ebandPlanPub_;
      ros::Publisher rsPlanPub_;

      std::vector<geometry_msgs::PoseStamped> globalPlan_;
      std::vector<geometry_msgs::PoseStamped> transformedPlan_;

      std::vector<int> planStartEndCounters_;

      bool initialized_;
  };

}  // namespace rsband_local_planner

#endif  // RSBAND_LOCAL_PLANNER_RSBAND_LOCAL_PLANNER_ROS_H