CAbstractPTGBasedReactive.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/maps/CPointCloudFilterBase.h>
#include <mrpt/math/CPolygon.h>
#include <mrpt/math/filters.h>
#include <mrpt/nav/holonomic/CAbstractHolonomicReactiveMethod.h>
#include <mrpt/nav/holonomic/ClearanceDiagram.h>
#include <mrpt/nav/reactive/CLogFileRecord.h>
#include <mrpt/nav/reactive/CMultiObjectiveMotionOptimizerBase.h>
#include <mrpt/nav/reactive/CWaypointsNavigator.h>
#include <mrpt/nav/reactive/TCandidateMovementPTG.h>
#include <mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h>
#include <mrpt/system/CTimeLogger.h>
#include <mrpt/system/datetime.h>
#include <memory>  // unique_ptr

namespace mrpt::nav
{
/** Base class for reactive navigator systems based on TP-Space, with an
 * arbitrary holonomic
 * reactive method running on it and any number of PTGs for transforming the
 * navigation space.
 * Both, the holonomic method and the PTGs can be customized by the apropriate
 * user derived classes.
 *
 * How to use:
 *  - Instantiate a reactive navigation object (one of the derived classes of
 * this virtual class).
 *  - A class with callbacks must be defined by the user and provided to the
 * constructor (derived from CRobot2NavInterface)
 *  - loadConfigFile() must be called to set up the bunch of parameters from a
 * config file (could be a memory-based virtual config file).
 *  - navigationStep() must be called periodically in order to effectively run
 * the navigation. This method will internally call the callbacks to gather
 * sensor data and robot positioning data.
 *
 * For working examples, refer to the source code of the apps:
 *  -
 * [ReactiveNavigationDemo](http://www.mrpt.org/list-of-mrpt-apps/application-reactivenavigationdemo/)
 *  -
 * [ReactiveNav3D-Demo](http://www.mrpt.org/list-of-mrpt-apps/application-reactivenav3d-demo/)
 *
 * Publications:
 *  - See derived classes for papers on each specific method.
 *
 * Available "variables" or "score names" for each motion candidate (these can
 * be used in runtime-compiled expressions
 * in the configuration files of motion deciders):
 *
 * - `clearance`: Clearance (larger means larger distances to obstacles) for
 * the path from "current pose" up to "end of trajectory".
 * - `collision_free_distance`: Normalized [0,1] collision-free distance in
 * selected path. For NOP candidates, the traveled distances is substracted.
 * - `dist_eucl_final`: Euclidean distance (in the real-world WordSpace)
 * between "end of trajectory" and target.
 * - `eta`: Estimated Time of Arrival at "end of trajectory".
 * - `holo_stage_eval`: Final evaluation of the selected direction from inside
 * of the holonomic algorithm.
 * - `hysteresis`: Measure of similarity with previous command [0,1]
 * - `is_PTG_cont`: 1 (is "NOP" motion command), 0 otherwise
 * - `is_slowdown`: 1 if PTG returns true in
 * CParameterizedTrajectoryGenerator::supportSpeedAtTarget() for this step.
 * - `move_cur_d`: Normalized distance already traveled over the selected PTG.
 * Normally 0, unless in a "NOP motion".
 * - `move_k`: Motion candidate path 0-based index.
 * - `num_paths`: Number of paths in the PTG
 * - `original_col_free_dist`: Only for "NOP motions", the collision-free
 * distance when the motion command was originally issued.
 * - `ptg_idx`: PTG index (0-based)
 * - `ptg_priority`: Product of PTG getScorePriority() times PTG
 * evalPathRelativePriority()
 * - `ref_dist`: PTG ref distance [m]
 * - `robpose_x`, `robpose_y`, `robpose_phi`: Robot pose ([m] and [rad]) at the
 * "end of trajectory": at collision or at target distance.
 * - `target_d_norm`: Normalized target distance. Can be >1 if distance is
 * larger than ref_distance.
 * - `target_dir`: Angle of target in TP-Space [rad]
 * - `target_k`: Same as target_dir but in discrete path 0-based indices.
 * - `WS_target_x`, `WS_target_y`: Target coordinates in realworld [m]
 *
 * \sa CReactiveNavigationSystem, CReactiveNavigationSystem3D
 *  \ingroup nav_reactive
 */
class CAbstractPTGBasedReactive : public CWaypointsNavigator
{
   public:
    /** The struct for configuring navigation requests to
     * CAbstractPTGBasedReactive and derived classes. */
    struct TNavigationParamsPTG
        : public CWaypointsNavigator::TNavigationParamsWaypoints
    {
        /** (Default=empty) Optionally, a list of PTG indices can be sent such
         * that
         *  the navigator will restrict itself to only employ those PTGs. */
        std::vector<size_t> restrict_PTG_indices;

        std::string getAsText() const override;
        std::unique_ptr<TNavigationParams> clone() const override
        {
            return std::unique_ptr<TNavigationParams>(
                new TNavigationParamsPTG(*this));
        }

       protected:
        bool isEqual(
            const CAbstractNavigator::TNavigationParamsBase& o) const override;
    };

    /** Constructor.
     * \param[in] react_iterf_impl An instance of an object that implement all
     * the required interfaces to read from and control a robot.
     * \param[in] enableConsoleOutput Can be set to false to reduce verbosity.
     * \param[in] enableLogFile Set to true to enable creation of navigation
     * log files, useful for inspection and debugging.
     */
    CAbstractPTGBasedReactive(
        CRobot2NavInterface& react_iterf_impl, bool enableConsoleOutput = true,
        bool enableLogFile = false,
        const std::string& logFileDirectory =
            std::string("./reactivenav.logs"));

    ~CAbstractPTGBasedReactive() override;

    /** Must be called for loading collision grids, or the first navigation
     * command may last a long time to be executed.
     * Internally, it just calls STEP1_CollisionGridsBuilder().
     */
    void initialize() override;

    /** Selects which one from the set of available holonomic methods will be
     * used
     *  into transformed TP-Space, and sets its configuration from a
     * configuration file.
     * Available methods: class names of those derived from
     * CAbstractHolonomicReactiveMethod
     */
    void setHolonomicMethod(
        const std::string& method,
        const mrpt::config::CConfigFileBase& cfgBase);

    /** Provides a copy of the last log record with information about execution.
     * \param o An object where the log will be stored into.
     * \note Log records are not prepared unless either "enableLogFile" is
     * enabled in the constructor or "enableLogFile()" has been called.
     */
    void getLastLogRecord(CLogFileRecord& o);

    /** Enables keeping an internal registry of navigation logs that can be
     * queried with getLastLogRecord() */
    void enableKeepLogRecords(bool enable = true)
    {
        m_enableKeepLogRecords = enable;
    }

    /** Enables/disables saving log files. */
    void enableLogFile(bool enable);

    /** Changes the prefix for new log files. */
    void setLogFileDirectory(const std::string& sDir)
    {
        m_navlogfiles_dir = sDir;
    }
    std::string getLogFileDirectory() const { return m_navlogfiles_dir; }
    struct TAbstractPTGNavigatorParams : public mrpt::config::CLoadableOptions
    {
        /** C++ class name of the holonomic navigation method to run in the
         * transformed TP-Space */
        std::string holonomic_method;
        /** C++ class name of the motion chooser */
        std::string motion_decider_method;

        /** (Default: ".") */
        std::string ptg_cache_files_directory;
        /** Maximum distance up to obstacles will be considered (D_{max} in
         * papers). */
        double ref_distance{4.0};
        /** Time constant (in seconds) for the low-pass filter applied to
         * kinematic velocity commands (default=0: no filtering) */
        double speedfilter_tau{0.0};

        /** In normalized distances, the start and end of a ramp function that
         * scales the velocity
         *  output from the holonomic navigator:
         *
         * \code
         *  velocity scale
         *   ^
         *   |           _____________
         *   |          /
         * 1 |         /
         *   |        /
         * 0 +-------+---|----------------> normalized distance
         *         Start
         *              End
         * \endcode
         *
         */
        double secure_distance_start{0.05}, secure_distance_end{0.20};
        bool use_delays_model{false};
        /** Max distance [meters] to discard current PTG and issue a new vel cmd
         * (default= 0.05) */
        double max_distance_predicted_actual_path{0.15};
        /** Min normalized dist [0,1] after current pose in a PTG continuation
         * to allow it. */
        double min_normalized_free_space_for_ptg_continuation{0.2};

        /** Params related to speed limits. */
        mrpt::kinematics::CVehicleVelCmd::TVelCmdParams
            robot_absolute_speed_limits;
        bool enable_obstacle_filtering{true};
        /** Default: false */
        bool evaluate_clearance{false};
        /** Max dist [meters] to use time-based path prediction for NOP
         * evaluation. */
        double max_dist_for_timebased_path_prediction{2.0};

        void loadFromConfigFile(
            const mrpt::config::CConfigFileBase& c,
            const std::string& s) override;
        void saveToConfigFile(
            mrpt::config::CConfigFileBase& c,
            const std::string& s) const override;
        TAbstractPTGNavigatorParams();
    };

    TAbstractPTGNavigatorParams params_abstract_ptg_navigator;

    void loadConfigFile(const mrpt::config::CConfigFileBase& c)
        override;  // See base class docs!
    void saveConfigFile(mrpt::config::CConfigFileBase& c)
        const override;  // See base class docs!

    /** Enables/disables the detailed time logger (default:disabled upon
     * construction)
     *  When enabled, a report will be dumped to std::cout upon destruction.
     * \sa getTimeLogger
     */
    void enableTimeLog(bool enable = true) { m_timelogger.enable(enable); }
    /** Gives access to a const-ref to the internal time logger \sa
     * enableTimeLog */
    const mrpt::system::CTimeLogger& getTimeLogger() const
    {
        return m_timelogger;
    }

    /** Returns the number of different PTGs that have been setup */
    virtual size_t getPTG_count() const = 0;
    /** Gets the i'th PTG */
    virtual CParameterizedTrajectoryGenerator* getPTG(size_t i) = 0;
    /** Gets the i'th PTG */
    virtual const CParameterizedTrajectoryGenerator* getPTG(size_t i) const = 0;

    /** Get the current, global (honored for all PTGs) robot speed limits */
    const mrpt::kinematics::CVehicleVelCmd::TVelCmdParams&
        getCurrentRobotSpeedLimits() const
    {
        return params_abstract_ptg_navigator.robot_absolute_speed_limits;
    }

    /** Changes the current, global (honored for all PTGs) robot speed limits,
     * via returning a reference to a structure that holds those limits */
    mrpt::kinematics::CVehicleVelCmd::TVelCmdParams&
        changeCurrentRobotSpeedLimits()
    {
        return params_abstract_ptg_navigator.robot_absolute_speed_limits;
    }

    /** Changes this parameter in all inner holonomic navigator instances [m].
     */
    void setTargetApproachSlowDownDistance(const double dist);
    /** Returns this parameter for the first inner holonomic navigator instances
     * [m] (should be the same in all of them?) */
    double getTargetApproachSlowDownDistance() const;

   protected:
    /** The main method for the navigator */
    void performNavigationStep() override;

    virtual CAbstractHolonomicReactiveMethod* getHoloMethod(int idx);

    /** The holonomic navigation algorithm (one object per PTG, so internal
     * states are maintained) */
    std::vector<CAbstractHolonomicReactiveMethod::Ptr> m_holonomicMethod;
    std::unique_ptr<mrpt::io::CStream> m_logFile;
    /** The current log file stream, or nullptr if not being used */
    mrpt::io::CStream* m_prev_logfile;
    /** See enableKeepLogRecords */
    bool m_enableKeepLogRecords;
    /** The last log */
    CLogFileRecord lastLogRecord;
    /** Last velocity commands */
    mrpt::kinematics::CVehicleVelCmd::Ptr m_last_vel_cmd;

    /** Critical zones */
    std::recursive_mutex m_critZoneLastLog;

    /** Enables / disables the console debug output. */
    bool m_enableConsoleOutput;
    /** Whether \a loadConfigFile() has been called or not. */
    bool m_init_done;
    mrpt::system::CTicTac timerForExecutionPeriod;

    /** A complete time logger \sa enableTimeLog() */
    mrpt::system::CTimeLogger m_timelogger;
    bool m_PTGsMustBeReInitialized;

    /** @name Variables for CReactiveNavigationSystem::performNavigationStep
        @{ */
    mrpt::system::CTicTac totalExecutionTime, executionTime, tictac;
    mrpt::math::LowPassFilter_IIR1 meanExecutionTime;
    mrpt::math::LowPassFilter_IIR1 meanTotalExecutionTime;
    /** Runtime estimation of execution period of the method. */
    mrpt::math::LowPassFilter_IIR1 meanExecutionPeriod;
    mrpt::math::LowPassFilter_IIR1 tim_changeSpeed_avr, timoff_obstacles_avr,
        timoff_curPoseAndSpeed_avr, timoff_sendVelCmd_avr;
    /** @} */

    bool impl_waypoint_is_reachable(
        const mrpt::math::TPoint2D& wp_local_wrt_robot)
        const override;  // See docs in base class

    // Steps for the reactive navigation sytem.
    // ----------------------------------------------------------------------------
    virtual void STEP1_InitPTGs() = 0;

    /** Return false on any fatal error */
    virtual bool implementSenseObstacles(
        mrpt::system::TTimeStamp& obs_timestamp) = 0;
    bool STEP2_SenseObstacles();

    /** Builds TP-Obstacles from Workspace obstacles for the given PTG.
     * "out_TPObstacles" is already initialized to the proper length and
     * maximum collision-free distance for each "k" trajectory index.
     * Distances are in "pseudo-meters". They will be normalized automatically
     * to [0,1] upon return. */
    virtual void STEP3_WSpaceToTPSpace(
        const size_t ptg_idx, std::vector<double>& out_TPObstacles,
        mrpt::nav::ClearanceDiagram& out_clearance,
        const mrpt::math::TPose2D& rel_pose_PTG_origin_wrt_sense,
        const bool eval_clearance) = 0;

    /** Generates a pointcloud of obstacles, and the robot shape, to be saved in
     * the logging record for the current timestep */
    virtual void loggingGetWSObstaclesAndShape(CLogFileRecord& out_log) = 0;

    struct PTGTarget
    {
        /** For each PTG, whether target falls into the PTG domain. */
        bool valid_TP{false};
        /** The Target, in TP-Space (x,y) */
        mrpt::math::TPoint2D TP_Target;
        /** TP-Target */
        double target_alpha, target_dist;
        /** The discrete version of target_alpha */
        int target_k;

        PTGTarget() = default;
    };

    /** Scores \a holonomicMovement */
    void calc_move_candidate_scores(
        TCandidateMovementPTG& holonomicMovement,
        const std::vector<double>& in_TPObstacles,
        const mrpt::nav::ClearanceDiagram& in_clearance,
        const std::vector<mrpt::math::TPose2D>& WS_Targets,
        const std::vector<PTGTarget>& TP_Targets,
        CLogFileRecord::TInfoPerPTG& log, CLogFileRecord& newLogRec,
        const bool this_is_PTG_continuation,
        const mrpt::math::TPose2D& relPoseVelCmd_NOP,
        const unsigned int ptg_idx4weights,
        const mrpt::system::TTimeStamp tim_start_iteration,
        const mrpt::nav::CHolonomicLogFileRecord::Ptr& hlfr);

    /** Return the [0,1] velocity scale of raw PTG cmd_vel */
    virtual double generate_vel_cmd(
        const TCandidateMovementPTG& in_movement,
        mrpt::kinematics::CVehicleVelCmd::Ptr& new_vel_cmd);
    void STEP8_GenerateLogRecord(
        CLogFileRecord& newLogRec,
        const std::vector<mrpt::math::TPose2D>& relTargets, int nSelectedPTG,
        const mrpt::kinematics::CVehicleVelCmd::Ptr& new_vel_cmd, int nPTGs,
        const bool best_is_NOP_cmdvel,
        const math::TPose2D& rel_cur_pose_wrt_last_vel_cmd_NOP,
        const math::TPose2D& rel_pose_PTG_origin_wrt_sense_NOP,
        const double executionTimeValue, const double tim_changeSpeed,
        const mrpt::system::TTimeStamp& tim_start_iteration);

    /** To be called during children destructors to assure thread-safe
     * destruction, and free of shared objects. */
    void preDestructor();
    void onStartNewNavigation() override;

    /** Signal that the destructor has been called, so no more calls are
     * accepted from other threads */
    bool m_closing_navigator;

    mrpt::system::TTimeStamp m_WS_Obstacles_timestamp;
    /** Default: none */
    mrpt::maps::CPointCloudFilterBase::Ptr m_WS_filter;

    mrpt::nav::CMultiObjectiveMotionOptimizerBase::Ptr m_multiobjopt;

    struct TInfoPerPTG
    {
        std::vector<PTGTarget> targets;
        /** One distance per discretized alpha value, describing the "polar
         * plot" of TP obstacles. */
        std::vector<double> TP_Obstacles;
        /** Clearance for each path */
        ClearanceDiagram clearance;
    };

    /** Temporary buffers for working with each PTG during a navigationStep() */
    std::vector<TInfoPerPTG> m_infoPerPTG;
    mrpt::system::TTimeStamp m_infoPerPTG_timestamp;

    void build_movement_candidate(
        CParameterizedTrajectoryGenerator* ptg, const size_t indexPTG,
        const std::vector<mrpt::math::TPose2D>& relTargets,
        const mrpt::math::TPose2D& rel_pose_PTG_origin_wrt_sense,
        TInfoPerPTG& ipf, TCandidateMovementPTG& holonomicMovement,
        CLogFileRecord& newLogRec, const bool this_is_PTG_continuation,
        mrpt::nav::CAbstractHolonomicReactiveMethod& holoMethod,
        const mrpt::system::TTimeStamp tim_start_iteration,
        const TNavigationParams& navp = TNavigationParams(),
        const mrpt::math::TPose2D& relPoseVelCmd_NOP =
            mrpt::math::TPose2D(0, 0, 0));

    struct TSentVelCmd
    {
        /** 0-based index of used PTG */
        int ptg_index;
        /** Path index for selected PTG */
        int ptg_alpha_index;
        /** Timestamp of when the cmd was sent */
        mrpt::system::TTimeStamp tim_send_cmd_vel;
        /** Robot pose & velocities and timestamp of when it was queried */
        TRobotPoseVel poseVel;
        /** TP-Obstacles in the move direction at the instant of picking this
         * movement */
        double colfreedist_move_k;
        bool was_slowdown;
        /** [0,1] scale of the raw cmd_vel as generated by the PTG */
        double speed_scale;
        double original_holo_eval;
        CParameterizedTrajectoryGenerator::TNavDynamicState ptg_dynState;

        bool isValid() const;
        void reset();
        TSentVelCmd();
    };

    TSentVelCmd m_lastSentVelCmd;

   private:
    /** Delete m_holonomicMethod */
    void deleteHolonomicObjects();

    /** Default: "./reactivenav.logs" */
    std::string m_navlogfiles_dir;

    double m_expr_var_k, m_expr_var_k_target, m_expr_var_num_paths;
    /** A copy of last-iteration navparams, used to detect changes */
    std::unique_ptr<TNavigationParams> m_copy_prev_navParams;

};  // end of CAbstractPTGBasedReactive
}  // namespace mrpt::nav