CWaypointsNavigator.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/nav/reactive/CAbstractNavigator.h>
#include <mrpt/nav/reactive/TWaypoint.h>
 
namespace mrpt
{
namespace nav
{
/** This class extends `CAbstractNavigator` with the capability of following a
 * list of waypoints. By default, waypoints are followed one by one,
 *  but, if they are tagged with `allow_skip=true` **and** the derived navigator
 * class supports it, the navigator may choose to skip some to
 *  make a smoother, safer and shorter navigation.
 *
 * Waypoints have an optional `target_heading` field, which will be honored only
 * for waypoints that are skipped, and if the underlying robot
 * interface supports the pure-rotation methods.
 *
 * Notes on navigation status and event dispatchment:
 *  - Navigation state may briefly pass by the `IDLE` status between a waypoint
 * is reached and a new navigation command is issued towards the next waypoint.
 *  - `sendNavigationEndEvent()` will be called only when the last waypoint is
 * reached.
 *  - Reaching an intermediary waypoint (or skipping it if considered so by the
 * navigator) generates a call to `sendWaypointReachedEvent()` instead.
 *
 * \sa Base class CAbstractNavigator, CWaypointsNavigator::navigateWaypoints(),
 * and derived classes.
 *  \ingroup nav_reactive
 */
class CWaypointsNavigator : public mrpt::nav::CAbstractNavigator
{
   public:
        /** The struct for configuring navigation requests to CWaypointsNavigator
         * and derived classes. */
        struct TNavigationParamsWaypoints
                : public CAbstractNavigator::TNavigationParams
        {
                /** If not empty, this will prevail over the base class single goal
                 * target.
                  * Semantic is: any of these targets will be good for heading the robot
                 * towards them,
                  * but the priority is for the latest ones in the sequence. */
                std::vector<mrpt::nav::CAbstractNavigator::TargetInfo> multiple_targets;
 
                virtual std::string getAsText() const override;
                virtual std::unique_ptr<TNavigationParams> clone() const override
                {
                        return std::unique_ptr<TNavigationParams>(
                                new TNavigationParamsWaypoints(*this));
                }
 
           protected:
                virtual bool isEqual(
                        const CAbstractNavigator::TNavigationParamsBase& o) const override;
        };
 
        /** ctor */
        CWaypointsNavigator(CRobot2NavInterface& robot_interface_impl);
        /** dtor */
        virtual ~CWaypointsNavigator();
 
        // Overriden to call the general navigationStep(), plus waypoint selection
        // logic.
        virtual void navigationStep() override;
        /** Cancel current navegation. */
        virtual void cancel() override;
 
        /** \name Waypoint navigation control API
          * @{ */
 
        /** Waypoint navigation request. This immediately cancels any other previous
         * on-going navigation.
          * \sa CAbstractNavigator::navigate() for single waypoint navigation
         * requests.
          */
        virtual void navigateWaypoints(const TWaypointSequence& nav_request);
 
        /** Get a copy of the control structure which describes the progress status
         * of the waypoint navigation. */
        virtual void getWaypointNavStatus(
                TWaypointStatusSequence& out_nav_status) const;
 
        /** Get a copy of the control structure which describes the progress status
         * of the waypoint navigation. */
        TWaypointStatusSequence getWaypointNavStatus() const
        {
                TWaypointStatusSequence nav_status;
                this->getWaypointNavStatus(nav_status);
                return nav_status;
        }
        /** @}*/
 
        /** Returns `true` if, according to the information gathered at the last
        * navigation step,
        * there is a free path to the given point; `false` otherwise: if way is
        * blocked or there is missing information,
        * the point is out of range for the existing PTGs, etc. */
        bool isRelativePointReachable(
                const mrpt::math::TPoint2D& wp_local_wrt_robot) const;
 
        struct TWaypointsNavigatorParams : public mrpt::config::CLoadableOptions
        {
                /** In meters. <0: unlimited */
                double max_distance_to_allow_skip_waypoint;
                /** How many times shall a future waypoint be seen as reachable to skip
                 * to it (Default: 1) */
                int min_timesteps_confirm_skip_waypoints;
                /** [rad] Angular error tolerance for waypoints with an assigned heading
                 * (Default: 5 deg) */
                double waypoint_angle_tolerance;
                /** [0,1] Relative speed when aiming at a stop-point waypoint
                 * (Default=0.10) */
                double rel_speed_for_stop_waypoints;
                /** >=0 number of waypoints to forward to the underlying navigation
                 * engine, to ease obstacles avoidance when a waypoint is blocked
                 * (Default=0 : none). */
                int multitarget_look_ahead;
 
                virtual void loadFromConfigFile(
                        const mrpt::config::CConfigFileBase& c,
                        const std::string& s) override;
                virtual void saveToConfigFile(
                        mrpt::config::CConfigFileBase& c,
                        const std::string& s) const override;
                TWaypointsNavigatorParams();
        };
 
        TWaypointsNavigatorParams params_waypoints_navigator;
 
        virtual void loadConfigFile(const mrpt::config::CConfigFileBase& c)
                override;  // See base class docs!
        virtual void saveConfigFile(mrpt::config::CConfigFileBase& c)
                const override;  // See base class docs!
 
   protected:
        /** The latest waypoints navigation command and the up-to-date control
         * status. */
        TWaypointStatusSequence m_waypoint_nav_status;
        std::recursive_mutex m_nav_waypoints_cs;
 
        /** Implements the way to waypoint is free function in children classes:
         * `true` must be returned
          * if, according to the information gathered at the last navigation step,
         * there is a free path to
          * the given point; `false` otherwise: if way is blocked or there is
         * missing information, the point is out of range, etc. */
        virtual bool impl_waypoint_is_reachable(
                const mrpt::math::TPoint2D& wp_local_wrt_robot) const = 0;
 
        virtual void onStartNewNavigation() override;
 
        virtual void onNavigateCommandReceived() override;
 
        virtual bool checkHasReachedTarget(const double targetDist) const override;
        /** The waypoints-specific part of navigationStep() */
        virtual void waypoints_navigationStep();
 
        bool waypoints_isAligning() const { return m_is_aligning; }
   private:
        /** Whether the last timestep was "is_aligning" in a waypoint with heading
         */
        bool m_was_aligning;
        bool m_is_aligning;
        mrpt::system::TTimeStamp m_last_alignment_cmd;
};
}
}