goal_functions.h

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* Author: Eitan Marder-Eppstein
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#ifndef BASE_LOCAL_PLANNER_GOAL_FUNCTIONS_H_
#define BASE_LOCAL_PLANNER_GOAL_FUNCTIONS_H_
 
#include <ros/ros.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>
#include <tf2_ros/buffer.h>
 
#include <string>
#include <cmath>
 
#include <angles/angles.h>
#include <costmap_2d/costmap_2d.h>
 
namespace base_local_planner {
 
  double getGoalPositionDistance(const geometry_msgs::PoseStamped& global_pose, double goal_x, double goal_y);
 
  double getGoalOrientationAngleDifference(const geometry_msgs::PoseStamped& global_pose, double goal_th);
 
  void publishPlan(const std::vector<geometry_msgs::PoseStamped>& path, const ros::Publisher& pub);
 
  void prunePlan(const geometry_msgs::PoseStamped& global_pose, std::vector<geometry_msgs::PoseStamped>& plan, std::vector<geometry_msgs::PoseStamped>& global_plan);
 
  void planFromLookahead(const std::vector<geometry_msgs::PoseStamped>& plan, double lookahead, std::vector<geometry_msgs::PoseStamped>& new_plan);
 
  bool transformGlobalPlan(const tf2_ros::Buffer& tf,
      const std::vector<geometry_msgs::PoseStamped>& global_plan,
      const geometry_msgs::PoseStamped& global_robot_pose,
      const costmap_2d::Costmap2D& costmap,
      const std::string& global_frame,
      std::vector<geometry_msgs::PoseStamped>& transformed_plan);
 
  bool getGoalPose(const tf2_ros::Buffer& tf,
      const std::vector<geometry_msgs::PoseStamped>& global_plan,
      const std::string& global_frame,
      geometry_msgs::PoseStamped &goal_pose);
 
  bool isGoalReached(const tf2_ros::Buffer& tf,
      const std::vector<geometry_msgs::PoseStamped>& global_plan,
      const costmap_2d::Costmap2D& costmap,
      const std::string& global_frame,
      geometry_msgs::PoseStamped& global_pose,
      const nav_msgs::Odometry& base_odom,
      double rot_stopped_vel, double trans_stopped_vel,
      double xy_goal_tolerance, double yaw_goal_tolerance);
 
  bool stopped(const nav_msgs::Odometry& base_odom, 
      const double& rot_stopped_velocity,
      const double& trans_stopped_velocity);
 
  bool stopped(const geometry_msgs::PoseStamped& robot_vel,
       const double& rot_stopped_velocity,
       const double& trans_stopped_velocity);
};
#endif