AbstractMetricPlanner.h

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/*
 * Copyright (C) by
 *   MetraLabs GmbH (MLAB), GERMANY
 *  and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Redistribution and modification of this code is strictly prohibited.
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#ifndef _MIRA_PILOT_ABSTRACTMETRICPLANNER_H_
#define _MIRA_PILOT_ABSTRACTMETRICPLANNER_H_

#include <fw/Framework.h>

#include <geometry/Polygon.h>
#include <maps/CostMap.h>
#include <maps/OccupancyGrid.h>

#include <boost/shared_ptr.hpp>

namespace mira { namespace pilot {


class AbstractMetricPlanner : public Object, public Authority
{
    MIRA_ABSTRACT_OBJECT(AbstractMetricPlanner)
public:

    typedef std::vector<Point2f> Carrot;

public:

    AbstractMetricPlanner();
    virtual ~AbstractMetricPlanner() {}

public:

    void initialize(Authority* parent);

protected:

    virtual void initialize() {}

public:

    virtual Point2f getGradient(const Point2f& worldPos) const = 0;

    void update(const maps::CostMap& map);

    virtual void update(const maps::CostMap& map, const maps::DirtyRegions& dirty) = 0;

    virtual void setOnewayMap(const maps::OccupancyGrid& onewayMap) = 0;

    virtual double infinity() const = 0;

    virtual double getValue(const Point2f& worldPos, bool ignoreDoubleBuffer = false) const = 0;

    virtual double getValueFiltered(const Point2f& worldPos, bool ignoreDoubleBuffer = false) const = 0;

    virtual Carrot getCarrot(const Point2f& pos, int maxCount, float maxDistance = 1e10f) const = 0;

    virtual Pose2 getCurrentGoal(const Point2f& pos) const = 0;

public:

    virtual Point2i world2map(const Point2f& p) const = 0;

    virtual Point2f map2world(const Point2i& p) const = 0;

    virtual float getCellSize() const = 0;

    virtual Rect2f getRegion() const = 0;

    virtual Rect2i getMapRegion() const = 0;

    virtual Duration getAccumulatedPlanningTime() const = 0;

public:

    virtual void setRobotPosition(const Point2f& robotPos) {}

    virtual void setGoal(const Point2f& goal, float radius,
                         bool clearDoubleBuffer = true, bool prepareNew = true) = 0;

    virtual void setGoal(const Polygon2i& polygon, int radius = 1,
                         bool clearDoubleBuffer = true, bool prepareNew = true) = 0;

    virtual void setGoal(const Polygon2f& polygon, float radius = 0.1f,
                         bool clearDoubleBuffer = true, bool prepareNew = true) = 0;

    typedef std::function<float(int x, int y, float r)> CostFn;

    virtual void setGoal(const Polygon2i& polygon, int radius, CostFn& costFn,
                         bool clearDoubleBuffer = true, bool prepareNew = true) = 0;

    virtual void setGoal(const Polygon2f& polygon, float radius, CostFn& costFn,
                         bool clearDoubleBuffer = true, bool prepareNew = true) = 0;

    virtual bool hasValidGoal() const = 0;

public:

    virtual void plan(const Point2f& pos, Duration plantime) = 0;

    virtual bool havePlan() const = 0;

    virtual bool havePlanSinceUpdate() const = 0;

    virtual Time lastValidPlan() const = 0;

    virtual bool haveWork() const = 0;

    virtual void planTime(Duration plantime) = 0;

    virtual void planSteps(int steps) = 0;

    virtual void planStep() = 0;

    virtual void resetPlanningTimeout() = 0;

    virtual maps::CostMap getNavFunction(bool ignoreDoubleBuffer = false) const = 0;

public:

    virtual maps::GridMap<uint8,3> dumpNavStatus(bool useDoubleBuffer = false,
                                                 bool costsInGoalRegion = true) = 0;

    virtual maps::GridMap<uint8,3> showNavFunctionNearGoal() = 0;

public:

    enum Status
    {
        OUT_OF_GRID,
        VALID,
        INVALID,
        WAVEFRONT,
        OUTDATED,
        GOAL,
        OBSTACLE
    };

    virtual Status getStatus(const Point2f& p) const = 0;
};


typedef boost::shared_ptr<AbstractMetricPlanner> AbstractMetricPlannerPtr;

}}

#endif