TWaypoint.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, 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    |
   +---------------------------------------------------------------------------+ */

#include "nav-precomp.h" // Precomp header

#include <mrpt/nav/reactive/TWaypoint.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CDisk.h>
#include <mrpt/opengl/CArrow.h>
#include <limits>

using namespace mrpt::nav;
using namespace std;

const double TWaypoint::INVALID_NUM = std::numeric_limits<double>::max();

// TWaypoint  ==========
TWaypoint::TWaypoint() :
        target(INVALID_NUM,INVALID_NUM),
        target_heading(INVALID_NUM),
        target_frame_id("map"),
        allowed_distance(INVALID_NUM),
        speed_ratio(1.0),
        allow_skip(true)
{
}

TWaypoint::TWaypoint(double target_x, double target_y, double allowed_distance_, bool allow_skip_, double target_heading_, double speed_ratio_) :
        target(target_x,target_y),
        target_heading(target_heading_),
        target_frame_id("map"),
        allowed_distance(allowed_distance_),
        speed_ratio(speed_ratio_),
        allow_skip(allow_skip_)
{
}

bool TWaypoint::isValid() const
{
        return
        (target.x!=INVALID_NUM) &&
        (target.y!=INVALID_NUM) &&
        (allowed_distance!=INVALID_NUM);
}

std::string TWaypoint::getAsText() const
{
        std::string s;
        if (target.x!=INVALID_NUM && target.y!=INVALID_NUM)
                s+=mrpt::format("target=(%8.03f,%8.03f) ",target.x,target.y);
        else s+="target=(**Coordinates not set!!**) ";

        if (target_heading!=INVALID_NUM)
                s+=mrpt::format("phi=%8.03f deg ",mrpt::utils::RAD2DEG(target_heading));
        else s+=" (heading: any) ";

        if (allowed_distance!=INVALID_NUM)
                s+=mrpt::format("allowed_dist=%8.03f ",allowed_distance);
        else s+=" (**allowed_distance not set!!**) ";

        s+= (allow_skip ? " allow_skip: YES" : " allow_skip: NO ");
        s+= mrpt::format(" speed_ratio: %.01f", speed_ratio);
        return s;
}


// TWaypointSequence ==========
TWaypointSequence::TWaypointSequence()
{
}

// Gets navigation params as a human-readable format:
std::string TWaypointSequence::getAsText() const
{
        string s;
        s+=mrpt::format("List of %u waypoints:\n", static_cast<unsigned int>(waypoints.size()) );
        unsigned int i=0;
        for (const auto &wp : waypoints) {
                s+= mrpt::format(" #%3u: ",i++);
                s+= wp.getAsText();
                s+= "\n";
        }
        return s;
}

// TWaypointStatus ==========
TWaypointStatus::TWaypointStatus() :
        reached(false),
        skipped(false),
        timestamp_reach(INVALID_TIMESTAMP),
        counter_seen_reachable(0)
{
}
TWaypointStatus & TWaypointStatus::operator =(const TWaypoint &wp)
{
        TWaypoint::operator =(wp);
        return *this;
}
std::string TWaypointStatus::getAsText() const
{
        std::string s = TWaypoint::getAsText();
        s += mrpt::format(" reached=%s", (reached ? "YES":"NO ") );;
        return s;
}

// TWaypointStatusSequence ======
TWaypointStatusSequence::TWaypointStatusSequence() :
        waypoints(),
        timestamp_nav_started(INVALID_TIMESTAMP),
        final_goal_reached(false),
        waypoint_index_current_goal(-1),
        last_robot_pose(TWaypoint::INVALID_NUM,TWaypoint::INVALID_NUM,TWaypoint::INVALID_NUM)
{
}

std::string TWaypointStatusSequence::getAsText() const
{
        string s;
        s+=mrpt::format("Status for %u waypoints:\n", static_cast<unsigned int>(waypoints.size()) );
        unsigned int i=0;
        for (const auto &wp : waypoints) {
                s+= mrpt::format(" #%3u: ",i++);
                s+= wp.getAsText();
                s+= "\n";
        }
        s+=mrpt::format(" final_goal_reached:%s  waypoint_index_current_goal=%d\n", (final_goal_reached ? "YES":"NO "), waypoint_index_current_goal );
        return s;
}

TWaypointsRenderingParams::TWaypointsRenderingParams() :
        outter_radius(.3), inner_radius(.2),
        outter_radius_non_skippable(.3), inner_radius_non_skippable(.0),
        outter_radius_reached(.2), inner_radius_reached(.1),
        heading_arrow_len(1.0),
        color_regular(mrpt::utils::TColor(0x00, 0x00, 0xff)),
        color_current_goal(mrpt::utils::TColor(0xff, 0x00, 0x20)),
        color_reached(mrpt::utils::TColor(0x00, 0x00, 0xc0,0xd0)),
        show_labels(true)
{
}


void TWaypointSequence::getAsOpenglVisualization(mrpt::opengl::CSetOfObjects &obj, const mrpt::nav::TWaypointsRenderingParams &params) const
{
        obj.clear();
        unsigned int idx = 0;
        for (const auto &p : waypoints)
        {
                auto gl_pt = mrpt::opengl::CDisk::Create(
                        p.allow_skip ? params.outter_radius : params.outter_radius_non_skippable,
                        p.allow_skip ? params.inner_radius : params.inner_radius_non_skippable,
                        15);
                gl_pt->setLocation(p.target.x, p.target.y, 0.01);
                gl_pt->setColor_u8(params.color_regular);
                if (params.show_labels)
                {
                        gl_pt->setName(mrpt::format("WayPt #%2u", idx));
                        gl_pt->enableShowName(true);
                }
                obj.insert(gl_pt);

                if (p.target_heading != TWaypoint::INVALID_NUM)
                {
                        auto o = mrpt::opengl::CArrow::Create(0, 0, 0, params.heading_arrow_len, 0.0f, 0.0f);
                        o->setPose(mrpt::poses::CPose3D(p.target.x, p.target.y, 0.02, p.target_heading, 0, 0));
                        obj.insert(o);
                }
                ++idx;
        }
}

void TWaypointStatusSequence::getAsOpenglVisualization(mrpt::opengl::CSetOfObjects &obj, const mrpt::nav::TWaypointsRenderingParams &params) const
{
        obj.clear();
        {
                unsigned int idx = 0;
                for (const auto &p : waypoints)
                {
                        const bool is_cur_goal = (int(idx) == waypoint_index_current_goal);

                        mrpt::opengl::CDiskPtr gl_pt = mrpt::opengl::CDisk::Create(
                                p.reached ? params.outter_radius_reached : (p.allow_skip ? params.outter_radius : params.outter_radius_non_skippable),
                                p.reached ? params.inner_radius_reached  : (p.allow_skip ? params.inner_radius : params.inner_radius_non_skippable),
                                15
                                );
                        gl_pt->setLocation(p.target.x, p.target.y, 0.01);
                        if (params.show_labels)
                        {
                                gl_pt->setName(mrpt::format("WayPt #%2u Reach:%s", idx, p.reached ? "YES" : "NO"));
                                gl_pt->enableShowName(true);
                        }
                        gl_pt->setColor_u8(is_cur_goal ? params.color_current_goal : (p.reached ? params.color_reached : params.color_regular));
                        obj.insert(gl_pt);

                        if (p.target_heading != TWaypoint::INVALID_NUM)
                        {
                                auto o = mrpt::opengl::CArrow::Create(0, 0, 0, params.heading_arrow_len, 0.0f, 0.0f);
                                o->setPose(mrpt::poses::CPose3D(p.target.x, p.target.y, 0.02, p.target_heading, 0, 0));
                                obj.insert(o);
                        }
                        ++idx;
                }
        }
}

void TWaypointSequence::save(mrpt::utils::CConfigFileBase &c, const std::string &s) const
{
        const unsigned int N = waypoints.size();
        c.write(s, "waypoint_count", N);

        const int NP = 27; // name padding

        for (unsigned int i = 0; i < N; i++)
        {
                const auto &wp = waypoints[i];

                c.write(s, mrpt::format("wp%03u_allowed_distance", i), wp.allowed_distance, NP);
                c.write(s, mrpt::format("wp%03u_allow_skip", i), wp.allow_skip, NP);
                c.write(s, mrpt::format("wp%03u_target_x", i), wp.target.x, NP);
                c.write(s, mrpt::format("wp%03u_target_y", i), wp.target.y, NP);
                c.write(s, mrpt::format("wp%03u_target_frame_id", i), wp.target_frame_id, NP);
                c.write(s, mrpt::format("wp%03u_target_heading", i), wp.target_heading, NP);
                c.write(s, mrpt::format("wp%03u_speed_ratio", i), wp.speed_ratio, NP);
        }
}

void TWaypointSequence::load(const mrpt::utils::CConfigFileBase &c, const std::string &s)
{
        this->clear();

        const unsigned int N = c.read_int(s, "waypoint_count", 0, true);
        waypoints.resize(N);

        for (unsigned int i = 0; i < N; i++)
        {
                auto &wp = waypoints[i];

                wp.allowed_distance = c.read_double(s, mrpt::format("wp%03u_allowed_distance", i), 0, true);
                wp.allow_skip = c.read_bool(s, mrpt::format("wp%03u_allow_skip", i), true, true);
                wp.target.x = c.read_double(s, mrpt::format("wp%03u_target_x", i), 0, true);
                wp.target.y = c.read_double(s, mrpt::format("wp%03u_target_y", i), 0, true);
                wp.target_frame_id = c.read_string(s, mrpt::format("wp%03u_target_frame_id", i), "map", false);
                double hd = c.read_double(s, mrpt::format("wp%03u_target_heading", i), mrpt::nav::TWaypoint::INVALID_NUM);
                wp.target_heading = (hd > 100) ? mrpt::nav::TWaypoint::INVALID_NUM : hd;
                wp.speed_ratio = c.read_double(s, mrpt::format("wp%03u_speed_ratio", i), 1.0, false);
        }
}