AStarPlanner.hpp

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// Copyright 2025 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in short)
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

 
#ifndef EASYNAV_NAVMAP_PLANNER__NAVMAPPLANNER_HPP_
#define EASYNAV_NAVMAP_PLANNER__NAVMAPPLANNER_HPP_
 
#include <vector>
#include <cstdint>
#include <Eigen/Core>
 
#include "nav_msgs/msg/path.hpp"
 
#include "easynav_core/PlannerMethodBase.hpp"
#include "navmap_core/NavMap.hpp"
#include "easynav_common/types/NavState.hpp"
 
namespace easynav
{
namespace navmap
{

class AStarPlanner : public PlannerMethodBase
{
public:
  explicit AStarPlanner();

  virtual void on_initialize() override;

  void update(NavState & nav_state) override;
 
protected:
  double cost_factor_;        
  double inflation_penalty_;  
  double cost_axial_;         
  double cost_diagonal_;      
  std::string layer_name_;
  bool continuous_replan_ {true};     
  nav_msgs::msg::Path current_path_;  
  geometry_msgs::msg::Pose current_goal_;  

  rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr path_pub_;

  std::vector<Eigen::Vector3f> centroids_;

  std::vector<std::uint8_t> occ_;

  std::vector<double> g_;
  std::vector<::navmap::NavCelId> parent_;

  void ensure_graph_cache(const ::navmap::NavMap & map);

  nav_msgs::msg::Path path_smoother(
    const nav_msgs::msg::Path & in_path,
    const ::navmap::NavMap & navmap,
    int iterations = 5,
    float alpha = 0.4f,
    float corner_keep_deg = 0.0f);

  std::vector<geometry_msgs::msg::Pose> a_star_path(
    const ::navmap::NavMap & map,
    const geometry_msgs::msg::Pose & start,
    const geometry_msgs::msg::Pose & goal);
};
 
}  // namespace navmap
 
}  // namespace easynav
 
#endif  // EASYNAV_NAVMAP_PLANNER__NAVMAPPLANNER_HPP_