VffController.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_CONTROLLER__VFFCONTROLLER_HPP_
#define EASYNAV_CONTROLLER__VFFCONTROLLER_HPP_
 
#include "pcl/point_cloud.h"
 
#include "easynav_core/ControllerMethodBase.hpp"
 
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "visualization_msgs/msg/marker.hpp"
#include "visualization_msgs/msg/marker_array.hpp"
 
namespace easynav
{

struct VFFVectors
{
  std::vector<double> attractive;
  std::vector<double> repulsive;
  std::vector<double> result;
};

typedef enum {RED, GREEN, BLUE} VFFColor;

class VffController : public easynav::ControllerMethodBase
{
public:
  VffController() = default;

  ~VffController() = default;

  virtual void on_initialize() override;

  virtual void update_rt(NavState & nav_state) override;
 
private:
  geometry_msgs::msg::TwistStamped cmd_vel_;

  geometry_msgs::msg::Point goal_;

  double normalize_angle(double angle);

  VFFVectors get_vff(
    double angle_error,
    const pcl::PointCloud<pcl::PointXYZ> & pointcloud_, std::string frame_id);

  rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr marker_array_pub_;

  visualization_msgs::msg::Marker make_marker(
    const std::vector<double> & vector,
    VFFColor vff_color, std::string frame_id);

  visualization_msgs::msg::MarkerArray get_debug_vff(
    const VFFVectors & vff_vectors,
    std::string frame_id);

  float distance_obstacle_detection_;

  float obstacle_detection_x_min_;
  float obstacle_detection_x_max_;
  float obstacle_detection_y_min_;
  float obstacle_detection_y_max_;
  float obstacle_detection_z_min_;
  float obstacle_detection_z_max_;

  double max_speed_;

  double max_angular_speed_;
};
 
}  // namespace easynav
 
#endif  // EASYNAV_CONTROLLER__VFFCONTROLLER_HPP_