SimplePlanner.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 GNU General Public License v3.0.
// See <http://www.gnu.org/licenses/> for details.
//
// Easy Navigation program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.

 
#ifndef EASYNAV_PLANNER__SIMPLEPLANNER_HPP_
#define EASYNAV_PLANNER__SIMPLEPLANNER_HPP_
 
#include <memory>
#include <vector>
 
#include "nav_msgs/msg/path.hpp"
 
#include "easynav_core/PlannerMethodBase.hpp"
#include "easynav_simple_common/SimpleMap.hpp"
#include "easynav_common/types/NavState.hpp"
 
namespace easynav
{

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

  virtual std::expected<void, std::string> on_initialize() override;

  void update(NavState & nav_state) override;
 
protected:
  double robot_radius_;        
  double clearance_distance_;  
 
  nav_msgs::msg::Path current_path_;  

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

  std::vector<geometry_msgs::msg::Pose> a_star_path(
    const SimpleMap & map,
    const geometry_msgs::msg::Pose & start,
    const geometry_msgs::msg::Pose & goal,
    double resolution);

  bool isFreeWithClearance(
    const SimpleMap & map,
    int cx, int cy,
    double clearance_cells);
};
 
}  // namespace easynav
 
#endif  // EASYNAV_PLANNER__SIMPLEPLANNER_HPP_