AStar.h

/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @author     Christian R. G. Dreher ( c dot dreher at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */

#pragma once

#include "GlobalPlanner.h"
#include "Navigation/libraries/core/types.h"

namespace armarx::nav::glob_plan
{

    /**
     * @brief Parameters for AStar
     *
     */
    struct AStarParams : public GlobalPlannerParams
    {
        float linearVelocity{500};

        float resampleDistance{500};

        Algorithms algorithm() const override;

        aron::datanavigator::DictNavigatorPtr toAron() const override;

        static AStarParams FromAron(const aron::datanavigator::DictNavigatorPtr& dict);
    };

    /**
    * @class AStar
    * @ingroup Library-GlobalPlanner
    *
    * Implements the A* algorithm
    */
    class AStar : public GlobalPlanner
    {
    public:
        AStar(const AStarParams& params, const core::Scene& ctx);
        ~AStar() override = default;

        core::TrajectoryPtr plan(const core::Pose& goal) override;

    protected:
        std::vector<Eigen::Vector2f> postProcessPath(const std::vector<Eigen::Vector2f>& path);

    private:
        AStarParams params;
    };

} // namespace armarx::nav::glob_plan