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Specify goal loiter direction #68

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Aug 14, 2024
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Merged

Specify goal loiter direction #68

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15 changes: 15 additions & 0 deletions terrain_planner/include/terrain_planner/terrain_ompl_rrt.h
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,21 @@ class TerrainOmplRrt {
*/
void setupProblem(const Eigen::Vector3d& start_pos, const Eigen::Vector3d& goal, double start_loiter_radius);

/**
* @brief Setup problem with center position of start and goal loiter circle with specific radius
*
* @param start_pos
* @param goal
* @param start_loiter_radius
* - Positive: anti clockwise
* - Negative: Clockwise
* @param goal_loiter_radius
* - Positive: anti clockwise
* - Negative: Clockwise
*/
void setupProblem(const Eigen::Vector3d& start_pos, const Eigen::Vector3d& goal, double start_loiter_radius,
double goal_loiter_radius);

/**
* @brief Setup problem with position, velocity of the start and center of the goal loiter circle
*
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39 changes: 39 additions & 0 deletions terrain_planner/src/terrain_ompl_rrt.cpp
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Expand Up @@ -118,6 +118,45 @@ void TerrainOmplRrt::setupProblem(const Eigen::Vector3d& start_pos, const Eigen:
// std::cout << "Planner Range: " << planner_ptr->as<ompl::geometric::RRTstar>()->getRange() << std::endl;
}

void TerrainOmplRrt::setupProblem(const Eigen::Vector3d& start_pos, const Eigen::Vector3d& goal,
double start_loiter_radius, double goal_loiter_radius) {
configureProblem();
double radius =
problem_setup_->getStateSpace()->as<fw_planning::spaces::DubinsAirplaneStateSpace>()->getMinTurningRadius();
double delta_theta = 0.1;
for (double theta = -M_PI; theta < M_PI; theta += (delta_theta * 2 * M_PI)) {
ompl::base::ScopedState<fw_planning::spaces::DubinsAirplaneStateSpace> start_ompl(
problem_setup_->getSpaceInformation());

start_ompl->setX(start_pos(0) + std::abs(start_loiter_radius) * std::cos(theta));
start_ompl->setY(start_pos(1) + std::abs(start_loiter_radius) * std::sin(theta));
start_ompl->setZ(start_pos(2));
double start_yaw = bool(start_loiter_radius > 0) ? theta - M_PI_2 : theta + M_PI_2;
wrap_pi(start_yaw);
start_ompl->setYaw(start_yaw);
problem_setup_->addStartState(start_ompl);
}

goal_states_ = std::make_shared<ompl::base::GoalStates>(problem_setup_->getSpaceInformation());
for (double theta = -M_PI; theta < M_PI; theta += (delta_theta * 2 * M_PI)) {
ompl::base::ScopedState<fw_planning::spaces::DubinsAirplaneStateSpace> goal_ompl(
problem_setup_->getSpaceInformation());
goal_ompl->setX(goal(0) + std::abs(goal_loiter_radius) * std::cos(theta));
goal_ompl->setY(goal(1) + std::abs(goal_loiter_radius) * std::sin(theta));
goal_ompl->setZ(goal(2));
double goal_yaw = bool(goal_loiter_radius > 0) ? theta - M_PI_2 : theta + M_PI_2;
wrap_pi(goal_yaw);
goal_ompl->setYaw(goal_yaw);
goal_states_->addState(goal_ompl);
}
problem_setup_->setGoal(goal_states_);

problem_setup_->setup();

auto planner_ptr = problem_setup_->getPlanner();
// std::cout << "Planner Range: " << planner_ptr->as<ompl::geometric::RRTstar>()->getRange() << std::endl;
}

void TerrainOmplRrt::setupProblem(const Eigen::Vector3d& start_pos, const Eigen::Vector3d& start_vel,
const Eigen::Vector3d& goal, double goal_radius) {
configureProblem();
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